WO2022206551A1 - Procédé, système et appareil de positionnement et de guidage - Google Patents

Procédé, système et appareil de positionnement et de guidage Download PDF

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Publication number
WO2022206551A1
WO2022206551A1 PCT/CN2022/082749 CN2022082749W WO2022206551A1 WO 2022206551 A1 WO2022206551 A1 WO 2022206551A1 CN 2022082749 W CN2022082749 W CN 2022082749W WO 2022206551 A1 WO2022206551 A1 WO 2022206551A1
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WO
WIPO (PCT)
Prior art keywords
magnetic field
field value
gradient
transmitting end
value
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PCT/CN2022/082749
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English (en)
Chinese (zh)
Inventor
宋霜
袁思申
薛俊南
汪硕
武志贤
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华为技术有限公司
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Publication of WO2022206551A1 publication Critical patent/WO2022206551A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/18—Complex mathematical operations for evaluating statistical data, e.g. average values, frequency distributions, probability functions, regression analysis

Definitions

  • guiding the device to align with the position of the transmitting end can also be understood as determining the direction in which the position of the device is adjusted so as to be aligned with the position of the transmitting end.
  • FIG. 6 shows a schematic diagram of a normal distribution related to magnetic field strength suitable for an embodiment of the present application.
  • the magnetic field value at the position of the magnetic field source can be obtained as a judgment reference.
  • the acquisition method of the magnetic field value at the magnetic field source is not limited, for example, it can be acquired flexibly according to the actual situation.
  • the above-mentioned gradient values can be approximately expressed by the numerical gradients of the following equations 4 and 5.
  • the receiving end measures the magnetic field value, and then calculates the numerical gradient according to the measured magnetic field value.
  • the receiving end may use the solution described in aspect 2 to perform numerical gradient calculation.
  • the wireless charging car 900 As the wireless charging car 900 adjusts its position and attitude according to the direction of the numerical gradient, it gradually approaches the transmitting end 902 .
  • the wireless charging car 900 When the wireless charging car 900 is close to the transmitter 902, there is a high probability that a local optimum will appear, as shown in FIG. 5 .
  • the receiving end 901 may use the solution of the above aspect 3 to determine the local optimum point.
  • the local optimum can be determined according to Equation 6 and Equation 7.
  • the system 1300 may further include a transmitter device 1320 .
  • the role of the transmitter device 1320 includes transmitting electromagnetic signals, such as exciting a low-frequency electromagnetic field in space.
  • the present application also provides a computer program product, the computer program product includes: computer program code, when the computer program code is run on a computer, the computer is made to execute the steps shown in FIGS. 1 to 10 .
  • a component may be, but is not limited to, a process running on a processor, a processor, an object, an executable, a thread of execution, a program, and/or a computer.
  • an application running on a computing device and the computing device may be components.
  • One or more components may reside within a process and/or thread of execution, and a component may be localized on one computer and/or distributed between two or more computers.
  • these components can execute from various computer readable media having various data structures stored thereon.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Data Mining & Analysis (AREA)
  • Mathematical Physics (AREA)
  • Pure & Applied Mathematics (AREA)
  • Computational Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Mathematical Optimization (AREA)
  • Mathematical Analysis (AREA)
  • Databases & Information Systems (AREA)
  • Operations Research (AREA)
  • Probability & Statistics with Applications (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Algebra (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Evolutionary Biology (AREA)
  • Software Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Measuring Magnetic Variables (AREA)
  • Navigation (AREA)

Abstract

La présente invention concerne un procédé, un système et un appareil de positionnement et de guidage. Ledit procédé peut comprendre les étapes consistant à : mesurer une valeur de champ magnétique d'un signal électromagnétique transmis par une extrémité de transmission ; sur la base de la valeur de champ magnétique mesurée, calculer un gradient numérique de la valeur de champ magnétique ; et en fonction du gradient numérique de la valeur de champ magnétique, guider un dispositif pour en régler la position et l'attitude, de telle façon que le dispositif soit aligné sur la position de l'extrémité de transmission. Dans la présente invention, une extrémité de réception peut effectuer une recherche en fonction d'une direction de gradient de la distribution de champ électromagnétique, de façon à réaliser un alignement précis entre l'extrémité de transmission et l'extrémité de réception. De plus, l'extrémité de réception réalise un étalonnage de position sur la base du gradient numérique du signal électromagnétique afin de résoudre efficacement le problème des perturbations dues à l'environnement (par exemple les objets métalliques) que subissent fréquemment les signaux électromagnétiques et d'améliorer la précision du positionnement et du guidage.
PCT/CN2022/082749 2021-03-31 2022-03-24 Procédé, système et appareil de positionnement et de guidage WO2022206551A1 (fr)

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CN202110352550.X 2021-03-31
CN202110352550.XA CN113375549B (zh) 2021-03-31 2021-03-31 定位引导的方法、系统和装置

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CN113375549B (zh) * 2021-03-31 2022-07-29 华为技术有限公司 定位引导的方法、系统和装置

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