CN115716425A

CN115716425A - Wireless charging control method, system and storage medium

Info

Publication number: CN115716425A
Application number: CN202211446685.3A
Authority: CN
Inventors: 胡超; 王静
Original assignee: Zhongxing New Energy Technology Co ltd
Current assignee: Zhongxing New Energy Technology Co ltd
Priority date: 2022-11-18
Filing date: 2022-11-18
Publication date: 2023-02-28

Abstract

The application discloses a wireless charging control method, a wireless charging control system and a wireless charging control storage medium, which belong to the technical field of wireless charging systems. And simultaneously, after the real-time offset distance detection is finished, the millimeter wave radar is controlled to start the biological signal detection function, so that the biological electromagnetic exposure safety in the electromagnetic environment limited area is ensured. From this, this application carries out the detection of real-time skew distance and biosignal through millimeter wave radar equipment for in wireless charging system, real-time skew distance detection function and biological detection function need not be accomplished by two independent equipment, thereby reduces wireless charging system's equipment cost and area.

Description

Wireless charging control method, system and storage medium

Technical Field

The present disclosure relates to the field of wireless charging systems, and in particular, to a wireless charging control method, system and storage medium.

Background

At present, in the application of wireless charging technology, in order to improve the charging efficiency of an automobile and ensure the safety of an electromagnetic environment, a wireless charging system must have both an offset detection function and a biological detection function, so as to ensure that a secondary coil of an on-board device and a primary coil of a ground device are within a certain offset range and electromagnetically exposed to organisms in the electromagnetic environment to the region.

In practical application, however, the offset detection mainly adopts methods such as low-frequency electromagnetic signal detection and beacon (beacon) detection, and the biological detection adopts methods such as millimeter wave radar detection and capacitive plate detection. Therefore, the offset detection function and the biological detection function of the wireless charging system need to be completed by two independent devices, resulting in higher device cost.

Content of application

The present application mainly aims to provide a wireless charging control method, system and storage medium, and aims to solve the technical problem of high equipment cost of a wireless charging system.

In order to achieve the above object, the present application provides a wireless charging control method, including:

controlling a millimeter wave radar to acquire a real-time offset distance between vehicle-mounted equipment and ground equipment according to a received offset detection instruction, and feeding the real-time offset distance back to an automobile so as to enable the automobile to adjust the relative position of the vehicle-mounted equipment and the ground equipment according to the real-time offset distance; the real-time offset distance comprises a first offset value in a first preset direction and a second offset value in a second preset direction, and the first preset direction is perpendicular to the second preset direction;

if the real-time offset distance is detected to meet the preset condition, controlling the millimeter wave radar to stop collecting the real-time offset distance;

controlling the millimeter wave radar to detect whether a biological signal exists or not according to the received biological detection instruction;

and if the millimeter waves detect the biological signals, generating a charging stopping control instruction, and sending the charging stopping control instruction to the vehicle-mounted equipment so that the vehicle-mounted equipment stops charging based on the charging stopping control instruction.

Optionally, the controlling the millimeter wave radar to acquire the real-time offset distance between the vehicle-mounted device and the ground device according to the received offset detection instruction includes:

controlling a millimeter wave radar to collect real-time coordinate information of the vehicle-mounted equipment according to a preset time interval according to a received offset detection instruction to obtain at least two pieces of real-time coordinate information and moving speed; the at least two pieces of real-time coordinate information comprise first current real-time coordinate information and at least one piece of historical real-time coordinate information;

obtaining a driving track curve of the vehicle-mounted equipment according to at least one piece of historical real-time coordinate information and the moving speed;

according to the driving track curve, theoretical coordinate information corresponding to the current time is obtained through prediction;

determining an error distance of the first current real-time coordinate information relative to the theoretical coordinate information;

and if the error distance is smaller than a preset error threshold value, obtaining the real-time offset distance according to the first current real-time coordinate information and the fixed coordinate information of the ground equipment.

Optionally, if the error distance is smaller than a preset error threshold, after the real-time offset distance is obtained according to the first current real-time coordinate information and the fixed coordinate information of the ground device, the method further includes:

if the real-time offset distance is smaller than a preset overlap threshold value, controlling a plurality of millimeter wave radars to be cascaded to form an MIMO antenna array;

acquiring point cloud data of the bottom of the vehicle, which is acquired by the MIMO antenna array;

determining outline point cloud data of the vehicle-mounted equipment from the point cloud data;

determining second current real-time coordinate information of the vehicle-mounted equipment according to the vehicle-mounted equipment contour point cloud data;

and obtaining the real-time offset distance according to the second current real-time coordinate information and the fixed coordinate information of the ground equipment.

Optionally, if the millimeter wave detects a biological signal, a charging stop control instruction is generated, and the charging stop control instruction is sent to the vehicle-mounted device, so that after the vehicle-mounted device stops charging based on the charging stop control instruction, the method further includes:

and if the charging stopping signal is received, controlling the millimeter wave radar to stop collecting the biological signals.

Optionally, the millimeter wave radar includes any one of a 60G millimeter wave radar, a 77G millimeter wave radar, or a 79G millimeter wave radar.

In a second aspect, the present application provides a wireless charging control system, which includes a vehicle-mounted device, a ground device, at least one millimeter wave radar, and a control device, wherein the vehicle-mounted device is fixedly disposed in an automobile, and the ground device is fixedly disposed in a parking space;

a control device comprising a processor, a memory, and a wireless charging control program stored in the memory, the wireless charging control program, when executed by the processor, implementing the steps of the wireless charging control method as described above.

Optionally, the millimeter wave radar device is disposed in the vehicle-mounted device;

alternatively, the first and second electrodes may be,

the millimeter wave radar equipment is arranged in the ground equipment.

Optionally, the millimeter wave radar includes two first millimeter wave radars and two second millimeter wave radars;

the two first millimeter wave radars are spaced apart in a first preset direction, the two second millimeter wave radars are spaced apart in a second preset direction, and the first preset direction is perpendicular to the second preset direction.

Optionally, the two first millimeter wave radars and the two second millimeter wave radars are cascaded to form an MIMO antenna array.

In a third aspect, the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the wireless charging control method of any of the embodiments of the present application.

The embodiment of the application provides a wireless charging control method, a wireless charging control system and a storage medium, when the real-time offset distance between vehicle-mounted equipment and ground equipment meets a preset condition, a millimeter wave radar is controlled to stop collecting the real-time offset distance between the vehicle-mounted equipment and the ground equipment, and the millimeter wave radar is controlled to detect whether a biological signal exists or not based on a received biological detection instruction. When the bio-signal exists, a charging stop control instruction is generated and sent to the vehicle-mounted device, so that the vehicle-mounted device stops charging based on the charging stop control instruction.

This application not only can detect the real-time skew distance of mobile unit and ground equipment through the millimeter wave radar, can also detect whether there is a biosignal to make the wireless charging system who only equips the millimeter wave radar possess skew detection function and biological detection function simultaneously, and then reduce wireless charging system's equipment cost and area.

Drawings

Fig. 1 is a schematic structural diagram of a wireless charging control system according to a first embodiment of the present application;

FIG. 2 is a schematic diagram of a millimeter wave radar according to the present application;

fig. 3 is a schematic diagram of a hardware structure of an embodiment of the wireless charging control method of the present application;

fig. 4 is a flowchart illustrating a first embodiment of a wireless charging control method according to the present application;

FIG. 5 is a schematic view of the present application showing the vehicle-mounted device overlaid with the ground device;

fig. 6 is a flowchart illustrating a second embodiment of a wireless charging control method according to the present application;

fig. 7 is a flowchart illustrating a wireless charging control method according to a third embodiment of the present application.

The implementation, functional features and advantages of the object of the present application will be further explained with reference to the embodiments, and with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

Due to the prior art, in order to guarantee the charging efficiency of the automobile and the safety of the electromagnetic environment, the wireless charging system must have both the offset detection function and the biological detection function. In practical application, however, the offset detection mainly adopts methods such as low-frequency electromagnetic signal detection and beacon (beacon) detection, and the biological detection adopts methods such as millimeter wave radar detection and capacitive plate detection. Therefore, the offset detection function and the biometric detection function of the wireless charging system need to be performed by two separate devices, resulting in higher device manufacturing cost.

The application provides a solution, when the entering between mobile unit and the ground equipment overlaps the state, gather the real-time skew distance between mobile unit and the ground equipment through the millimeter wave radar to guarantee that the real-time skew distance between mobile unit and the ground equipment is in certain allowed skew within range. And simultaneously, after the real-time offset distance detection is finished, the millimeter wave radar is controlled to start the biological signal detection function, so that the biological electromagnetic exposure safety in the electromagnetic environment limited area is ensured. From this, this application carries out the detection of real-time skew distance and biosignal through millimeter wave radar equipment for in wireless charging system, real-time skew distance detection function and biological detection function need not be accomplished by two independent equipment, thereby reduces wireless charging system's equipment cost and area.

In the following, the wireless charging control system 100 applied in the implementation of the present technology will be described:

referring to fig. 1, fig. 1 is a schematic structural diagram of a first embodiment of a wireless charging control system of the present application, where the system includes an on-board device 10, a ground device 20, at least one millimeter wave radar 30, and a control device 40; wherein the content of the first and second substances,

the control device 40 comprises a processor, a memory and a wireless charging control program stored in the memory, wherein the wireless charging control program realizes the steps of the wireless charging control method when being executed by the processor.

Specifically, the millimeter wave radar 30 may be provided in the vehicle-mounted device 10 or may be provided in the ground device 20. Here, the millimeter-wave radar 30 may include two first millimeter-

wave radars

301, 302 and two second millimeter-

wave radars

303, 304.

It is to be understood that the positional relationship between the two first millimeter wave radars and the two second millimeter wave radars may be that the two first millimeter wave radars are spaced apart in a first preset direction, the two second millimeter wave radars are spaced apart in a second preset direction, and the first preset direction is perpendicular to the second preset direction. The first predetermined direction may be an X-axis direction, and the second predetermined direction may be a Y-axis direction perpendicular to the X-axis, as shown in fig. 2.

Further, the two first millimeter wave radars and the two second millimeter wave radars may form an MIMO (Multiple-Input Multiple-Output ) antenna array through cascade connection. The MIMO antenna array adopts a transmitting antenna array and a receiving antenna array which are distributed in space, a larger synthetic aperture is formed equivalently through special arrangement of a plurality of transmitting antennas and receiving antennas, a virtual uniform linear array is formed, and high-resolution imaging is carried out on a scene through time-sharing work of the transmitting antennas and the receiving antennas and an array imaging algorithm.

Referring to fig. 3, fig. 3 is a schematic structural diagram of a control device of a hardware operating environment according to an embodiment of the present application.

As shown in fig. 3, the control device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.

Those skilled in the art will appreciate that the configuration shown in fig. 3 is not limiting to the control device and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.

As shown in fig. 3, the memory 1005, which is a storage medium, may include therein an operating system, a data storage module, a network communication module, a user interface module, and a wireless charging control program.

In the control apparatus shown in fig. 3, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 of the control device of the present application may be provided in the control device, and the control device calls the wireless charging control program stored in the memory 1005 through the processor 1001 and executes the wireless charging control method provided in the embodiment of the present application.

Based on the hardware structure of the control device but not limited to the above hardware structure, the present application provides a first embodiment of a wireless charging control method. Referring to fig. 4, fig. 4 is a flowchart illustrating a first embodiment of a method for applying for wireless charging control.

It should be noted that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described may be performed in an order different from that shown or described herein.

In this embodiment, the wireless charging control method includes:

step S10, controlling a millimeter wave radar to acquire a real-time offset distance between vehicle-mounted equipment and ground equipment according to a received offset detection instruction, and feeding the real-time offset distance back to an automobile so as to enable the automobile to adjust the relative position of the vehicle-mounted equipment and the ground equipment according to the real-time offset distance; the real-time offset distance comprises a first offset value in a first preset direction and a second offset value in a second preset direction, and the first preset direction is perpendicular to the second preset direction;

the main execution subject of the wireless charging control method is the control device 40. For example, after receiving the offset detection instruction, the control device 40 controls the millimeter wave radar to acquire the real-time offset distance between the vehicle-mounted device and the ground device.

In the embodiment of the application, the vehicle-mounted equipment is an energy receiving device provided with a secondary charging coil on an automobile; the ground equipment is an energy transmitting device provided with a primary charging coil on a parking space. The wireless charging system of the automobile adopts the transformer with the separated primary and secondary coils and no electrical connection, and when the vehicle-mounted equipment and the ground equipment are within a certain allowable deviation range, mutual magnetic field coupling between the vehicle-mounted equipment and the ground equipment can be utilized to realize electric energy transmission between the primary coil and the secondary coil through air.

For example, a rectangular coordinate system of the ground device is constructed with the ground device as the origin of coordinates, and the vehicle-mounted device has the traveling direction as the X-axis and the vertical traveling direction as the Y-axis, as shown in fig. 5. The ideal state of the vehicle-mounted equipment and the ground equipment is that the center points of the vehicle-mounted equipment and the ground equipment coincide. However, in actual situations, the center points of the vehicle-mounted device and the ground device are difficult to coincide, so that the vertical direction in which the center point of the ground device is located is taken as a reference line, an included angle of 0-90 degrees exists between a straight line between the center point of the ground device and the center point of the vehicle-mounted device and the reference line, and the side corresponding to the included angle is the distance between the center of the vehicle-mounted device and the center of the vehicle-mounted device, that is, the real-time offset distance can be the distance between the center of the vehicle-mounted device and the center of the ground device.

Referring to fig. 5, the first preset direction may be an X-axis direction, and the second preset direction may be a Y-axis direction. The first offset value may be an offset distance between the center point of the vehicle-mounted device and the center point of the ground device on the X axis, and the second offset value may be an offset distance between the center point of the vehicle-mounted device and the center point of the ground device on the Y axis. For example, in a coordinate system with the center point of the ground device as the center origin, if the center point of the vehicle-mounted device is located at the upper left side of the coordinate system and is detected by the millimeter wave radar, a connection line between the center point of the vehicle-mounted device and the center point of the ground device is obtained, an included angle between the connection line and the X axis and the Y axis is 45 degrees, and a linear distance between the center point of the vehicle-mounted device and the ground device is 1.41 meters, it may be determined that the first offset value is 1 meter and the second offset value is 1 meter.

Millimeter wave radars are height sensors that can measure object distance, velocity, angle. The millimeter wave radar system transmits electromagnetic wave signals which are blocked by objects on a transmitting path and then reflected, and the millimeter wave radar can determine the distance, the speed and the angle of the objects by capturing the reflected signals. The millimeter wave radar may be any one of a 60G millimeter wave radar, a 77G millimeter wave radar, or a 79G millimeter wave radar.

Step S20, if the real-time offset distance meets the preset condition, controlling the millimeter wave radar to stop collecting the real-time offset distance;

in this embodiment, the preset condition may be that the real-time offset distance between the vehicle-mounted device and the ground device is within a certain allowable offset range. It can be understood that, when the transformer coupled to the wireless charging system performs wireless power transmission, and the air gap between the ground device and the vehicle-mounted device is large, therefore, when the vehicle-mounted device and the ground device perform power transmission in a magnetic induction and resonance manner, the relative position of the vehicle-mounted device and the ground device is very important, and when the vehicle-mounted device and the ground device are directly opposite or within the allowable deviation range, the optimal transmission power and charging efficiency can be achieved.

Step S30, controlling the millimeter wave radar to detect whether a biological signal exists or not according to the received biological detection instruction;

and S40, if the millimeter waves detect the biological signals, generating a charging stop control instruction, and sending the charging stop control instruction to the vehicle-mounted equipment so that the vehicle-mounted equipment stops charging based on the charging stop control instruction.

In the embodiment of the present application, the biological detection instruction may be a control instruction for controlling the millimeter wave radar to perform a real-time biological detection function. The bio-signal may be information reflecting a vital state of an organism, for example, the bio-signal may be an activity signal of a mouse approaching a ground facility. The charging stop control instruction may be a control instruction to control charging to be suspended between the in-vehicle device and the ground device.

For example, after the vehicle adjusts the relative position between the vehicle-mounted device and the ground device according to the real-time offset distance, and the offset distance between the vehicle-mounted device and the ground device is within a certain allowable offset range, the control device 40 controls the millimeter wave radar to stop acquiring the real-time offset distance between the vehicle-mounted device and the ground device, receives a biological detection instruction sent by the vehicle-mounted device, controls the millimeter wave radar to start a biological detection function for real-time biological detection, generates a charging stop control instruction when a biological signal is detected, and finally sends the charging stop control instruction to the vehicle-mounted device, so that the vehicle-mounted device stops charging based on the charging stop control instruction.

In this embodiment, the real-time offset distance between the vehicle-mounted device and the ground device is collected by the millimeter wave radar, and the real-time offset distance is sent to the vehicle, so that the driver can adjust the relative position between the vehicle-mounted device and the ground device according to the real-time offset distance, thereby ensuring that the offset between the vehicle-mounted device and the ground device is within the allowable offset range defined by a Wireless Power Transfer (WPT) system. And meanwhile, when the offset of the vehicle-mounted equipment and the ground equipment is within the operation offset range, the millimeter wave radar is controlled to detect whether a biological signal exists or not, and when the biological signal is detected, a charging stopping control instruction is generated and sent to the vehicle-mounted equipment, so that the vehicle-mounted equipment stops charging based on the charging stopping control instruction, and the electromagnetic exposure safety of organisms in the electromagnetic environment limit value area is ensured. From this, this application not only can detect the real-time skew distance of mobile unit and ground equipment through the millimeter wave radar, can also detect whether there is biosignal to make wireless charging system possess skew detection function and biological detection function simultaneously, and then reduce wireless charging system's cost of manufacture and area.

Further, as an embodiment, referring to fig. 6, a second embodiment of the wireless charging control method of the present application is provided. Based on the foregoing fig. 6, in this embodiment, the step S10 includes:

step S101, controlling a millimeter wave radar to collect real-time coordinate information of the vehicle-mounted equipment according to a preset time interval according to a received offset detection instruction to obtain at least two pieces of real-time coordinate information and moving speed; the at least two pieces of real-time coordinate information comprise first current real-time coordinate information and at least one piece of historical real-time coordinate information;

in this embodiment, the millimeter wave radar may detect the object by receiving an echo signal of the detected object, and may obtain real-time coordinate information and a moving speed of the detected object by analyzing a time difference and a phase difference between the transmission signal and the echo signal. For example, the millimeter Wave Radar may use TI's 77GHz high-precision millimeter Wave Radar chips AWR1x and IWR1x, an integrated single-chip millimeter Wave sensor capable of operating in a 76-81GHz band and based on FMCW (Frequency Modulated Continuous Wave Radar) Radar technology, have a Continuous Frequency Modulated pulse up to 4GHz, detect an object with a distance resolution of 5 cm, an antenna viewing angle ± 60 °, an angular resolution of about 15 °, and a distance detection precision within a range of 6 meters up to 5 cm.

Specifically, when the vehicle-mounted device enters a parking space where the ground device is installed at a certain speed, the control device 40 controls the millimeter wave radar to collect real-time coordinate information of the vehicle-mounted device, that is, current coordinate information of the vehicle-mounted device, according to a preset time interval. The current real-time coordinate information may be real-time coordinate information being collected by the millimeter wave radar, or may be real-time coordinate information that has been collected by the millimeter wave radar but has not been collected for a next preset time interval. The historical real-time coordinate information may be real-time coordinate information that has been collected by the millimeter wave radar. The preset time interval may be 0.1S, which is not limited in this embodiment.

After the millimeter wave radar acquires the real-time coordinate information of the vehicle-mounted device, the moving speed of the vehicle-mounted device can be obtained based on the real-time coordinate information. And if the real-time coordinate information is acquired according to the first preset time interval and the second preset time interval, the displacement between the real-time coordinate information and the second preset time interval is obtained by dividing the cycle time by the displacement according to vector calculation, and the moving speed of the vehicle-mounted equipment is obtained.

Step S102, obtaining a driving track curve of the vehicle-mounted equipment according to at least one piece of historical real-time coordinate information and the moving speed;

step S103, according to the driving track curve, theoretical coordinate information corresponding to the current time is obtained through prediction;

in the embodiment of the application, when the vehicle-mounted device is close to a parking space provided with the ground device, because the vehicle-mounted device is far away from the ground device at the moment, in order to reduce errors in acquiring the real-time offset distance between the vehicle-mounted device and the ground device, after at least one piece of historical real-time coordinate information and moving speed of the vehicle-mounted device are acquired, the at least one piece of historical real-time coordinate information and moving speed of the vehicle-mounted device are led into computer software, and the real-time coordinate information of the vehicle-mounted device entering a warehouse is obtained through software calculation to perform curve simulation, so that a driving track curve of the vehicle-mounted device is obtained.

Specifically, after the driving trajectory curve of the vehicle-mounted device is obtained, the coordinate information of the vehicle-mounted device at the current preset time interval point, that is, the theoretical coordinate information corresponding to the current time of the vehicle-mounted device, can be obtained by prediction according to the moving speed of the vehicle-mounted device and the preset time interval.

S104, determining the error distance of the first current real-time coordinate information relative to the theoretical coordinate information;

and S105, if the error distance is smaller than a preset error threshold, obtaining the real-time offset distance according to the first current real-time coordinate information and the fixed coordinate information of the ground equipment.

In this embodiment of the present application, the error distance may be a relative distance between the first current real-time coordinate information and the theoretical coordinate information; the preset error threshold may be a maximum relative distance between the first current real-time coordinate information and the theoretical coordinate information.

In an example, when an error distance between the theoretical coordinate information and the first current real-time coordinate information is smaller than a preset error threshold, a real-time offset distance between the vehicle-mounted device and the ground device is determined according to the first current real-time coordinate information and the coordinate information of the ground device. In another example, if the error distance between the theoretical coordinate information and the first current real-time coordinate information is greater than a preset error threshold, filtering the current first real-time coordinate information by using kalman filtering according to the principle that the vehicle-mounted device is unlikely to suddenly change in the travel track, and controlling the millimeter wave radar to acquire new first current real-time coordinate information of the vehicle-mounted device at a next preset time interval point.

In the embodiment, the running track curve of the vehicle-mounted device is obtained through the real-time coordinate information and the moving speed of the vehicle-mounted device, the theoretical coordinate information corresponding to the vehicle-mounted device at the current time is determined based on the running track curve, and meanwhile, the millimeter wave radar acquires the first current real-time coordinate information corresponding to the vehicle-mounted device at the current time. Whether the first current real-time coordinate information corresponding to the current time is effective real-time coordinate information is determined by judging the error distance between the first real-time coordinate information and the theoretical coordinate and the size of a preset error threshold value, so that when equipment enters a parking space provided with ground equipment, the calculation error between vehicle-mounted equipment and the ground equipment can be reduced.

Further, as an embodiment, referring to fig. 7, a third embodiment of the wireless charging control method of the present application is provided. Based on the embodiment shown in fig. 7, in this embodiment, after step S105, the method further includes:

step S1051, if the real-time offset distance is detected to be smaller than a preset overlap threshold value, controlling a plurality of millimeter wave radars to cascade to form an MIMO antenna array;

in this embodiment of the application, the preset overlap threshold may be a relative distance between the vehicle-mounted device and the ground device in an overlap state after the vehicle-mounted device enters a parking space where the ground device is installed.

Specifically, after the vehicle-mounted equipment enters the parking space, the vehicle-mounted equipment and the ground equipment start to enter an overlapping state, and due to the fact that the real-time offset distance between the vehicle-mounted equipment and the ground equipment is small at the moment, a proper reference point is difficult to find by adopting a 60G/77G millimeter wave radar for distance measurement and speed measurement, and the distance and the speed of the vehicle cannot be directly measured. At the moment, the radar chips in the millimeter wave radar can be cascaded to form a radar chip cascade system, the antennas of the receiving and transmitting antenna array are arranged to form a large array antenna framework, a single chip receiving and transmitting channel is increased, and the resolution of horizontal and vertical angle detection is enhanced.

For example, taking the cascade connection of four millimeter wave radars AWR1243 of TI as an example, the millimeter wave radar module is formed by cascading four 3-transmission and 4-reception 77GHz millimeter wave radar chips AWR1243 to form 12 transmitting antennas, 16 receiving antennas, and an MIMO (Multiple-Input Multiple-Output) antenna array equivalent to 192 antennas, so that the angular resolution of 0.6 degree can be realized.

Step S1052, acquiring point cloud data of the bottom of the vehicle, which are acquired by the MIMO antenna array;

step S1053, determining outline point cloud data of the vehicle-mounted equipment from the point cloud data;

step S1054, determining second current real-time coordinate information of the vehicle-mounted equipment according to the contour point cloud data of the vehicle-mounted equipment;

and S1055, obtaining the real-time offset distance according to the second current real-time coordinate information and the fixed coordinate information of the ground equipment.

In this embodiment, the point data set on the surface of the object appearance measured by the measuring device may be referred to as point cloud data. The point cloud data is a set of points obtained after obtaining the spatial coordinates of each sampling point on the surface of the object, and is also called a mass point set of the surface characteristics of the target object.

The MIMO antenna array is a radar system that detects characteristic quantities such as a position, a speed, and the like of a target by transmitting a millimeter wave signal. The working principle is that mutually orthogonal detection signals, such as millimeter waves, are simultaneously transmitted to the bottom of the vehicle. The received signal reflected from the bottom of the vehicle, such as the target echo, is compared with the transmitted signal, and after appropriate processing, the relevant information of the bottom of the vehicle, such as the distance, the direction, the height, the attitude and even the state of the bottom of the vehicle, is obtained.

Specifically, when the MIMO antenna array scans millimeter waves according to the outline of the bottom of the vehicle, reflected millimeter wave information is recorded while scanning, and after the MIMO antenna array is formed by cascading a plurality of millimeter wave radars, 5 ten thousand points can be generated in one second, so that a large amount of millimeter wave information can be obtained in the scanning process, and further, original point cloud data, namely point cloud data of the bottom of the vehicle, is formed. And finally, determining the outline point cloud data of the vehicle-mounted equipment from the point cloud data at the bottom of the vehicle through a high-precision algorithm, and determining second current real-time coordinate information of the vehicle-mounted equipment according to the outline point cloud data of the vehicle-mounted equipment, so that the real-time offset distance between the vehicle-mounted equipment and the ground equipment after the vehicle-mounted equipment enters a parking space is determined according to the second current real-time coordinate information and the fixed coordinate information of the ground equipment.

In this embodiment, when the vehicle-mounted device enters a parking space and the vehicle-mounted device and the ground device enter an overlapping state, the multiple millimeter wave radars are controlled to be cascaded to form the MIMO antenna array. When mutually orthogonal signals are transmitted to the bottom of a vehicle through the MIMO antenna array, fifty thousand points can be generated at the bottom of the vehicle within one second, higher angular resolution can be provided, vehicle-mounted equipment can be detected in the horizontal direction and the vertical direction, and more accurate azimuth information is further provided.

As an embodiment, in a specific implementation, after the charging between the vehicle-mounted device and the ground device is stopped, in order to reduce consumption of resources, after step S40 in this embodiment, the method may further include:

if a charging stop signal is received, the millimeter wave radar is controlled to stop collecting the biological signals

In this embodiment, after the vehicle-mounted device stops charging based on the received charging stop instruction, the ground device may directly acquire the charging stop signal of the vehicle-mounted device and the ground device. When the ground equipment acquires the charging stop signal, the control device controls the millimeter wave radar to stop acquiring the biological signal and enters a dormant state, so that the consumption of energy resources is reduced under the condition that the vehicle-mounted equipment and the ground equipment stop charging.

In addition, an embodiment of the present application further provides a computer storage medium, where a wireless charging control program is stored on the storage medium, and the wireless charging control program, when executed by a processor, implements the steps of the wireless charging control method as described above. Therefore, a detailed description thereof will be omitted. In addition, the beneficial effects of the same method are not described in detail. For technical details not disclosed in embodiments of the computer-readable storage medium referred to in the present application, reference is made to the description of embodiments of the method of the present application. It is determined that, by way of example, the program instructions may be deployed to be executed on one computing device or on multiple computing devices at one site or distributed across multiple sites and interconnected by a communication network.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.

It should be noted that the above-described embodiments of the apparatus are merely schematic, where units illustrated as separate components may or may not be physically separate, and components illustrated as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiments of the apparatus provided in the present application, the connection relationship between the modules indicates that there is a communication connection therebetween, and may be implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that the present application can be implemented by software plus necessary general-purpose hardware, and certainly can also be implemented by special-purpose hardware including special-purpose integrated circuits, special-purpose CPUs, special-purpose memories, special-purpose components and the like. Generally, functions performed by computer programs can be easily implemented by corresponding hardware, and specific hardware structures for implementing the same functions may be various, such as analog circuits, digital circuits, or dedicated circuits. However, for the present application, the implementation of a software program is more preferable. Based on such understanding, the technical solutions of the present application or portions contributing to the prior art may be embodied in the form of a software product, where the computer software product is stored in a readable storage medium, such as a floppy disk, a usb disk, a removable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the method of the embodiments of the present application.

The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.

Claims

1. A wireless charging control method, the method comprising:

2. The wireless charging control method according to claim 1, wherein the controlling the real-time offset distance between the millimeter wave radar acquisition vehicle-mounted device and the ground device according to the received offset detection instruction comprises:

controlling a millimeter wave radar to acquire real-time coordinate information of the vehicle-mounted equipment according to a received offset detection instruction and a preset time interval to obtain at least two pieces of real-time coordinate information and moving speed; the at least two pieces of real-time coordinate information comprise first current real-time coordinate information and at least one piece of historical real-time coordinate information;

3. The wireless charging control method according to claim 2, wherein if the error distance is smaller than a preset error threshold, after the real-time offset distance is obtained according to the first current real-time coordinate information and the fixed coordinate information of the ground device, the method further comprises:

determining vehicle-mounted equipment outline point cloud data from the point cloud data;

4. The wireless charging control method according to claim 1, wherein, after generating a charging stop control instruction and transmitting the charging stop control instruction to the vehicle-mounted device if the millimeter wave detects a biosignal, the method further comprises:

and if the charging stop signal is received, controlling the millimeter wave radar to stop collecting the biological signals.

5. The wireless charge control method according to any one of claims 1 to 4, wherein the millimeter wave radar includes any one of a 60G millimeter wave radar, a 77G millimeter wave radar, or a 79G millimeter wave radar.

6. A wireless charging control system is characterized by comprising vehicle-mounted equipment, ground equipment, at least one millimeter wave radar and a control device, wherein the vehicle-mounted equipment is fixedly arranged on an automobile, and the ground equipment is fixedly arranged on a parking space;

control apparatus comprising a processor, a memory and a wireless charging control program stored in the memory, the wireless charging control program when executed by the processor implementing the steps of the wireless charging control method according to any one of claims 1 to 5.

7. The wireless charging control system according to claim 6, wherein the millimeter wave radar device is provided in an in-vehicle device; or

The millimeter wave radar equipment is arranged in the ground equipment.

8. The wireless charging control system of claim 6, wherein the millimeter wave radar comprises two first millimeter wave radars and two second millimeter wave radars;

9. The wireless charging control system of claim 8, wherein two of the first millimeter wave radars and two of the second millimeter wave radars are cascaded to form a MIMO antenna array.

10. A computer-readable storage medium, wherein a wireless charging control program is stored thereon, and when executed by a processor, implements the wireless charging control method of any one of claims 1-5.