WO2017197919A1 - 一种无线充电定位方法、装置、系统及电动汽车 - Google Patents

一种无线充电定位方法、装置、系统及电动汽车 Download PDF

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Publication number
WO2017197919A1
WO2017197919A1 PCT/CN2017/071442 CN2017071442W WO2017197919A1 WO 2017197919 A1 WO2017197919 A1 WO 2017197919A1 CN 2017071442 W CN2017071442 W CN 2017071442W WO 2017197919 A1 WO2017197919 A1 WO 2017197919A1
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WO
WIPO (PCT)
Prior art keywords
wireless charging
receiving end
image information
transmitting end
camera
Prior art date
Application number
PCT/CN2017/071442
Other languages
English (en)
French (fr)
Inventor
张永亮
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中兴通讯股份有限公司
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Filing date
Publication date
Application filed by 中兴通讯股份有限公司 filed Critical 中兴通讯股份有限公司
Publication of WO2017197919A1 publication Critical patent/WO2017197919A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations

Definitions

  • Embodiments of the present invention relate to the field of wireless charging technologies, and in particular, to a wireless charging positioning method, apparatus, system, and electric vehicle.
  • wireless charging technology has attracted much attention with its unique advantages.
  • the charging is positioned in such a way that the driver observes the identification of the transmitting end through the camera, and stops the car to a specific position to be charged. This method requires the driver to accurately judge the parking position, which is greatly influenced by human factors and the positioning accuracy is poor.
  • the embodiment of the invention provides a wireless charging positioning method, device, system and electric vehicle, which automatically adjusts the wireless charging receiving end through dynamic image information, so that the receiving end accurately matches the transmitting end in close proximity, thereby improving the charging success rate and further improving user experience.
  • a wireless charging and positioning method including:
  • the step of dynamically acquiring image information of the wireless charging transmitter includes:
  • the plurality of cameras include at least a first camera and a second camera; the first camera performs feature extraction and matching on the acquired image to determine a target object and dynamically recognizes the tracking; and the second camera performs dark in image capturing. Light compensation, and infrared detection and depth of field discrimination are performed on the target object.
  • the step of adjusting the location of the wireless charging receiving end according to the image information, and performing charging and positioning of the wireless charging receiving end and the wireless charging transmitting end includes:
  • the position of the wireless charging receiving end is adjusted until the charging matching position with the wireless charging transmitting end is reached.
  • the step of displaying the movable prompt box of the adjustment bracket of the wireless charging receiving end and the image of the wireless charging transmitting end comprises:
  • adjusting the position of the wireless charging receiving end until reaching the wireless charging transmission include:
  • the steps of satisfying the third threshold include:
  • Adjusting the position according to the target adjusting the position of the wireless charging receiving end in the horizontal direction.
  • the step of adjusting the location of the wireless charging receiving end until the charging matching position with the wireless charging transmitting end is reached further includes:
  • One of the plurality of cameras is fixedly disposed on the chassis of the automobile, and the wireless charging reception is adjusted according to the edge sharpness characteristic value of the image information and the relative position of the camera fixedly disposed on the chassis of the automobile and the camera disposed on the adjustment bracket. a position of the end until the edge sharpness feature value satisfies a fourth threshold and the magnetic value of the wireless charging receiving end satisfies a fifth threshold value.
  • a wireless charging and positioning device including:
  • the adjusting module is configured to adjust a position of the wireless charging receiving end according to the image information, and perform charging and positioning of the wireless charging receiving end and the wireless charging transmitting end.
  • the acquiring module is further configured to acquire image information of the wireless charging transmitting end collected by a plurality of preset cameras; wherein
  • the plurality of cameras include at least a first camera and a second camera; the first camera performs feature extraction and matching on the acquired image to determine a target object and dynamically recognizes the tracking; and the second camera performs dark in image capturing. Light compensation, and infrared detection and depth of field discrimination are performed on the target object.
  • the adjusting module includes:
  • a display sub-module configured to display, according to the image information collected by the plurality of cameras, a movable prompt box of the adjustment bracket of the wireless charging receiving end and an image of the wireless charging transmitting end;
  • the adjustment submodule is configured to adjust the position of the wireless charging receiving end when the image of the wireless charging transmitting end is located in the movable prompting frame until reaching a charging matching position with the wireless charging transmitting end.
  • the display submodule includes:
  • a first acquiring unit configured to acquire image information of a wireless charging transmitting end in the image information collected by the camera
  • a processing unit configured to analyze image information of the wireless charging transmitting end, determine first position information of a camera disposed on the adjusting bracket relative to the wireless charging transmitting end, and display ratio of a movable prompt frame of the adjusting bracket ;
  • a second acquiring unit configured to acquire second position information of a movable range of the camera disposed on the adjustment bracket relative to the adjustment bracket;
  • a determining unit configured to determine, according to the first location information, the second location information, and the display ratio, a position and a size of the movable prompt frame of the adjustment bracket relative to the wireless charging transmitting end on the display interface ;
  • a display unit configured to display the movable prompt frame and the image of the wireless charging transmitter on the display interface.
  • the adjustment submodule includes:
  • a first adjusting unit configured to adjust parallelism of the wireless charging receiving end and the wireless charging transmitting end according to the multi-point tilting information of the wireless charging transmitting end of the image information, until the parallelism satisfies a first threshold;
  • a second adjusting unit configured to adjust a position of the wireless charging receiving end in a vertical direction according to the distance information between the wireless charging receiving end and the wireless charging transmitting end in the image information, until the wireless charging receiving end and the wireless The relative distance of the charging transmitting end meets a second threshold;
  • a third adjusting unit configured to adjust a position of the wireless charging receiving end in a horizontal direction according to relative position information of the first calibration reference point of the wireless charging transmitting end and the second calibration reference point of the wireless charging receiving end in the image information Until the magnetic value of the wireless charging receiving end satisfies a third threshold.
  • the third adjusting unit includes:
  • a recording subunit configured to move the adjustment bracket a plurality of times in a horizontal direction, and record the current second calibration reference point and the first calibration reference point when the magnetic value sensed by the magnetic sensor of the wireless charging receiving end meets a third threshold Relative position information
  • Determining a subunit configured to determine a position of the second calibration reference point corresponding to the magnetic value of the comparison result that is smaller than a preset comparison value as the target adjustment position
  • the adjustment subunit is configured to adjust a position according to the target, and adjust a position of the wireless charging receiving end in a horizontal direction.
  • the adjusting submodule further includes:
  • a fourth adjusting unit configured to fix one of the plurality of cameras to be disposed on the chassis of the automobile, according to an edge sharpness characteristic value of the image information, and a camera fixedly disposed on the chassis of the automobile and a camera disposed on the adjusting bracket The position of the wireless charging receiving end is adjusted until the edge sharpness characteristic value satisfies a fourth threshold and the magnetic value of the wireless charging receiving end satisfies a fifth threshold.
  • a wireless charging and positioning system comprising the wireless charging and positioning device as described above.
  • the wireless charging and positioning system further includes:
  • a camera connected to the wireless charging and positioning device and configured to collect image information of a wireless charging transmitting end
  • a motor connected to the wireless charging and positioning device and configured to adjust a position of the wireless charging receiving end
  • a display connected to the wireless charging and positioning device and configured to be displayed.
  • an electric vehicle comprising the wireless charging and positioning system as described above.
  • a storage medium is also provided.
  • the storage medium is arranged to store program code for performing the following steps:
  • the image information of the wireless charging transmitting end is dynamically acquired first, and then the relative position information of the wireless charging receiving end and the wireless charging transmitting end is grasped according to the acquired image information, thereby adjusting the wireless charging reception.
  • the position of the end enables the wireless charging receiving end to achieve close-range matching of the wireless charging transmitting end and complete charging positioning.
  • Adaptively adjust the position of the wireless charging receiver through dynamic image information to enable wireless charging The receiving end and the wireless charging transmitting end are accurately matched in close proximity, and the charging positioning mode is realized, which has greater flexibility, higher positioning accuracy, improved charging success rate, and improved user experience.
  • FIG. 1 is a flow chart of steps of a wireless charging positioning method according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of camera ranging
  • FIG. 3 is a first flowchart of a specific step of a wireless charging and positioning method according to an embodiment of the present invention
  • Figure 4 is a schematic view showing the movement range of the adjustment bracket
  • FIG. 5 is a second flowchart of a specific step of a wireless charging and positioning method according to an embodiment of the present invention.
  • FIG. 6 is a third flowchart of a specific step of a wireless charging and positioning method according to an embodiment of the present invention.
  • FIG. 7 is a structural diagram of a wireless charging and positioning device according to an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of a wireless charging and positioning system according to an embodiment of the present invention.
  • the charging positioning only relies on the driver's judgment on the parking charging position, and is affected by the human factor and the accuracy is poor, and provides a wireless charging positioning method through dynamic image information pairing.
  • the wireless charging receiving end automatically adjusts, so that the receiving end accurately matches the transmitting end in close proximity, thereby improving the charging success rate, thereby improving the user experience.
  • a wireless charging and positioning method includes:
  • Step 101 Dynamically acquire image information of a wireless charging transmitter
  • Step 102 Adjust a location of the wireless charging receiving end according to the image information, and perform charging and positioning of the wireless charging receiving end and the wireless charging transmitting end.
  • the wireless charging receiving end is disposed on the electric vehicle chassis and is movable, and the electric vehicle is further provided with an image collecting device, and when the electric vehicle travels to the vicinity of the wireless charging transmitting end, the image collecting device can be collected by the image collecting device.
  • Image information to the wireless charging transmitter Therefore, in the positioning, as in step 101, the image information of the wireless charging transmitting end is dynamically acquired first, and then, according to the obtained image information, the relative position information of the wireless charging receiving end and the wireless charging transmitting end are grasped after the analysis and processing, Thereby, the position of the wireless charging receiving end is adjusted, so that the wireless charging receiving end can realize the close-range matching of the wireless charging transmitting end to complete the charging positioning.
  • the dynamic image information is used to adaptively adjust the position of the wireless charging receiving end, so that the wireless charging receiving end and the wireless charging transmitting end are accurately matched in close proximity, and the charging positioning mode is realized, which has greater flexibility and positioning accuracy. Higher, increasing the charging success rate and improving the user experience.
  • step 101 includes:
  • the plurality of cameras include at least a first camera and a second camera; the first camera performs feature extraction and matching on the acquired image to determine a target object and dynamically recognizes the tracking; and the second camera performs dark in image capturing. Light compensation, and infrared detection and depth of field discrimination are performed on the target object.
  • the first camera performs color image recording, and features feature extraction and matching to determine the target object after dynamic recognition tracking.
  • the target object is a wireless charging transmitter
  • the feature recognition category includes but is not limited to: an icon on the wireless charging transmitter, wireless charging transmission The outer contour of the end or the metal coil sensing area of the wireless charging transmitter.
  • the second camera can perform dark light compensation in image acquisition, and perform infrared detection and depth of field discrimination on the target object.
  • the dark light compensation can be used to enhance the sharpness of the image of the wireless charging transmitting end in the dark light environment of the car.
  • the depth of field discrimination is used to eliminate the background of the wireless charging transmitting end to highlight the observation target, and the infrared detection includes the infrared laser to the wireless charging transmitting end. Identification, infrared ranging, etc.
  • the infrared distance measurement of the camera is shown in Figure 2.
  • the camera 1 (including the first camera and the second camera) is disposed on the wireless charging receiving end 2. Since the distance between the two cameras is relatively close, the viewing area is the A area.
  • the measured distance from a point B on the wireless charging transmitter 3 to the two cameras is H and H', respectively.
  • the image information collected by the camera is analyzed and processed, and information such as clear images, features, and distances of the wireless charging transmitter required for determining the position of the final wireless charging receiving end can be obtained.
  • the wireless charging transmitting end includes a primary coil
  • the wireless charging receiving end includes a secondary coil
  • the wireless charging transmitting end charges and locates the wireless charging receiving end, mainly to bring the primary coil and the secondary coil to a matching position.
  • the wireless charging receiving end is disposed on the chassis of the automobile through the movable adjusting bracket thereof, and the wireless charging receiving end of the adjusting bracket can realize the horizontal direction of the front, Rear, left, right, and vertical up and down movement.
  • the movement of the wireless charging receiving end with the adjustment bracket is often limited by the structure and can only be moved within a certain range. Therefore, in order to facilitate more accurate positioning by adjusting the movement of the bracket in the later stage, when the parking is required, the wireless charging transmitting end is at Adjust the movement area of the bracket. Therefore, as shown in FIG. 3, step 102 includes:
  • Step 1021 Display, according to the image information collected by the plurality of cameras, a movable prompt box of the adjustment bracket of the wireless charging receiving end and an image of the wireless charging transmitting end;
  • Step 1022 When the image of the wireless charging transmitter is located in the movable prompt box, adjust the position of the wireless charging receiving end until the charging matching position with the wireless charging transmitting end is reached.
  • the analysis and processing are first performed according to image information collected by a plurality of cameras.
  • the movable prompt frame of the adjusting bracket and the image of the wireless charging transmitting end are displayed.
  • the movable prompt frame and the image of the wireless charging transmitter are displayed on the display interface of the cockpit, and the driver can observe and observe through the image of the display interface, and determine that the wireless charging transmitting end falls within the movable range of the wireless charging receiving end and then stops. car.
  • the position of the wireless charging transmitting end is adjusted more precisely by adjusting the bracket until the charging matching position with the wireless charging transmitting end is reached.
  • the center point of the adjustment bracket 4 (the position of the overlapping magnetic sensor 5) is set to the original coordinate point O(x, y), which is limited by the structure, and the maximum movement of the center point from the initial state of the figure can be achieved.
  • the coordinate point O'(x', y') therefore, the adjustment bracket 4 can be moved within the range of ⁇ x, ⁇ y, and the actual movement range of the adjustment bracket 4 is the C area enclosed by the broken line frame.
  • step 1021 includes:
  • Step 10211 Acquire image information of a wireless charging transmitter in the image information collected by the camera.
  • Step 10212 analyzing image information of the wireless charging transmitting end, determining first position information of the camera disposed on the adjusting bracket relative to the wireless charging transmitting end, and displaying a display ratio of the movable prompt frame of the adjusting bracket;
  • Step 10213 determining, according to the first location information, the second location information, and the display ratio, a position and a size of the movable prompt frame of the adjustment bracket relative to the wireless charging transmitting end on the display interface;
  • Step 10214 Display the movable prompt frame and the image of the wireless charging transmitter on the display interface.
  • the image of the wireless charging transmitting end can obtain the image information of the wireless charging transmitting end through the image information collected by the camera, such as feature extraction, image recognition, and cutting out the image of the wireless charging transmitting end and directly displaying the image.
  • the movable prompt box needs to capture the position of the wireless charging transmitting end, and the secondary coil on the wireless charging receiving end and the magnetic sensor disposed on the secondary coil capture current or sense magnetic force, triggering the display to display.
  • At least one camera in the embodiment of the invention is disposed on the adjustment bracket Therefore, after analyzing the position information and the display ratio of the camera relative to the wireless charging transmitting end through the collected image information, since the position of the camera on the adjusting bracket is fixed, the system can record the adjusting bracket after each movement. In the position within the range of movement, and in combination with the second position information of the camera relative to the movable range of the adjustment bracket, the position of the movable cue box corresponding to the wireless charging transmitting end can be determined. Finally, the images of the movable prompt box and the wireless charging transmitter are displayed on the display interface.
  • step 1022 includes:
  • Step 10221 Adjust parallelism between the wireless charging receiving end and the wireless charging transmitting end according to the multi-point tilt information of the wireless charging transmitting end of the image information, until the parallelism satisfies a first threshold;
  • Step 10222 Adjust a position of the wireless charging receiving end in a vertical direction according to the distance information between the wireless charging receiving end and the wireless charging transmitting end in the image information, until the wireless charging receiving end is opposite to the wireless charging transmitting end. The distance satisfies the second threshold;
  • Step 10223 adjusting the position of the wireless charging receiving end in the horizontal direction according to the relative position information of the first calibration reference point of the wireless charging transmitting end and the second calibration reference point of the wireless charging receiving end in the image information until the The magnetic value of the wireless charging receiving end satisfies a third threshold.
  • the first step according to the wireless charging emission in the collected image information
  • the multi-point tilt information of the end adjusts the parallelism between the wireless charging receiving end and the wireless charging transmitting end to meet the first threshold by moving the adjusting bracket, and ensures that the primary coil on the wireless charging transmitting end and the secondary coil on the wireless charging receiving end are in relative balance
  • the second step is to adjust the vertical movement of the adjustment bracket according to the distance information between the wireless charging receiving end and the wireless charging transmission in the collected image information, so that the relative distance between the wireless charging receiving end and the wireless charging transmitting end satisfies the second Threshold to ensure that the wireless charging receiver
  • the optimal distance is close to the transmitting board; in the third step, the adjusting bracket level is adjusted according to the relative position information of the first calibration reference point of the selected wireless charging transmitting end and the second calibration reference point of the wireless charging receiving end.
  • step 10223 includes:
  • Step 102231 moving the adjustment bracket multiple times in the horizontal direction, and recording the relative position of the current second calibration reference point and the first calibration reference point when the magnetic value sensed by the magnetic sensor of the wireless charging receiving end meets the third threshold. information
  • Step 102232 Acquire an average value of recorded magnetic values that satisfy a third threshold
  • Step 102233 determining that the position of the second calibration reference point corresponding to the magnetic value of the comparison result smaller than a preset comparison value is the target adjustment position compared with the average value;
  • Step 102234 Adjust a position of the wireless charging receiving end in a horizontal direction according to the target adjustment position.
  • the adjustment bracket is moved in the horizontal direction for a preset number of times.
  • the movement is not arbitrary, and a better movement scheme can be determined according to the previous adjustment record, so that the magnetic force can reach the threshold requirement more quickly.
  • the relative position information of the second calibration reference point and the first calibration reference point on the wireless charging receiving end is preferably a position of the camera disposed at the wireless charging receiving end, and when the second calibration reference point is not the position of the camera, the second position is determined by the relative position of the second calibration reference point and the camera. The relative position information of the calibration reference point and the first calibration reference point.
  • the average value of the recorded magnetic force values is calculated, and then the recorded magnetic force values are respectively compared with the average value, and the position of the second calibration reference point corresponding to the magnetic value of the comparison result smaller than the preset comparison value is determined as the target adjustment.
  • Position adjust the position according to the target to complete the adjustment of the wireless charging receiving end in the horizontal direction.
  • the wireless charging receiving end realizes movement by adjusting the bracket to perform position adjustment, and the movement of the adjusting bracket is driven by multiple motors, wherein one motor can be realized by a stepping motor, and the gear can be separately or simultaneously
  • the displacement of the two axes of the adjustment bracket horizontal x and y is driven, and the other motor controls to adjust the displacement of the bracket in the vertical direction.
  • the information such as the depth of field and the distance obtained from the acquired image information can also be adjusted by the slider upper and lower weights, supplemented by further transmitting the information driving motor to adjust the parallel of the balanced wireless charging receiving end with respect to the wireless charging transmitting end. degree.
  • step 1022 further includes:
  • One of the plurality of cameras is fixedly disposed on the chassis of the automobile, and the wireless charging reception is adjusted according to the edge sharpness characteristic value of the image information and the relative position of the camera fixedly disposed on the chassis of the automobile and the camera disposed on the adjustment bracket.
  • the wireless charging transmitting end falls within the moving range of the adjusting bracket.
  • the edge sharpness characteristic value of the image information collected by the camera of the fixed domain and the camera of the moving domain satisfies the fourth threshold value can determine whether the distance between the primary coil and the secondary coil in the vertical direction is appropriate.
  • the distance in the vertical direction of the wireless charging receiving end is directly adjusted until the edge sharpness feature value satisfies the fourth threshold. Since the camera of the fixed domain does not change position, based on the position of the camera, the relative position of the two cameras can be calculated according to the difference of the edge sharpness characteristic values of the images acquired by the two cameras, so that the magnetic value is satisfied.
  • the graph acquired at this time The difference between the edge sharpness feature values of the image is used to calculate the relative position of the two cameras, combined with the position of a constant camera, so that the displacement in the horizontal direction of the adjustment bracket can be determined, and finally the matching between the wireless charging receiving end and the wireless charging transmitting end is realized.
  • the camera selected at this time can not have the infrared ranging function, which reduces the manufacturing cost.
  • the wireless charging transmitting end is often provided with obvious markings such as various marking lines.
  • markings such as various marking lines.
  • the edge sharpness characteristic value difference of the image directly observed by the two cameras can be directly used. The value, the optimal coupling point of the primary coil and the secondary coil is calculated, and the adjustment position of the magnetic sensor is no longer combined, which is more suitable for the charging positioning when the magnetic induction fails.
  • the motor of the adjustment bracket is further controlled by a control panel (such as a touchpad), and the touchpad is disposed in the cockpit, and after the driver stops, the wireless charging receiver is viewed through the display interface.
  • a control panel such as a touchpad
  • the touchpad is disposed in the cockpit, and after the driver stops, the wireless charging receiver is viewed through the display interface.
  • the wireless charging and positioning method of the embodiment of the present invention by acquiring the image information of the wireless charging transmitting end, displays the image of the movable prompt box and the wireless charging transmitting end in the cockpit, prompting the driver to stop the vehicle.
  • Adjustable area, and after parking analyze and process according to the collected image information, adaptively adjust the position of the wireless charging receiving end to match the wireless charging transmitting end, and the primary coil and the secondary coil are optimally coupled. Achieve more precise positioning, ensure the success rate of subsequent charging, and enhance the user experience.
  • an embodiment of the present invention further provides a wireless charging and positioning device, including:
  • the obtaining module 701 is configured to dynamically acquire image information of the wireless charging transmitter
  • the adjusting module 702 is configured to adjust a position of the wireless charging receiving end according to the image information, and perform charging and positioning of the wireless charging receiving end and the wireless charging transmitting end.
  • the acquiring module is further configured to acquire image information of the wireless charging transmitting end collected by a plurality of preset cameras;
  • the plurality of cameras include at least a first camera and a second camera; the first camera performs feature extraction and matching on the collected images, and determines a target object after dynamic identification tracking; The second camera performs dark light compensation in image acquisition, and performs infrared detection and depth of field discrimination on the target object.
  • the adjustment module includes:
  • a display sub-module configured to display, according to the image information collected by the plurality of cameras, a movable prompt box of the adjustment bracket of the wireless charging receiving end and an image of the wireless charging transmitting end;
  • the adjustment submodule is configured to adjust the position of the wireless charging receiving end when the image of the wireless charging transmitting end is located in the movable prompting frame until reaching a charging matching position with the wireless charging transmitting end.
  • the display submodule includes:
  • a first acquiring unit configured to acquire image information of a wireless charging transmitting end in the image information collected by the camera
  • a processing unit configured to analyze image information of the wireless charging transmitting end, determine first position information of a camera disposed on the adjusting bracket relative to the wireless charging transmitting end, and display ratio of a movable prompt frame of the adjusting bracket ;
  • a second acquiring unit configured to acquire second position information of a movable range of the camera disposed on the adjustment bracket relative to the adjustment bracket;
  • a determining unit configured to determine, according to the first location information, the second location information, and the display ratio, a position and a size of the movable prompt frame of the adjustment bracket relative to the wireless charging transmitting end on the display interface ;
  • a display unit configured to display the movable prompt frame and the image of the wireless charging transmitter on the display interface.
  • the adjustment submodule includes:
  • a first adjusting unit configured to adjust parallelism of the wireless charging receiving end and the wireless charging transmitting end according to the multi-point tilting information of the wireless charging transmitting end of the image information, until the parallelism satisfies a first threshold;
  • a second adjusting unit configured to set the wireless charging receiving end and the none according to the image information a distance information of the line charging transmitting end, adjusting a position of the wireless charging receiving end in a vertical direction until a relative distance between the wireless charging receiving end and the wireless charging transmitting end meets a second threshold;
  • a third adjusting unit configured to adjust a position of the wireless charging receiving end in a horizontal direction according to relative position information of the first calibration reference point of the wireless charging transmitting end and the second calibration reference point of the wireless charging receiving end in the image information Until the magnetic value of the wireless charging receiving end satisfies a third threshold.
  • the third adjustment unit includes:
  • a recording subunit configured to move the adjustment bracket a plurality of times in a horizontal direction, and record the current second calibration reference point and the first calibration reference point when the magnetic value sensed by the magnetic sensor of the wireless charging receiving end meets a third threshold Relative position information
  • Determining a subunit configured to determine a position of the second calibration reference point corresponding to the magnetic value of the comparison result that is smaller than a preset comparison value as the target adjustment position
  • the adjustment subunit is configured to adjust a position according to the target, and adjust a position of the wireless charging receiving end in a horizontal direction.
  • the adjustment submodule further includes:
  • a fourth adjusting unit configured to fix one of the plurality of cameras to be disposed on the chassis of the automobile, according to an edge sharpness characteristic value of the image information, and a camera fixedly disposed on the chassis of the automobile and a camera disposed on the adjusting bracket The position of the wireless charging receiving end is adjusted until the edge sharpness characteristic value satisfies a fourth threshold and the magnetic value of the wireless charging receiving end satisfies a fifth threshold.
  • the wireless charging and positioning device of the embodiment of the invention prompts the driver to stop the car to the adjustable area by displaying the image of the movable prompt box and the wireless charging transmitting end in the cockpit through the dynamically acquired image information of the wireless charging transmitting end. And after parking, according to the collected image information for analysis and processing, adaptively adjust the position of the wireless charging receiving end to match the wireless charging transmitting end, and the primary coil and the secondary coil are optimally coupled to achieve more precise positioning. To ensure the success rate of subsequent charging and enhance the user experience.
  • the device is a device to which the wireless charging positioning method is applied, and an implementation manner of the embodiment of the wireless charging positioning method is applicable to the device, and the same technical effect can be achieved.
  • an embodiment of the present invention also provides a wireless charging and positioning system including the wireless charging and positioning device as described above.
  • the wireless charging and positioning system further includes:
  • a camera 1 connected to the wireless charging and positioning device and configured to collect image information of the wireless charging transmitting end 3;
  • a motor 6 connected to the wireless charging and positioning device and arranged to adjust a position of the wireless charging receiving end;
  • a display connected to the wireless charging and positioning device and configured to be displayed.
  • the wireless charging and positioning device acquires the image information of the wireless charging transmitting end 3 collected by the camera 1 , and passes the moving range of the adjusting bracket 4 through the movable prompt box and the image of the wireless charging transmitting end 3 . Display on the display interface of the display, prompting the driver to stop the car to an adjustable area.
  • the wireless charging and positioning device performs analysis processing according to the collected image information, and the driving motor 6 drives the adjustment bracket 4 to move, so that the wireless charging receiving end 7 reaches the matching charging position with the wireless charging transmitting end 3, the primary coil 8 and The secondary coil 9 is optimally coupled to achieve more precise positioning, ensuring the success rate of subsequent charging, and improving the user experience.
  • the system is a system to which the above wireless charging positioning method is applied, and the implementation manner of the embodiment of the wireless charging positioning method is applicable to the system, and the same technical effect can be achieved.
  • Embodiments of the present invention also provide an electric vehicle including the wireless charging and positioning system as described above.
  • the electric vehicle acquires the image information of the wireless charging transmitting end collected by the camera through the wireless charging and positioning device in the wireless charging and positioning system, and adjusts the moving range of the bracket through the movable prompt box and the image of the wireless charging transmitting end on the display.
  • Display interface A display is displayed prompting the driver to stop the car to an adjustable area.
  • the wireless charging and positioning device After parking, the wireless charging and positioning device performs analysis processing according to the collected image information, and the driving motor drives the adjustment bracket to move, so that the wireless charging receiving end reaches the matching charging position with the wireless charging transmitting end, and the primary coil and the secondary coil are optimally coupled. To achieve more precise positioning, to ensure the success rate of subsequent charging, and enhance the user experience.
  • the electric vehicle is an electric vehicle to which the above-described wireless charging and positioning method is applied, and the implementation of the embodiment of the wireless charging and positioning method described above is applicable to the electric vehicle, and the same technical effect can be achieved.
  • the modules may be implemented in software for execution by various types of processors.
  • an identified executable code module can comprise one or more physical or logical blocks of computer instructions, which can be constructed, for example, as an object, procedure, or function. Nonetheless, the executable code of the identified modules need not be physically located together, but may include different instructions stored in different bits that, when logically combined, constitute a module and implement the provisions of the module. purpose.
  • the executable code module can be a single instruction or a plurality of instructions, and can even be distributed across multiple different code segments, distributed among different programs, and distributed across multiple memory devices.
  • operational data may be identified within the modules and may be implemented in any suitable form and organized within any suitable type of data structure. The operational data may be collected as a single data set, or may be distributed at different locations (including on different storage devices), and may at least partially exist as an electronic signal on a system or network.
  • the module can be implemented by software, considering the level of the existing hardware process, the module can be implemented in software, and the technician can construct a corresponding hardware circuit to implement the corresponding function without considering the cost.
  • the hardware circuit includes a conventional Very Large Scale Integration (VLSI) circuit or gate array and existing semiconductors such as logic chips, transistors, and the like Or other discrete components.
  • VLSI Very Large Scale Integration
  • the modules can also be implemented with programmable hardware devices such as field programmable gate arrays, programmable array logic, programmable logic devices, and the like.
  • Embodiments of the present invention also provide a storage medium.
  • the foregoing storage medium may be configured to store program code for performing the following steps:
  • Step 101 Dynamically acquire image information of a wireless charging transmitter
  • Step 102 Adjust a location of the wireless charging receiving end according to the image information, and perform charging and positioning of the wireless charging receiving end and the wireless charging transmitting end.
  • the foregoing storage medium may include, but not limited to, a USB flash drive, a Read-Only Memory (ROM), a Random Access Memory (RAM), a mobile hard disk, and a magnetic memory.
  • ROM Read-Only Memory
  • RAM Random Access Memory
  • a mobile hard disk e.g., a hard disk
  • magnetic memory e.g., a hard disk
  • the wireless charging positioning method, the device, the system, and the electric vehicle provided by the embodiments of the present invention have the following beneficial effects: the wireless charging positioning method in the embodiment of the present invention first dynamically acquires the image information of the wireless charging transmitting end, and then According to the acquired image information, the relative position information of the wireless charging receiving end and the wireless charging transmitting end are grasped after analysis and processing, thereby adjusting the position of the wireless charging receiving end, so that the wireless charging receiving end can achieve close-range matching of the wireless charging transmitting end and complete charging. Positioning.
  • the dynamic image information is used to adaptively adjust the position of the wireless charging receiving end, so that the wireless charging receiving end and the wireless charging transmitting end are accurately matched in close proximity, and the charging positioning mode is realized, which has greater flexibility and higher positioning accuracy. Increases the charging success rate and improves the user experience.

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Abstract

一种无线充电定位方法，包括如下步骤：动态获取无线充电发射端（3）的图像信息；根据图像信息，调整无线充电接收端（2）的位置，将无线充电接收端（2）与无线充电发射端（3）进行充电定位。还提供了一种利用该无线充电定位方法的装置、系统及电动汽车。该无线充电定位方法以及利用该无线充电定位方法的装置、系统及电动汽车，通过动态的图像信息对无线充电接收端自动进行调整，解决了目前无线充电定位技术中受人为因素影响大且准确性差的问题，使得接收端准确近距离匹配发射端，提高充电成功率。

Description

一种无线充电定位方法、装置、系统及电动汽车 技术领域
本发明实施例涉及无线充电技术领域，特别是指一种无线充电定位方法、装置、系统及电动汽车。
背景技术
当今世界汽油作为一主要能源应用于各行各业，尤其是随着汽车使用需求的增加，汽车所消耗的汽油也在逐年增加。然而汽油作为一种不可再生能源，其大量消耗已使得人们不得不去面对越来越突出的能源短缺问题。因此，使用新能源作为汽车的动力源已成为一重要研究项目，而电动汽车由于其动力源的可再生性以及排放污染小的优势，已成为其中的佼佼者。
但要保证电动汽车的动力充足，就必须定时或定距离的对汽车进行充电，其中无线充电技术以其独到的优势备受关注。目前的无线充电技术中，充电的定位方式为驾驶员通过摄像头观察到发射端的标识，将汽车停到特定位置才能进行充电。这种方式需要驾驶员对停车位置进行准确的判断，受人为因素影响较大，定位的准确性较差。
发明内容
本发明实施例提供了一种无线充电定位方法、装置、系统及电动汽车，通过动态图像信息对无线充电接收端自动进行调整，使得接收端准确近距离匹配发射端，提高充电成功率，进而提升用户体验。
根据本发明的一个实施例，提供了一种无线充电定位方法，包括：
动态获取无线充电发射端的图像信息；
根据所述图像信息，调整无线充电接收端的位置，将所述无线充电接收端与所述无线充电发射端进行充电定位。
可选地，动态获取无线充电发射端的图像信息的步骤包括：
获取预设置的多个摄像头采集到的所述无线充电发射端的图像信息；其中，
所述多个摄像头至少包括第一摄像头和第二摄像头；所述第一摄像头将采集到的图像进行特征提取和匹配，确定目标对象后动态识别跟踪；所述第二摄像头在图像采集中进行暗光补偿，且对所述目标对象进行红外线探测和景深判别。
可选地，根据所述图像信息，调整无线充电接收端的位置，将所述无线充电接收端与所述无线充电发射端进行充电定位的步骤包括：
根据所述多个摄像头采集的图像信息，显示无线充电接收端的调整支架的可移动提示框以及所述无线充电发射端的图像；
在所述无线充电发射端的图像位于所述可移动提示框内时，调整无线充电接收端的位置，直至达到与所述无线充电发射端的充电匹配位置。
可选地，根据所述多个摄像头采集的图像信息，显示无线充电接收端的调整支架的可移动提示框以及所述无线充电发射端的图像的步骤包括：
获取摄像头采集的图像信息中的无线充电发射端的图像信息；
分析所述无线充电发射端的图像信息，确定设置于所述调整支架上的摄像头相对于所述无线充电发射端的第一位置信息以及所述调整支架的可移动提示框的显示比例；
获取设置于所述调整支架上的摄像头相对于所述调整支架的可移动范围的第二位置信息；
根据所述第一位置信息、所述第二位置信息以及所述显示比例，确定在显示界面上所述调整支架的可移动提示框相对于所述无线充电发射端的位置及大小；
将所述可移动提示框和所述无线充电发射端的图像在显示界面上进行显示。
可选地，调整无线充电接收端的位置，直至达到与所述无线充电发射 端的充电匹配位置的步骤包括：
根据图像信息的所述无线充电发射端的多点倾角信息，调整所述无线充电接收端与所述无线充电发射端的平行度，直至所述平行度满足第一阈值；
根据图像信息中所述无线充电接收端与所述无线充电发射端的距离信息，调整所述无线充电接收端垂直方向的位置，直至所述无线充电接收端与所述无线充电发射端的相对距离满足第二阈值；
根据图像信息中所述无线充电发射端的第一校准参考点和所述无线充电接收端的第二校准参考点的相对位置信息，调整所述无线充电接收端水平方向的位置，直至所述无线充电接收端的磁力值满足第三阈值。
可选地，根据图像信息中第一校准参考点位置和所述无线充电接收端上第二校准参考点位置，调整所述无线充电接收端水平方向的位置，直至所述无线充电接收端的磁力值满足第三阈值的步骤包括：
在水平方向上多次移动所述调整支架，记录所述无线充电接收端的磁感应器感应到的磁力值满足第三阈值时，当前第二校准参考点与第一校准参考点的相对位置信息；
获取已记录的满足第三阈值的磁力值的平均值；
确定与所述平均值比较，比较结果小于一预设比较值的磁力值对应的第二校准参考点的位置为目标调整位置；
根据所述目标调整位置，调整所述无线充电接收端水平方向的位置。
可选地，调整无线充电接收端的位置，直至达到与所述无线充电发射端的充电匹配位置的步骤还包括：
所述多个摄像头中的一摄像头固定设置在汽车底盘上，根据图像信息的边缘锐利度特征值以及固定设置在汽车底盘上的摄像头与设置在调整支架上的摄像头的相对位置，调整无线充电接收端的位置，直至所述边缘锐利度特征值满足第四阈值且所述无线充电接收端的磁力值满足第五阈 值。
根据本发明的另一实施例，还提供了一种无线充电定位装置，包括：
获取模块，设置为动态获取无线充电发射端的图像信息；
调整模块，设置为根据所述图像信息，调整无线充电接收端的位置，将所述无线充电接收端与所述无线充电发射端进行充电定位。
可选地，所述获取模块进一步设置为获取预设置的多个摄像头采集到的所述无线充电发射端的图像信息；其中，
所述多个摄像头至少包括第一摄像头和第二摄像头；所述第一摄像头将采集到的图像进行特征提取和匹配，确定目标对象后动态识别跟踪；所述第二摄像头在图像采集中进行暗光补偿，且对所述目标对象进行红外线探测和景深判别。
可选地，所述调整模块包括：
显示子模块，设置为根据所述多个摄像头采集的图像信息，显示无线充电接收端的调整支架的可移动提示框以及所述无线充电发射端的图像；
调整子模块，设置为在所述无线充电发射端的图像位于所述可移动提示框内时，调整无线充电接收端的位置，直至达到与所述无线充电发射端的充电匹配位置。
可选地，所述显示子模块包括：
第一获取单元，设置为获取摄像头采集的图像信息中的无线充电发射端的图像信息；
处理单元，设置为分析所述无线充电发射端的图像信息，确定设置于所述调整支架上的摄像头相对于所述无线充电发射端的第一位置信息以及所述调整支架的可移动提示框的显示比例；
第二获取单元，设置为获取设置于所述调整支架上的摄像头相对于所述调整支架的可移动范围的第二位置信息；
确定单元，设置为根据所述第一位置信息、所述第二位置信息以及所述显示比例，确定在显示界面上所述调整支架的可移动提示框相对于所述无线充电发射端的位置及大小；
显示单元，设置为将所述可移动提示框和所述无线充电发射端的图像在显示界面上进行显示。
可选地，所述调整子模块包括：
第一调整单元，设置为根据图像信息的所述无线充电发射端的多点倾角信息，调整所述无线充电接收端与所述无线充电发射端的平行度，直至所述平行度满足第一阈值；
第二调整单元，设置为根据图像信息中所述无线充电接收端与所述无线充电发射端的距离信息，调整所述无线充电接收端垂直方向的位置，直至所述无线充电接收端与所述无线充电发射端的相对距离满足第二阈值；
第三调整单元，设置为根据图像信息中所述无线充电发射端的第一校准参考点和所述无线充电接收端的第二校准参考点的相对位置信息，调整所述无线充电接收端水平方向的位置，直至所述无线充电接收端的磁力值满足第三阈值。
可选地，所述第三调整单元包括：
记录子单元，设置为在水平方向上多次移动所述调整支架，记录所述无线充电接收端的磁感应器感应到的磁力值满足第三阈值时，当前第二校准参考点与第一校准参考点的相对位置信息；
获取子单元，设置为获取已记录的满足第三阈值的磁力值的平均值；
确定子单元，设置为确定与所述平均值比较，比较结果小于一预设比较值的磁力值对应的第二校准参考点的位置为目标调整位置；
调整子单元，设置为根据所述目标调整位置，调整所述无线充电接收端水平方向的位置。
可选地，所述调整子模块还包括：
第四调整单元，设置为所述多个摄像头中的一摄像头固定设置在汽车底盘上，根据图像信息的边缘锐利度特征值以及固定设置在汽车底盘上的摄像头与设置在调整支架上的摄像头的相对位置，调整无线充电接收端的位置，直至所述边缘锐利度特征值满足第四阈值且所述无线充电接收端的磁力值满足第五阈值。
根据本发明的另一实施例，还提供了一种无线充电定位系统，包括如上所述的无线充电定位装置。
可选地，所述无线充电定位系统还包括：
与所述无线充电定位装置连接、设置为采集无线充电发射端的图像信息的摄像头；
与所述无线充电定位装置连接、设置为调整无线充电接收端位置的马达；
与所述无线充电定位装置连接、设置为显示的显示器。
根据本发明的另一实施例，还提供了一种电动汽车，包括如上所述的无线充电定位系统。
根据本发明的又一个实施例，还提供了一种存储介质。该存储介质设置为存储用于执行以下步骤的程序代码：
动态获取无线充电发射端的图像信息；
根据所述图像信息，调整无线充电接收端的位置，将所述无线充电接收端与所述无线充电发射端进行充电定位。
本发明实施例的上述技术方案的有益效果如下：
本发明实施例的无线充电定位方法，先动态获取无线充电发射端的图像信息，然后根据获取到的图像信息，分析处理后掌握无线充电接收端和无线充电发射端的相对位置信息，从而调整无线充电接收端的位置，使该无线充电接收端能够实现近距离匹配无线充电发射端，完成充电定位。通过动态的图像信息去自适应的调整无线充电接收端的位置，以使无线充电 接收端和无线充电发射端近距离准确匹配，实现充电定位的方式，具有更大的灵活性，定位准确性更高，提高了充电成功率，提升了用户体验。
附图说明
此处所说明的附图用来提供对本发明的进一步理解，构成本申请的一部分，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1为本发明实施例的无线充电定位方法的步骤流程图；
图2为摄像头测距示意图；
图3为本发明实施例的无线充电定位方法的具体步骤流程图一；
图4为调整支架的移动范围示意图；
图5为本发明实施例的无线充电定位方法的具体步骤流程图二；
图6为本发明实施例的无线充电定位方法的具体步骤流程图三；
图7为本发明实施例的无线充电定位装置的结构图；
图8为本发明实施例的无线充电定位系统的结构示意图。
具体实施方式
下文中将参考附图并结合实施例来详细说明本发明。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。
需要说明的是，本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。
本发明实施例针对目前的无线充电技术中，充电定位仅依靠驾驶员对停车充电位置的判断，受人为因素影响大且准确性差的问题，提供一种无线充电定位方法，通过动态的图像信息对无线充电接收端自动进行调整，使得接收端准确近距离匹配发射端，提高充电成功率，进而提升用户体验。
如图1所示，本发明实施例的一种无线充电定位方法，包括：
步骤101，动态获取无线充电发射端的图像信息；
步骤102，根据所述图像信息，调整无线充电接收端的位置，将所述无线充电接收端与所述无线充电发射端进行充电定位。
本发明的实施例中，无线充电接收端设置在电动汽车底盘上且可移动，电动汽车上还设置有图像采集装置，在电动汽车行驶到无线充电发射端附近时，即可通过图像采集装置采集到无线充电发射端的图像信息。因此，在定位时，如步骤101，先动态获取无线充电发射端的图像信息，然后如步骤102，根据获取到的图像信息，分析处理后就掌握无线充电接收端和无线充电发射端的相对位置信息，从而调整无线充电接收端的位置，使该无线充电接收端能够实现近距离匹配无线充电发射端，完成充电定位。这种通过动态的图像信息去自适应的调整无线充电接收端的位置，以使无线充电接收端和无线充电发射端近距离准确匹配，实现充电定位的方式，具有更大的灵活性，定位准确性更高，提高了充电成功率，提升了用户体验。
考虑到图像采集技术的成熟以及应用便利性等因素，图像采集装置优选用摄像头实现。而为了更精确的获取到无线充电发射端的图像信息，以便进一步提升定位准确性，采用多个摄像头共同采集图像信息。因此，步骤101包括：
获取预设置的多个摄像头采集到的所述无线充电发射端的图像信息；其中，
所述多个摄像头至少包括第一摄像头和第二摄像头；所述第一摄像头将采集到的图像进行特征提取和匹配，确定目标对象后动态识别跟踪；所述第二摄像头在图像采集中进行暗光补偿，且对所述目标对象进行红外线探测和景深判别。
多个摄像头共同配合进行图像信息的采集，准确性更高，以双摄像头为例，第一摄像头进行彩色图像摄录，并对图像进行特征提取和匹配，确定目标对象后动态识别跟踪。在该实施例中，目标对象为无线充电发射端，其特征识别类别包括但不限于：无线充电发射端上的图标、无线充电发射 端的外部轮廓或无线充电发射端的金属线圈感应区域。第二摄像头在图像采集中可进行暗光补偿，以及对目标对象进行红外线探测和景深判别。暗光补偿能够用于提升汽车底部暗光环境下的无线充电发射端图像的清晰度，景深判别用于对无线充电发射端背景的消除以突出观测目标，红外探测包括对无线充电发射端的红外激光识别、红外测距等。
摄像头的红外测距示意图如图2所示，摄像头1(包括第一摄像头和第二摄像头)均设置在无线充电接收端2上，由于两摄像头的距离较近，其视域均为A区域，测得的无线充电发射端3上的一B点位置到两摄像头的距离分别为H和H’。
随后将摄像头采集到的图像信息进行分析处理，即可得到后续确定最终无线充电接收端位置所需要的无线充电发射端清晰图像、特征以及距离等信息。
应该了解的是，无线充电发射端包括初级线圈，无线充电接收端包括次级线圈，无线充电发射端对无线充电接收端进行充电定位，主要是使初级线圈和次级线圈达到匹配位置。为了便于移动无线充电接收端实现准确匹配，在本发明实施例中，无线充电接收端通过其可移动的调整支架设置在汽车底盘上，通过该调整支架无线充电接收端可实现水平方向的前、后、左、右，以及垂直方向的上、下移动。但是，无线充电接收端随调整支架的移动往往受结构限制，只能在一定范围内移动，因此，为便于后期能够通过调整支架移动进行更精确的定位，就需要停车时，无线充电发射端处于调整支架的移动区域内。所以具体的，如图3所示，步骤102包括：
步骤1021，根据所述多个摄像头采集的图像信息，显示无线充电接收端的调整支架的可移动提示框以及所述无线充电发射端的图像；
步骤1022，在所述无线充电发射端的图像位于所述可移动提示框内时，调整无线充电接收端的位置，直至达到与所述无线充电发射端的充电匹配位置。
通过上述步骤，首先根据多个摄像头采集的图像信息进行分析处理， 确定出无线充电发射端的图像以及与调整支架的移动区域的位置关系后，对调整支架的可移动提示框以及无线充电发射端的图像进行显示。可移动提示框以及无线充电发射端的图像在驾驶舱的显示器界面上显示，驾驶员就可通过显示界面的图像了解观察，确定无线充电发射端落于无线充电接收端的可移动范围内时再停稳汽车。之后，通过调整支架对无线充电发射端的位置进行更精确的调整，直至达到与无线充电发射端的充电匹配位置。
如图4所示，设定调整支架4的中心点(重叠磁感应器5位置)为原始坐标点O(x，y)，受结构限制，中心点从图示的初始状态能够达到的最大移动的坐标点O’(x’，y’)，因此，调整支架4可以在△x，△y范围内移动，调整支架4的实际移动范围为虚线框所围成的C区域。
具体的，如图5所示，步骤1021包括：
步骤10211，获取摄像头采集的图像信息中的无线充电发射端的图像信息；
步骤10212，分析所述无线充电发射端的图像信息，确定设置于所述调整支架上的摄像头相对于所述无线充电发射端的第一位置信息以及所述调整支架的可移动提示框的显示比例；
步骤10213，根据所述第一位置信息、所述第二位置信息以及所述显示比例，确定在显示界面上所述调整支架的可移动提示框相对于所述无线充电发射端的位置及大小；
步骤10214，将所述可移动提示框和所述无线充电发射端的图像在显示界面上进行显示。
无线充电发射端的图像，可以通过摄像头采集到的图像信息获取到无线充电发射端的图像信息，如特征提取、图像辨别，裁剪出无线充电发射端的图像之后直接进行显示。而可移动提示框需要在摄像头捕捉到无线充电发射端的位置后，无线充电接收端上的次级线圈以及设置在次级线圈上的磁感应器会捕捉到电流或感应到磁力，触发显示器进行显示。为确定可移动提示框的显示位置，本发明实施例中至少一摄像头是设置于调整支架 上的，因此在通过采集到的图像信息分析出该摄像头相对与无线充电发射端的位置信息及显示比例后，由于该摄像头在调整支架上的位置是固定的，每次移动后系统能够记录调整支架在移动范围内的位置，进而结合摄像头相对于调整支架的可移动范围的第二位置信息，可确定出可移动提示框对应与无线充电发射端的位置。最终将可移动提示框和无线充电发射端的图像在显示界面上进行显示。
在停车粗定位完成后，即可通过调整支架对无线充电接收端进行更为精确的调整定位，故，在本发明上述实施例的基础上，如图6所示，步骤1022包括：
步骤10221，根据图像信息的所述无线充电发射端的多点倾角信息，调整所述无线充电接收端与所述无线充电发射端的平行度，直至所述平行度满足第一阈值；
步骤10222，根据图像信息中所述无线充电接收端与所述无线充电发射端的距离信息，调整所述无线充电接收端垂直方向的位置，直至所述无线充电接收端与所述无线充电发射端的相对距离满足第二阈值；
步骤10223，根据图像信息中所述无线充电发射端的第一校准参考点和所述无线充电接收端的第二校准参考点的相对位置信息，调整所述无线充电接收端水平方向的位置，直至所述无线充电接收端的磁力值满足第三阈值。
由于无线充电接收端与无线充电发射端多采用平面板状结构，为使得无线充电接收端与无线充电发射端的精确匹配定位，通过上述步骤，第一步，根据采集的图像信息中的无线充电发射端的多点倾角信息，通过移动调整支架，调整无线充电接收端与无线充电发射端的平行度满足第一阈值，确保无线充电发射端上的初级线圈和无线充电接收端上的次级线圈处于相对平衡的位置；第二步，根据采集的图像信息中的无线充电接收端与无线充电发射的距离信息，调整调整支架垂直方向上的移动，使无线充电接收端与无线充电发射端的相对距离满足第二阈值，确保无线充电接收端以 最佳距离靠近发射板；第三步，则根据采集到的图像信息中选定的无线充电发射端的第一校准参考点和无线充电接收端的第二校准参考点的相对位置信息，调整调整支架水平方向上的移动，使得无线充电接收端的磁力值满足第三阈值，确保次级线圈位置和初级线圈位置实现最佳耦合姿态。调整完成后，无线充电接收端启动无线充电。
然而，其中调整无线充电接收端水平方向的位置是最为关键的，初级线圈和次级线圈的匹配实时情况，是通过次级线圈中心的磁感应器感应的磁力大小计算得来，磁力小于第三阈值则反向移动调整支架，可以通过快速扫描确定出初级线圈和次级线圈的最大耦合点，但是，计算会过于动态，计算量较大。因此，步骤10223，包括：
步骤102231，在水平方向上多次移动所述调整支架，记录所述无线充电接收端的磁感应器感应到的磁力值满足第三阈值时，当前第二校准参考点与第一校准参考点的相对位置信息；
步骤102232，获取已记录的满足第三阈值的磁力值的平均值；
步骤102233，确定与所述平均值比较，比较结果小于一预设比较值的磁力值对应的第二校准参考点的位置为目标调整位置；
步骤102234，根据所述目标调整位置，调整所述无线充电接收端水平方向的位置。
在水平方向上进行预设次数的移动该调整支架，当然，移动并不是随意的，可以根据以往的调整记录确定出更优的移动方案，以便磁力更快达到阈值要求。在多次移动中，记录磁力值满足第三阈值时，无线充电接收端上第二校准参考点与第一校准参考点的相对位置信息。第二校准参考点优选为设置于该无线充电接收端的摄像头的位置，而当第二校准参考点不是该摄像头的位置时，则要借助第二校准参考点与该摄像头的相对位置，确定第二校准参考点与第一校准参考点的相对位置信息。然后计算记录的磁力值的平均值，之后，将记录的磁力值分别与平均值比较，确定比较结果小于预设比较值的磁力值所对应的第二校准参考点的位置为目标调整 位置，根据该目标调整位置即可完成无线充电接收端水平方向上的调整。
在本发明实施例中，无线充电接收端通过其调整支架实现移动，进行位置调整，而调整支架的移动是通过多马达驱动的，其中一马达可由步进马达实现，通过齿轮咬合可以分别或同时带动调整支架水平x和y两个轴线的位移，另一马达控制调整支架垂直方向的位移。此外，对与从采集到的图像信息中获取的景深、距离等信息还能够通过滑块局部上下配重调节，辅以进一步传递信息驱动马达以调整平衡无线充电接收端相对于无线充电发射端的平行度。
在本发明实施例中，由于采用多摄像头进行图像信息采集，除一摄像头要固定安装在无线充电接收端外，其他摄像头可以安装在汽车底盘上的(固定域，不会发生移动)，也可以安装在无线充电接收端(移动域)。以双摄像头为例，由于其中一个固定位置，一个会随无线充电接收端移动，除上述的调整方式外，还可以通过双摄像头不同位置的摄像角度造成的摄像误差直接定位或辅助定位。具体的，步骤1022还包括：
所述多个摄像头中的一摄像头固定设置在汽车底盘上，根据图像信息的边缘锐利度特征值以及固定设置在汽车底盘上的摄像头与设置在调整支架上的摄像头的相对位置，调整无线充电接收端的位置，直至所述边缘锐利度特征值满足第四阈值且所述无线充电接收端的磁力值满足第五阈值。
可移动提示框出现且汽车停稳静止后，无线充电发射端落于调整支架的移动范围内。通过固定域的摄像头和移动域的摄像头采集到的图像信息的边缘锐利度特征值是否满足第四阈值即可判断出初级线圈和次级线圈垂直方向上的距离是否合适。在边缘锐利度特征值不满足第四阈值时，直接调整无线充电接收端的垂直方向的距离，直至边缘锐利度特征值满足第四阈值。由于固定域的摄像头是不发生位置变化的，以该摄像头的位置为基准，可以根据两摄像头采集的图像的边缘锐利度特征值的差值推算出两摄像头的相对位置，所以，对于磁力值满足第五阈值时，由此时采集的图 像的边缘锐利度特征值的差值推算出两摄像头的相对位置，结合一不变的摄像头的位置，从而可确定调整支架水平方向上的位移，最终实现无线充电接收端和无线充电发射端的匹配。此时选用的摄像头可以不具有红外线测距功能，降低了制造成本。
当然，为了便于驾驶员定位驾驶，无线充电发射端上往往设置明显的标识如各种标识线，对于一静止和一移动的摄像头，可直接通过两摄像头观察的图像的边缘锐利度特征值的差值，推算出初级线圈和次级线圈的最佳耦合点，即可不再结合磁感应器进行调整位置的确定，对于磁力感应失效时的充电定位更为适用。
另外，在本发明实施例中，调整支架的马达还受一控制板(如触控板)控制，该触控板设置于驾驶舱内，驾驶员停车后，通过显示界面查看到无线充电接收端与无线充电发射端的位置差距较大时，可通过该触控板输入调整方向和距离，驱动马达对调整支架进行移动。
综上所述，本发明实施例的无线充电定位方法，通过获取到的无线充电发射端的图像信息，将可移动提示框和无线充电发射端的图像在驾驶舱的显示，提示驾驶员将汽车停止到可调整的区域，并在停车后，根据采集到的图像信息进行分析处理，自适应的调整无线充电接收端的位置，使其与无线充电发射端达到匹配，初级线圈和次级线圈最佳耦合，实现更精准定位，保证后续充电的成功率，提升用户体验。
如图7所示，本发明的实施例还提供了一种无线充电定位装置，包括：
获取模块701，设置为动态获取无线充电发射端的图像信息；
调整模块702，设置为根据所述图像信息，调整无线充电接收端的位置，将所述无线充电接收端与所述无线充电发射端进行充电定位。
其中，所述获取模块进一步设置为获取预设置的多个摄像头采集到的所述无线充电发射端的图像信息；其中，
所述多个摄像头至少包括第一摄像头和第二摄像头；所述第一摄像头将采集到的图像进行特征提取和匹配，确定目标对象后动态识别跟踪；所 述第二摄像头在图像采集中进行暗光补偿，且对所述目标对象进行红外线探测和景深判别。
其中，所述调整模块包括：
显示子模块，设置为根据所述多个摄像头采集的图像信息，显示无线充电接收端的调整支架的可移动提示框以及所述无线充电发射端的图像；
调整子模块，设置为在所述无线充电发射端的图像位于所述可移动提示框内时，调整无线充电接收端的位置，直至达到与所述无线充电发射端的充电匹配位置。
其中，所述显示子模块包括：
第一获取单元，设置为获取摄像头采集的图像信息中的无线充电发射端的图像信息；
处理单元，设置为分析所述无线充电发射端的图像信息，确定设置于所述调整支架上的摄像头相对于所述无线充电发射端的第一位置信息以及所述调整支架的可移动提示框的显示比例；
第二获取单元，设置为获取设置于所述调整支架上的摄像头相对于所述调整支架的可移动范围的第二位置信息；
确定单元，设置为根据所述第一位置信息、所述第二位置信息以及所述显示比例，确定在显示界面上所述调整支架的可移动提示框相对于所述无线充电发射端的位置及大小；
显示单元，设置为将所述可移动提示框和所述无线充电发射端的图像在显示界面上进行显示。
其中，所述调整子模块包括：
第一调整单元，设置为根据图像信息的所述无线充电发射端的多点倾角信息，调整所述无线充电接收端与所述无线充电发射端的平行度，直至所述平行度满足第一阈值；
第二调整单元，设置为根据图像信息中所述无线充电接收端与所述无 线充电发射端的距离信息，调整所述无线充电接收端垂直方向的位置，直至所述无线充电接收端与所述无线充电发射端的相对距离满足第二阈值；
第三调整单元，设置为根据图像信息中所述无线充电发射端的第一校准参考点和所述无线充电接收端的第二校准参考点的相对位置信息，调整所述无线充电接收端水平方向的位置，直至所述无线充电接收端的磁力值满足第三阈值。
其中，所述第三调整单元包括：
记录子单元，设置为在水平方向上多次移动所述调整支架，记录所述无线充电接收端的磁感应器感应到的磁力值满足第三阈值时，当前第二校准参考点与第一校准参考点的相对位置信息；
获取子单元，设置为获取已记录的满足第三阈值的磁力值的平均值；
确定子单元，设置为确定与所述平均值比较，比较结果小于一预设比较值的磁力值对应的第二校准参考点的位置为目标调整位置；
调整子单元，设置为根据所述目标调整位置，调整所述无线充电接收端水平方向的位置。
其中，所述调整子模块还包括：
第四调整单元，设置为所述多个摄像头中的一摄像头固定设置在汽车底盘上，根据图像信息的边缘锐利度特征值以及固定设置在汽车底盘上的摄像头与设置在调整支架上的摄像头的相对位置，调整无线充电接收端的位置，直至所述边缘锐利度特征值满足第四阈值且所述无线充电接收端的磁力值满足第五阈值。
本发明实施例的无线充电定位装置，通过动态获取到的无线充电发射端的图像信息，将可移动提示框和无线充电发射端的图像在驾驶舱的显示，提示驾驶员将汽车停止到可调整的区域，并在停车后，根据采集到的图像信息进行分析处理，自适应的调整无线充电接收端的位置，使其与无线充电发射端达到匹配，初级线圈和次级线圈最佳耦合，实现更精准定位，保证后续充电的成功率，提升用户体验。
需要说明的是，该装置是应用了上述无线充电定位方法的装置，上述无线充电定位方法的实施例的实现方式适用于该装置，也能达到相同的技术效果。
如图8所示，本发明的实施例还提供了一种无线充电定位系统，包括如上所述的无线充电定位装置。
其中，所述无线充电定位系统还包括：
与所述无线充电定位装置连接、设置为采集无线充电发射端3的图像信息的摄像头1；
与所述无线充电定位装置连接、设置为调整无线充电接收端位置的马达6；
与所述无线充电定位装置连接、设置为显示的显示器。
本发明实施例的无线充电定位系统中，无线充电定位装置获取摄像头1采集到的无线充电发射端3的图像信息，将调整支架4的移动范围通过可移动提示框以及无线充电发射端3的图像在显示器的显示界面进行显示，提示驾驶员将汽车停止到可调整的区域。在停车后，无线充电定位装置根据采集到的图像信息进行分析处理，驱动马达6带动调整支架4移动，从而使无线充电接收端7达到与无线充电发射端3的匹配充电位置，初级线圈8和次级线圈9最佳耦合，实现更精准定位，保证后续充电的成功率，提升用户体验。
需要说明的是，该系统是应用了上述无线充电定位方法的系统，上述无线充电定位方法的实施例的实现方式适用于该系统，也能达到相同的技术效果。
本发明的实施例还提供了一种电动汽车，包括如上所述的无线充电定位系统。
本发明实施例的电动汽车，通过无线充电定位系统中的无线充电定位装置获取摄像头采集到的无线充电发射端的图像信息，将调整支架的移动范围通过可移动提示框以及无线充电发射端的图像在显示器的显示界面 进行显示，提示驾驶员将汽车停止到可调整的区域。在停车后，无线充电定位装置根据采集到的图像信息进行分析处理，驱动马达带动调整支架移动，从而使无线充电接收端达到与无线充电发射端的匹配充电位置，初级线圈和次级线圈最佳耦合，实现更精准定位，保证后续充电的成功率，提升用户体验。
需要说明的是，该电动汽车是应用了上述无线充电定位方法的电动汽车，上述无线充电定位方法的实施例的实现方式适用于该电动汽车，也能达到相同的技术效果。
进一步需要说明的是，此说明书中所描述的许多功能部件都被称为模块，以便更加特别地强调其实现方式的独立性。
本发明实施例中，模块可以用软件实现，以便由各种类型的处理器执行。举例来说，一个标识的可执行代码模块可以包括计算机指令的一个或多个物理或者逻辑块，举例来说，其可以被构建为对象、过程或函数。尽管如此，所标识模块的可执行代码无需物理地位于一起，而是可以包括存储在不同位里上的不同的指令，当这些指令逻辑上结合在一起时，其构成模块并且实现该模块的规定目的。
实际上，可执行代码模块可以是单条指令或者是许多条指令，并且甚至可以分布在多个不同的代码段上，分布在不同程序当中，以及跨越多个存储器设备分布。同样地，操作数据可以在模块内被识别，并且可以依照任何适当的形式实现并且被组织在任何适当类型的数据结构内。所述操作数据可以作为单个数据集被收集，或者可以分布在不同位置上(包括在不同存储设备上)，并且至少部分地可以仅作为电子信号存在于系统或网络上。
在模块可以利用软件实现时，考虑到现有硬件工艺的水平，所以可以以软件实现的模块，在不考虑成本的情况下，本领域技术人员都可以搭建对应的硬件电路来实现对应的功能，所述硬件电路包括常规的超大规模集成(VLSI)电路或者门阵列以及诸如逻辑芯片、晶体管之类的现有半导体 或者是其它分立的元件。模块还可以用可编程硬件设备，诸如现场可编程门阵列、可编程阵列逻辑、可编程逻辑设备等实现。
上述实施例是参考该些附图来描述的，许多不同的形式和实施例是可行而不偏离本发明精神及教示，因此，本发明不应被建构成为在此所提出范例性实施例的限制。更确切地说，这些范例性实施例被提供以使得本发明会是完善又完整，且会将本发明范围传达给那些熟知此项技术的人士。在该些图式中，组件尺寸及相对尺寸也许基于清晰起见而被夸大。在此所使用的术语只是基于描述特定范例性实施例目的，并无意成为限制用。如在此所使用地，除非清楚地另有所指，否则该单数形式“一”、“一个”和“该”是意欲将该些多个形式也纳入。会进一步了解到该些术语“包含”及/或“包括”在使用于本说明书时，表示所述特征、整数、步骤、操作、构件及/或组件的存在，但不排除一或更多其它特征、整数、步骤、操作、构件、组件及/或其族群的存在或增加。除非另有所示，陈述时，一值范围包含该范围的上下限及其间的任何子范围。
本发明的实施例还提供了一种存储介质。可选地，在本实施例中，上述存储介质可以被设置为存储用于执行以下步骤的程序代码：
步骤101，动态获取无线充电发射端的图像信息；
步骤102，根据所述图像信息，调整无线充电接收端的位置，将所述无线充电接收端与所述无线充电发射端进行充电定位。
可选地，在本实施例中，上述存储介质可以包括但不限于：U盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。
可选地，本实施例中的具体示例可以参考上述实施例及可选实施方式中所描述的示例，本实施例在此不再赘述。
显然，本领域的技术人员应该明白，上述的本发明的各模块或各步骤 可以用通用的计算装置来实现，它们可以集中在单个的计算装置上，或者分布在多个计算装置所组成的网络上，可选地，它们可以用计算装置可执行的程序代码来实现，从而，可以将它们存储在存储装置中由计算装置来执行，并且在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤，或者将它们分别制作成各个集成电路模块，或者将它们中的多个模块或步骤制作成单个集成电路模块来实现。这样，本发明不限制于任何特定的硬件和软件结合。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。
工业实用性
如上所述，本发明实施例提供的一种无线充电定位方法、装置、系统及电动汽车，具有以下有益效果：本发明实施例的无线充电定位方法，先动态获取无线充电发射端的图像信息，然后根据获取到的图像信息，分析处理后掌握无线充电接收端和无线充电发射端的相对位置信息，从而调整无线充电接收端的位置，使该无线充电接收端能够实现近距离匹配无线充电发射端，完成充电定位。通过动态的图像信息去自适应的调整无线充电接收端的位置，以使无线充电接收端和无线充电发射端近距离准确匹配，实现充电定位的方式，具有更大的灵活性，定位准确性更高，提高了充电成功率，提升了用户体验。

Claims (14)

  1. 一种无线充电定位方法，包括：
    动态获取无线充电发射端的图像信息；
    根据所述图像信息，调整无线充电接收端的位置，将所述无线充电接收端与所述无线充电发射端进行充电定位。
  2. 根据权利要求1所述的无线充电定位方法，其中，动态获取无线充电发射端的图像信息的步骤包括：
    获取预设置的多个摄像头采集到的所述无线充电发射端的图像信息；其中，
    所述多个摄像头至少包括第一摄像头和第二摄像头；所述第一摄像头将采集到的图像进行特征提取和匹配，确定目标对象后动态识别跟踪；所述第二摄像头在图像采集中进行暗光补偿，且对所述目标对象进行红外线探测和景深判别。
  3. 根据权利要求2所述的无线充电定位方法，其中，根据所述图像信息，调整无线充电接收端的位置，将所述无线充电接收端与所述无线充电发射端进行充电定位的步骤包括：
    根据所述多个摄像头采集的图像信息，显示无线充电接收端的调整支架的可移动提示框以及所述无线充电发射端的图像；
    在所述无线充电发射端的图像位于所述可移动提示框内时，调整无线充电接收端的位置，直至达到与所述无线充电发射端的充电匹配位置。
  4. 根据权利要求3所述的无线充电定位方法，其中，根据所述多个摄像头采集的图像信息，显示无线充电接收端的调整支架的可移动提示框以及所述无线充电发射端的图像的步骤包括：
    获取摄像头采集的图像信息中的无线充电发射端的图像信息；
    分析所述无线充电发射端的图像信息，确定设置于所述调整支架上的摄像头相对于所述无线充电发射端的第一位置信息以及所述调整 支架的可移动提示框的显示比例；
    获取设置于所述调整支架上的摄像头相对于所述调整支架的可移动范围的第二位置信息；
    根据所述第一位置信息、所述第二位置信息以及所述显示比例，确定在显示界面上所述调整支架的可移动提示框相对于所述无线充电发射端的位置及大小；
    将所述可移动提示框和所述无线充电发射端的图像在显示界面上进行显示。
  5. 根据权利要求3所述的无线充电定位方法，其中，调整无线充电接收端的位置，直至达到与所述无线充电发射端的充电匹配位置的步骤包括：
    根据图像信息的所述无线充电发射端的多点倾角信息，调整所述无线充电接收端与所述无线充电发射端的平行度，直至所述平行度满足第一阈值；
    根据图像信息中所述无线充电接收端与所述无线充电发射端的距离信息，调整所述无线充电接收端垂直方向的位置，直至所述无线充电接收端与所述无线充电发射端的相对距离满足第二阈值；
    根据图像信息中所述无线充电发射端的第一校准参考点和所述无线充电接收端的第二校准参考点的相对位置信息，调整所述无线充电接收端水平方向的位置，直至所述无线充电接收端的磁力值满足第三阈值。
  6. 根据权利要求5所述的无线充电定位方法，其中，根据图像信息中第一校准参考点位置和所述无线充电接收端上第二校准参考点位置，调整所述无线充电接收端水平方向的位置，直至所述无线充电接收端的磁力值满足第三阈值的步骤包括：
    在水平方向上多次移动所述调整支架，记录所述无线充电接收端的磁感应器感应到的磁力值满足第三阈值时，当前第二校准参考点与 第一校准参考点的相对位置信息；
    获取已记录的满足第三阈值的磁力值的平均值；
    确定与所述平均值比较，比较结果小于一预设比较值的磁力值对应的第二校准参考点的位置为目标调整位置；
    根据所述目标调整位置，调整所述无线充电接收端水平方向的位置。
  7. 根据权利要求3所述的无线充电定位方法，其中，调整无线充电接收端的位置，直至达到与所述无线充电发射端的充电匹配位置的步骤还包括：
    所述多个摄像头中的一摄像头固定设置在汽车底盘上，根据图像信息的边缘锐利度特征值以及固定设置在汽车底盘上的摄像头与设置在调整支架上的摄像头的相对位置，调整无线充电接收端的位置，直至所述边缘锐利度特征值满足第四阈值且所述无线充电接收端的磁力值满足第五阈值。
  8. 一种无线充电定位装置，包括：
    获取模块，设置为动态获取无线充电发射端的图像信息；
    调整模块，设置为根据所述图像信息，调整无线充电接收端的位置，将所述无线充电接收端与所述无线充电发射端进行充电定位。
  9. 根据权利要求8所述的无线充电定位装置，其中，所述获取模块进一步设置为获取预设置的多个摄像头采集到的所述无线充电发射端的图像信息；其中，
    所述多个摄像头至少包括第一摄像头和第二摄像头；所述第一摄像头将采集到的图像进行特征提取和匹配，确定目标对象后动态识别跟踪；所述第二摄像头在图像采集中进行暗光补偿，且对所述目标对象进行红外线探测和景深判别。
  10. 根据权利要求9所述的无线充电定位装置，其中，所述调整 模块包括：
    显示子模块，设置为根据所述多个摄像头采集的图像信息，显示无线充电接收端的调整支架的可移动提示框以及所述无线充电发射端的图像；
    调整子模块，设置为在所述无线充电发射端的图像位于所述可移动提示框内时，调整无线充电接收端的位置，直至达到与所述无线充电发射端的充电匹配位置。
  11. 一种无线充电定位系统，包括如权利要求8至10任一项所述的无线充电定位装置。
  12. 根据权利要求11所述的无线充电定位系统，其中，所述无线充电定位系统还包括：
    与所述无线充电定位装置连接、设置为采集无线充电发射端的图像信息的摄像头；
    与所述无线充电定位装置连接、设置为调整无线充电接收端位置的马达；
    与所述无线充电定位装置连接、设置为显示的显示器。
  13. 一种电动汽车，包括如权利要求11或12所述的无线充电定位系统。
  14. 一种存储介质，设置为存储用于执行如权利要求1至7中任一项所述的无线充电定位方法的计算机程序。
PCT/CN2017/071442 2016-05-20 2017-01-17 一种无线充电定位方法、装置、系统及电动汽车 WO2017197919A1 (zh)

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