A wireless charging system and method, and a wireless charging alignment method

Abstract

An embodiment of the present invention discloses a wireless charging system and method, and a wireless charging alignment method. Among them, the wireless charging system includes: an electric vehicle, a wireless charging receiving module, a charging parking space, a wireless charging transmitting module, at least one scale plate, at least one image acquisition module, and a first alignment adjustment module. The at least one image acquisition module corresponds to the at least one scale plate one by one. The image acquired by any one image acquisition module includes the main reference scale and at least part of the auxiliary scales of the scale plate corresponding to it. The first alignment adjustment module is configured to generate a first movement signal of the electric vehicle according to the images acquired by the at least one image acquisition module, so that the alignment accuracy between the wireless charging receiving module and the wireless charging transmitting module reaches a first preset accuracy range. The technical solution of the embodiment of the present invention can improve the alignment accuracy between the wireless charging receiving module on the electric vehicle and the wireless charging transmitting module on the charging parking space, so as to improve the power transmission efficiency of wireless charging.

Description

Technical Field

[0001] The present invention relates to the technical field of wireless charging, and in particular, to a wireless charging system and method, and a wireless charging alignment method. Background Art

[0002] An electric vehicle can adopt a wireless charging method, such as a magnetic induction method. The receiving coil is generally installed at the bottom of the electric vehicle, and the transmitting coil is arranged on the ground of the charging parking space. The electric vehicle needs to be parked at an accurate position so that the transmitting coil and the receiving coil are directly opposite in the vertical direction. When the central positions of the transmitting coil and the receiving coil are aligned, the entire wireless power transmission system can obtain the maximum efficiency. When the transmitting coil and the receiving coil are not aligned and the deviation is large, the power transmission efficiency will be reduced. Therefore, when the electric vehicle is wirelessly charged, a high precision requirement is imposed on the alignment of the positions of the transmitting coil and the receiving coil. Summary of the Invention

[0003] Embodiments of the present invention provide a wireless charging system and method, and a wireless charging alignment method to improve the alignment accuracy between a wireless charging receiving module on an electric vehicle and a wireless charging transmitting module on a charging parking space, so as to improve the power transmission efficiency of wireless charging.

[0004] In a first aspect, an embodiment of the present invention provides a wireless charging system, including:

[0005] An electric vehicle;

[0006] A wireless charging receiving module, arranged on the electric vehicle;

[0007] A charging parking space, including a vehicle parking area;

[0008] A wireless charging transmitting module, arranged within the vehicle parking area;

[0009] At least one scale board, any scale board including a main reference scale arranged in the horizontal direction and at least one auxiliary scale;

[0010] At least one image acquisition module, corresponding one-to-one to the at least one scale board, and an image acquired by any image acquisition module including the main reference scale and at least part of the auxiliary scale of the scale board corresponding thereto;

[0011] A first alignment adjustment module, configured to generate a first movement signal of the electric vehicle according to the images acquired by the at least one image acquisition module, so that the alignment accuracy between the wireless charging receiving module and the wireless charging transmitting module reaches a first preset accuracy range.

[0012] Further, at least one scale plate is disposed on the electric vehicle, and at least one image acquisition module is disposed on the charging parking space; or, at least one scale plate is disposed on the charging parking space, and at least one image acquisition module is disposed on the electric vehicle.

[0013] Further, at least one scale plate includes a first scale plate, a second scale plate, and a third scale plate; at least one image acquisition module includes a first image acquisition module, a second image acquisition module, and a third image acquisition module, which respectively correspond to the first scale plate, the second scale plate, and the third scale plate;

[0014] The first scale plate includes a first main reference scale arranged in the horizontal direction and at least one first auxiliary scale;

[0015] The second scale plate is parallel to the vertical plane where the first scale plate is located. The second scale plate includes: a second main reference scale arranged in the horizontal direction and at least one second auxiliary scale;

[0016] The third scale plate is located on one side of the first scale plate and the second scale plate. The vertical plane where the third scale plate is located is perpendicular to the vertical plane where the first scale plate is located. The third scale plate includes: a third main reference scale arranged in the horizontal direction and at least one third auxiliary scale;

[0017] The first image acquisition module is used to acquire a first image, and the first image includes the first main reference scale of the first scale plate and at least part of the first auxiliary scale;

[0018] The second image acquisition module is used to acquire a second image, and the second image includes the second main reference scale of the second scale plate and at least part of the second auxiliary scale;

[0019] The third image acquisition module is used to acquire a third image, and the third image includes the third main reference scale of the third scale plate and at least part of the third auxiliary scale;

[0020] The first image acquisition module, the second image acquisition module, and the third image acquisition module are not on the same vertical plane.

[0021] Further, the first scale plate, the second scale plate, and the third scale plate are respectively disposed on the left side, the right side, and the rear side of the vehicle parking area, and the first image acquisition module, the second image acquisition module, and the third image acquisition module are respectively disposed on the left side, the right side, and the rear side of the electric vehicle;

[0022] Or, the first scale plate, the second scale plate, and the third scale plate are respectively disposed on the left side, the right side, and the rear side of the electric vehicle, and the first image acquisition module, the second image acquisition module, and the third image acquisition module are respectively disposed on the left side, the right side, and the rear side of the vehicle parking area.

[0023] Further, the electric vehicle includes a steering mechanism, a driving mechanism, and wheels.

[0024] The first movement signal includes: a first steering and a first displacement. The first alignment adjustment module includes:

[0025] A deviation angle determination sub-module, configured to determine the left / right deviation angle and the first steering of the electric vehicle according to the abscissa of the first main reference scale of the first scale plate in the first image and the abscissa of the second main reference scale of the second scale plate in the second image;

[0026] A first displacement determination sub-module, configured to determine the first displacement according to the left / right deviation angle and the first preset steering angle if the left / right deviation angle is greater than or equal to the first preset threshold;

[0027] The steering mechanism is configured to drive the wheels to deflect to a first preset steering angle in the first steering direction;

[0028] The driving mechanism is configured to drive the wheels to move forward by the first displacement;

[0029] The steering mechanism is further configured to drive the wheels to return to the straight position if the left / right deviation angle is less than the first preset threshold.

[0030] Further, the deviation angle determination sub-module includes:

[0031] A first ratio determination unit, configured to calculate the ratio of the first actual distance to the first image distance as the first ratio, where the first image distance is the difference between the abscissa of the first main reference scale of the first scale plate in the first image and the abscissa of the adjacent first auxiliary scale, and the first actual distance is the actual horizontal distance between the first main reference scale and the adjacent first auxiliary scale of the first scale plate;

[0032] A first deviation distance calculation unit, configured to use the product of the abscissa of the first main reference scale of the first scale plate in the first image and the first ratio as the first deviation distance;

[0033] A second ratio determination unit, configured to calculate the ratio of the second actual distance to the second image distance as the second ratio, where the second image distance is the difference between the abscissa of the second main reference scale of the second scale plate in the second image and the abscissa of the adjacent second auxiliary scale, and the second actual distance is the actual horizontal distance between the second main reference scale and the adjacent second auxiliary scale of the second scale plate;

[0034] A second deviation distance calculation unit, configured to use the product of the abscissa of the second main reference scale of the second scale plate in the second image and the second ratio as the second deviation distance;

[0035] A deviation angle determination unit for determining the left / right deviation angle and the first steering of an electric vehicle according to the first difference between the first deviation distance and the second deviation distance, and the horizontal distance between the first scale plate and the second scale plate.

[0036] Further, the connection line between the first main reference scale on the first scale plate and the second main reference scale on the second scale plate is parallel to the vertical plane where the third scale plate is located.

[0037] The vertical plane where the connection line of the first image acquisition module and the second image acquisition module is located is perpendicular to the arrangement direction of the front and rear of the electric vehicle.

[0038] The left / right deviation angle θ = arctan((a - b) / w), where a is the first deviation distance, b is the second deviation distance, and w is the horizontal distance between the first scale plate and the second scale plate.

[0039] In a second aspect, an embodiment of the present invention further provides a wireless charging alignment method, including:

[0040] At least one image acquisition module acquires an image, where at least one image acquisition module corresponds to at least one scale plate one by one, and the image acquired by any image acquisition module includes the main reference scale and at least part of the auxiliary scales of the scale plate corresponding to it.

[0041] The first alignment adjustment module generates a first movement signal of the electric vehicle according to the images acquired by at least one image acquisition module, so that the alignment accuracy between the wireless charging receiving module and the wireless charging transmitting module reaches the first preset accuracy range.

[0042] Further, at least one scale plate includes a first scale plate, a second scale plate, and a third scale plate. The vertical plane where the second scale plate is located is parallel to the vertical plane where the first scale plate is located, and the third scale plate is located on one side of the first scale plate and the second scale plate; at least one image acquisition module includes a first image acquisition module, a second image acquisition module, and a third image acquisition module, corresponding to the first scale plate, the second scale plate, and the third scale plate respectively. The first image acquisition module, the second image acquisition module, and the third image acquisition module are not in the same vertical plane.

[0043] The acquisition of images by at least one image acquisition module includes:

[0044] The first image acquisition module acquires a first image, and the first image includes the first main reference scale and at least part of the first auxiliary scales of the first scale plate.

[0045] The second image acquisition module acquires a second image, and the second image includes the second main reference scale and at least part of the second auxiliary scales of the second scale plate.

[0046] The third image acquisition module acquires a third image, which includes the third main reference scale and at least part of the third auxiliary scales of the third scale plate.

[0047] In a third aspect, an embodiment of the present invention further provides a wireless charging method, including:

[0048] At least one image acquisition module acquires an image, where at least one image acquisition module corresponds to at least one scale plate one by one, and the image acquired by any image acquisition module includes the main reference scale and at least part of the auxiliary scales of the scale plate corresponding thereto;

[0049] The first alignment adjustment module generates a first movement signal of the electric vehicle according to the images acquired by at least one image acquisition module, so that the alignment accuracy between the wireless charging receiving module and the wireless charging transmitting module reaches a first preset accuracy range;

[0050] The charging request module connects to a wireless communication network, opens a wireless automatic charging client, logs in to an account, and sends a charging request signal;

[0051] The charging start module receives the charging request signal sent by the electric vehicle and controls the wireless charging transmitting module at the charging parking space where the electric vehicle corresponding to the account is located to work.

[0052] By setting at least one scale plate, at least one image acquisition module and a first alignment adjustment module in the wireless charging system, and the first alignment adjustment module generating a first movement signal of the electric vehicle according to the images acquired by at least one image acquisition module, the technical solution of the embodiment of the present invention can improve the alignment accuracy between the wireless charging receiving module and the wireless charging transmitting module, and further improve the power transmission efficiency of wireless charging. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 is a schematic structural diagram of a wireless charging system provided by an embodiment of the present invention;

[0054] Figure 2 is a schematic structural diagram of a first scale plate provided by an embodiment of the present invention;

[0055] Figure 3 is a schematic structural diagram of a second scale plate provided by an embodiment of the present invention;

[0056] Figure 4 is a schematic structural diagram of a third scale plate provided by an embodiment of the present invention;

[0057] Figure 5 is a schematic structural diagram of a wireless charging system when an electric vehicle has not entered a charging parking space provided by an embodiment of the present invention;

[0058] Figure 6Schematic diagram of another wireless charging system provided by an embodiment of the present invention;

[0059] Figure 7 Schematic diagram of a first image provided by an embodiment of the present invention;

[0060] Figure 8 Schematic diagram of another wireless charging system provided by an embodiment of the present invention;

[0061] Figure 9 Schematic diagram of another wireless charging system provided by an embodiment of the present invention;

[0062] Figure 10 Schematic diagram of another wireless charging system provided by an embodiment of the present invention;

[0063] Figure 11 Schematic diagram of a fifth image provided by an embodiment of the present invention;

[0064] Figure 12 Flowchart of a wireless charging alignment method provided by an embodiment of the present invention;

[0065] Figure 13 Flowchart of another wireless charging alignment method provided by an embodiment of the present invention;

[0066] Figure 14 Flowchart of another wireless charging alignment method provided by an embodiment of the present invention;

[0067] Figure 15 For Figure 14 Method flowchart for refining step 440 in

[0068] Figure 16 Flowchart of another wireless charging alignment method provided by an embodiment of the present invention;

[0069] Figure 17 Flowchart of another wireless charging alignment method provided by an embodiment of the present invention;

[0070] Figure 18 Flowchart of another wireless charging alignment method provided by an embodiment of the present invention;

[0071] Figure 19 Flowchart of a wireless charging method provided by an embodiment of the present invention;

[0072] Figure 20 Flowchart of another wireless charging method provided by an embodiment of the present invention. Detailed implementation manner

[0073] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only for explaining the present invention, rather than limiting the present invention. Additionally, it should be noted that for the sake of description, only parts related to the present invention rather than all structures are shown in the accompanying drawings.

[0074] An embodiment of the present invention provides a wireless charging system. Figure 1 The following is a schematic structural diagram of a wireless charging system provided by an embodiment of the present invention. The wireless charging system 10 includes: an electric vehicle 110, a wireless charging receiving module 120, a charging parking space 130, a wireless charging transmitting module 140, at least one scale board ( Figure 1 exemplarily, three scale boards 150, 160, and 170 are drawn), at least one image acquisition module ( Figure 1 exemplarily, three image acquisition modules 180, 190, and 200 are drawn), and a first alignment adjustment module 210.

[0075] Among them, the wireless charging receiving module 120 is disposed on the electric vehicle 110; the charging parking space 130 includes a vehicle parking area 131; the wireless charging transmitting module 140 is disposed within the vehicle parking area 131.

[0076] Any scale board includes a main reference scale arranged in the horizontal direction and at least one auxiliary scale; at least one image acquisition module, which corresponds to at least one scale board one by one, and the image acquired by any image acquisition module includes the main reference scale of the scale board corresponding to it and at least part of the auxiliary scale.

[0077] The first alignment adjustment module 210 is configured to generate a first movement signal of the electric vehicle 110 according to the images acquired by at least one image acquisition module, so that the alignment accuracy between the wireless charging receiving module 120 and the wireless charging transmitting module 140 reaches a first preset accuracy range.

[0078] The first alignment adjustment module 210 is convenient to determine the proportional relationship between the image size and the actual size according to the image distance between the main reference scale of the corresponding scale board in the image and the adjacent auxiliary scales, and then accurately determine the actual positional relationship between the wireless charging receiving module and the wireless charging transmitting module, accurately determine the moving direction and distance of the electric vehicle, and facilitate quickly adjusting the electric vehicle to move to the target position to align the wireless charging receiving module with the wireless charging transmitting module.

[0079] The technical solution of this embodiment can improve the alignment accuracy between the wireless charging receiving module and the wireless charging transmitting module, and thus improve the power transmission efficiency of wireless charging, by setting at least one scale board, at least one image acquisition module and a first alignment adjustment module in the wireless charging system. The first alignment adjustment module generates a first movement signal of the electric vehicle according to the images acquired by the at least one image acquisition module.

[0080] Among them, at least one scale board is arranged on the charging parking space 130, and at least one image acquisition module is arranged on the electric vehicle 110.

[0081] The at least one scale board may include a first scale board 150, a second scale board 160 and a third scale board 170. The first scale board 150 includes a first main reference scale 151 arranged in the horizontal direction and at least one first auxiliary scale 152; the vertical plane where the second scale board 160 is located is parallel to the vertical plane where the first scale board 150 is located, and the second scale board 160 includes: a second main reference scale 161 arranged in the horizontal direction and at least one second auxiliary scale; the third scale board 170 is located on one side of the first scale board 150 and the second scale board 160, and the vertical plane where the third scale board 170 is located is perpendicular to the vertical plane where the first scale board 150 is located, and the third scale board 170 includes: a third main reference scale 171 arranged in the horizontal direction and at least one third auxiliary scale 172.

[0082] The at least one image acquisition module may include a first image acquisition module 180, a second image acquisition module 190 and a third image acquisition module 200. The first image acquisition module 180 is used to acquire a first image, and the first image includes the first main reference scale 151 of the first scale board 150 and at least part of the first auxiliary scale 152; the second image acquisition module 190 is used to acquire a second image, and the second image includes the second main reference scale 161 of the second scale board 160 and at least part of the second auxiliary scale 162; the third image acquisition module 200 is used to acquire a third image, and the third image includes the third main reference scale 171 of the third scale board 170 and at least part of the third auxiliary scale 172; the first image acquisition module 180, the second image acquisition module 190 and the third image acquisition module 200 are not on the same vertical plane.

[0083] The first alignment adjustment module 210 is used to generate a first movement signal of the electric vehicle 110 according to the first image, the second image and the third image, so that the alignment accuracy between the wireless charging receiving module 120 and the wireless charging transmitting module 140 reaches the first preset accuracy range.

[0084] Among them, the first scale plate 150, the second scale plate 160, and the third scale plate 170 are arranged on the charging parking space 130, and the first image acquisition module 180, the second image acquisition module 190, and the third image acquisition module 200 are arranged on the electric vehicle 110.

[0085] Among them, the electric vehicle 110 can be a driverless electric vehicle. The wireless charging receiving module 120 may include a receiving coil, and the wireless charging receiving module 120 can be a magnetic induction type wireless charging receiving module; the wireless charging transmitting module 140 may include a transmitting coil, and the wireless charging transmitting module 140 can be a magnetic induction type wireless charging transmitting module. Optionally, the wireless charging receiving module 120 can be a magnetic resonance type wireless charging receiving module, and the wireless charging transmitting module 140 can be a magnetic resonance type wireless charging transmitting module, with relatively high transmission efficiency.

[0086] The wireless charging receiving module can be arranged at the bottom of the electric vehicle 110. There are differences between the first main reference scale 151 and the first auxiliary scale 152 of the first scale plate 150 for distinction. Specifically, it can be differences in settings such as length and color. The embodiments of the present invention do not limit this. There are differences between the second main reference scale 161 and the second auxiliary scale 162 of the second scale plate 160 for distinction. Specifically, it can be differences in settings such as length and color. The embodiments of the present invention do not limit this. There are differences between the third main reference scale 171 and the third auxiliary scale 172 of the third scale plate 170 for distinction. Specifically, it can be differences in settings such as length and color. The embodiments of the present invention do not limit this.

[0087] The first image acquisition module 180, the second image acquisition module 190, and the third image acquisition module 200 can be cameras. The vertical plane where the shooting direction of the first image acquisition module 180 is located is parallel to the vertical plane where the shooting direction of the second image acquisition module 190 is located. The vertical plane where the shooting direction of the first image acquisition module 180 is located is perpendicular to the vertical plane where the shooting direction of the third image acquisition module 200 is located. The shooting direction refers to the connection line between the actual space position corresponding to the center of the image acquired by the image acquisition module and the image acquisition module. At least part of the first alignment adjustment module 210 can be arranged in the electric vehicle 110, and / or in the charging parking space 130, etc. The embodiments of the present invention do not limit this and can be set as needed.

[0088] Among them, Figure 1 the X-axis is perpendicular to the Y-axis, and both the X-axis and the Y-axis are parallel to the horizontal plane. Figure 1 is a top view along the vertical direction. The above-mentioned vertical planes are all perpendicular to the horizontal plane. Figure 2 is a schematic structural diagram of a first scale plate provided by an embodiment of the present invention. Figure 3 is a schematic structural diagram of a second scale plate provided by an embodiment of the present invention. Figure 4A schematic structural diagram of a third scale board provided by an embodiment of the present invention. The Z-axis is parallel to the vertical direction. Optionally, a plurality of slits 153 and a plurality of light sources 154 are provided on the first scale board 150 in one-to-one correspondence. The light of the light source 154 is emitted from the corresponding slit 153. The plurality of slits 153 serve as the first main reference scale 151 and at least one first auxiliary scale 152. A plurality of slits 163 and a plurality of light sources 164 are provided on the second scale board 160 in one-to-one correspondence. The light of the light source 164 is emitted from the corresponding slit 163. The plurality of slits 153 serve as the second main reference scale 161 and at least one second auxiliary scale 162. A plurality of slits 173 and a plurality of light sources 174 are provided on the third scale board 170 in one-to-one correspondence. The light of the light source 174 is emitted from the corresponding slit 173. The plurality of slits 173 serve as the third main reference scale 171 and at least one third auxiliary scale 172. Optionally, the light source 154 on the first scale board 150 is a laser light source; the light source 164 on the second scale board 160 is a laser light source; the light source 174 on the third scale board 170 is a laser light source. Optionally, the distance between any two adjacent scales on the first scale board 150 is equal; the distance between any two adjacent scales on the second scale board 160 is equal; the distance between any two adjacent scales on the third scale board 170 is equal. Optionally, the length of the first main reference scale 151 along the vertical direction on the first scale board 150 is greater than or less than the length of at least one first auxiliary scale 152; the length of the second main reference scale 161 along the vertical direction on the second scale board 160 is greater than or less than the length of at least one second auxiliary scale 162; the length of the third main reference scale 171 along the vertical direction on the third scale board 170 is greater than or less than the length of at least one third auxiliary scale 172. The colors of the first scale board 150, the second scale board 160, and the third scale board 170 can be bright colors, such as yellow, for convenient image recognition.

[0089] Among them, the shapes of the wireless charging receiving module 120 and the wireless charging transmitting module 140 can be circular or rectangular, etc. Figure 5 A schematic structural diagram of a wireless charging system when an electric vehicle does not enter a charging parking space provided by an embodiment of the present invention. To facilitate seeing the structures of the electric vehicle 110 and the charging parking space 130, Figure 5 An example of the situation where the electric vehicle 110 does not enter the charging parking space 130 is drawn. The electric vehicle 110 can be made to enter the charging parking space 130 through a parking-in-position control method in the prior art, such as Figure 1As shown, but at this time, only a small part of the wireless charging receiving module 120 and the wireless charging transmitting module 140 overlap or face each other in the vertical direction. Thus, based on the first image collected by the first image acquisition module 180, the second image collected by the second image acquisition module 190, and the third image collected by the third image acquisition module 200, the positional relationship between the wireless charging receiving module 120 of the electric vehicle 110 and the wireless charging transmitting module 140 of the charging parking space 130 can be determined to generate a first movement signal for the electric vehicle 110, so that the alignment accuracy between the wireless charging receiving module 120 and the wireless charging transmitting module 140 reaches the first preset accuracy range.

[0090] The technical solution of this embodiment improves the alignment accuracy between the wireless charging receiving module 120 and the wireless charging transmitting module 140, and thus improves the power transmission efficiency of wireless charging by setting a first scale plate 150, a second scale plate 160, a third scale plate 170, a first image acquisition module 180, a second image acquisition module 190, a third image acquisition module 200, and a first alignment adjustment module 210 in the wireless charging system. The first alignment adjustment module 210 generates a first movement signal for the electric vehicle 110 according to the collected first image, second image, and third image.

[0091] Optionally, based on the above embodiment, continue to refer to Figure 1 , the first scale plate 150, the second scale plate 160, and the third scale plate 170 are respectively arranged on the left side, right side, and rear side of the vehicle parking area 131, and the first image acquisition module 180, the second image acquisition module 190, and the third image acquisition module 200 are respectively arranged on the left side, right side, and rear side of the electric vehicle 110.

[0092] Among them, the relative positional relationships between the wireless charging transmitting module 140 and the first scale plate 150, the second scale plate 160, and the third scale plate 170 can be preset. Optionally, the connection line between the first main reference scale 151 on the first scale plate 150 and the second main reference scale 161 on the second scale plate 160 is parallel to the vertical plane where the third scale plate 170 is located; the center of the wireless charging transmitting module 140 is located in the vertical plane where the connection line between the first main reference scale 151 on the first scale plate 150 and the second main reference scale 161 on the second scale plate 160 is located, and the vertical plane where the connection line between the center of the wireless charging transmitting module 140 and the third main reference scale 171 of the third scale plate 170 is located is perpendicular to the vertical plane where the third scale plate 170 is located for convenient calculation.

[0093] The relative position relationship between the wireless charging receiving module 120 and the first image acquisition module 180, the second image acquisition module 190, and the third image acquisition module 200 can be preset. Optionally, the vertical plane where the connection line between the first image acquisition module 180 and the second image acquisition module 190 is located is perpendicular to the arrangement direction of the front and rear of the electric vehicle 110; the center of the wireless charging receiving module 120 is located in the vertical plane where the connection line between the first image acquisition module 180 and the second image acquisition module 190 is located; the vertical plane where the connection line between the center of the wireless charging receiving module 120 and the third image acquisition module 200 is located is perpendicular to the vertical plane where the connection line between the first image acquisition module 180 and the second image acquisition module 190 is located for convenient calculation. The vertical plane where the connection line between the first image acquisition module 180 and the second image acquisition module 190 is located is perpendicular to the vertical plane where the shooting direction of the third image acquisition module 200 is located. Another wireless charging system is provided in an embodiment of the present invention. Figure 6 It is a schematic structural diagram of another wireless charging system provided in an embodiment of the present invention. On the basis of the above embodiment, the electric vehicle 110 includes a steering mechanism 111, a driving mechanism 112, and wheels 113. The first movement signal includes: a first steering and a first displacement amount. The first alignment adjustment module 210 includes: a deviation angle determination sub-module 211 and a first displacement amount determination sub-module 212.

[0094] Among them, the deviation angle determination sub-module 211 is used to determine the left / right deviation angle and the first steering of the electric vehicle 110 according to the abscissa of the first main reference scale 151 of the first scale plate 150 in the first image and the abscissa of the second main reference scale 161 of the second scale plate 160 in the second image; the first displacement amount determination sub-module 212 is used to determine the first displacement amount according to the left / right deviation angle and the first preset steering angle if the left / right deviation angle is greater than or equal to the first preset threshold.

[0095] Among them, with the change of the included angle θ between the vertical plane M1 where the axis of the electric vehicle 110 in the head-to-tail direction is located and the vertical plane M2 parallel to the vertical plane where the first scale plate 150 is located, the abscissa of the first main reference scale 151 of the first scale plate 150 in the first image and the abscissa of the second main reference scale 161 of the second scale plate 160 in the second image will change. Among them, θ is the left / right deviation angle. The first steering includes left and right. Figure 7 It is a schematic diagram of a first image provided in an embodiment of the present invention. Among them, X' is the horizontal axis direction of the first image, and is the same as Figure 1The X-axis direction in [reference] corresponds to the X-axis direction, Y' is the vertical axis direction of the first image, corresponding to the vertical direction, and (0, 0) is the coordinate origin of the first image, corresponding to a point on the intersection line of the vertical plane M4 where the shooting direction of the first image acquisition module 150 is located and the vertical plane where the first scale plate 150 is located. The second image and the third image are similar to the first image.

[0096] Among them, the steering mechanism 111 is used to drive the wheel 113 to deflect to the first steering by a first preset steering angle; the driving mechanism 112 is used to drive the wheel 113 to advance by a first displacement; the steering mechanism 111 is also used to drive the wheel 113 to return to the straight position if the left / right deviation angle is less than the first preset threshold.

[0097] Among them, the steering mechanism 110 can drive the wheel 113 to deflect left or right, so that the electric vehicle 110 deflects left or right. When the steering mechanism 110 drives the wheel 113 to return to the straight position, the wheel 113 is parallel to the vehicle body. The driving mechanism 112 can drive the wheel 113 to rotate forward or backward to realize the forward or backward movement of the electric vehicle 110.

[0098] Through the adjustment effects of the deviation angle determination sub-module 211, the first displacement determination sub-module 212, etc., the wheel 113 of the electric vehicle 110 can drive the vehicle body to deflect left and right until the vertical plane M1 where the axis extending in the head-to-tail direction of the electric vehicle 110 is parallel to the vertical plane where the first scale plate 150 is located, so as to adjust the vehicle body of the electric vehicle 110.

[0099] Optionally, on the basis of the above embodiments, continue to refer to Figure 6 , the deviation angle determination sub-module 211 includes: a first ratio determination unit 2111, a first deviation distance calculation unit 2112, a second ratio determination unit 2113, a second deviation distance calculation unit 2114, and a deviation angle determination unit 2115.

[0100] Among them, the first ratio determination unit 2111 is configured to calculate the ratio of the first actual distance to the first image distance as the first ratio. The first image distance is the difference between the abscissas of the first main reference scale 151 and the adjacent first auxiliary scale 152 of the first scale plate 150 in the first image, and the first actual distance is the actual horizontal distance between the first main reference scale 151 and the adjacent first auxiliary scale 152 of the first scale plate 150. The first deviation distance calculation unit 2112 is configured to use the product of the abscissa of the first main reference scale 151 of the first scale plate 150 in the first image and the first ratio as the first deviation distance. The second ratio determination unit 2113 is configured to calculate the ratio of the second actual distance to the second image distance as the second ratio. The second image distance is the difference between the abscissas of the second main reference scale 161 and the adjacent second auxiliary scale 162 of the second scale plate 160 in the second image, and the second actual distance is the actual horizontal distance between the second main reference scale 161 and the adjacent second auxiliary scale 162 of the second scale plate 160. The second deviation distance calculation unit 2114 is configured to use the product of the abscissa of the second main reference scale 161 of the second scale plate 160 in the second image and the second ratio as the second deviation distance. The deviation angle determination unit 2115 is configured to determine the left / right deviation angle and the first steering of the electric vehicle 110 according to the first difference between the first deviation distance and the second deviation distance, and the horizontal distance between the first scale plate 150 and the second scale plate 160.

[0101] Among them, the greater the distance between the electric vehicle 110 and the first scale plate 150, the greater the first ratio. The greater the distance between the electric vehicle 110 and the second scale plate 160, the greater the second ratio. With the deflection of the electric vehicle 110 or the difference in the models of the electric vehicle 110, the first ratio and the second ratio change. By calculating the first ratio and the second ratio, the left / right deviation angle can be accurately calculated.

[0102] Optionally, on the basis of the above embodiments, continue to refer to Figure 6 , the connection line between the first main reference scale 151 on the first scale plate 150 and the second main reference scale 161 on the second scale plate 160 is parallel to the vertical plane where the third scale plate 170 is located, and the vertical plane where the connection line between the first image acquisition module 180 and the second image acquisition module 190 is located is perpendicular to the arrangement direction of the head and tail of the electric vehicle 110 for convenient calculation. Then, the left / right deviation angle θ = arctan((a - b) / w), where a is the first deviation distance, b is the second deviation distance, and w is the horizontal distance between the first scale plate 150 and the second scale plate 160.

[0103] Wherein, if a is greater than b, the first steering deflects towards the first image acquisition module 180 side, and if a is less than b, the first steering deflects towards the second image acquisition module 150 side. Figure 6 Among them, M1 to M5 are all vertical planes. The axis of the electric vehicle 110 in the head-to-tail direction is located on the vertical plane M1. The vertical plane M2 is parallel to the vertical plane where the first scale plate 150 is located. The connection line between the first main reference scale 151 on the first scale plate 150 and the second main reference scale 161 on the second scale plate 160 is located on the vertical plane M3. The vertical plane M5 is parallel to the vertical plane M3. The connection line between the first image acquisition module 180 and the second image acquisition module 190 is located on the vertical plane M4. The included angle θ between the vertical plane M1 and the vertical plane M2 is equal to the included angle α between the vertical plane M4 and the vertical plane M5. Therefore, θ = α = arctan((a - b) / w). The shooting direction of the third image acquisition module 200 is parallel to the vertical plane M1. The shooting directions of the first image acquisition module 180 and the second image acquisition module 190 can be perpendicular to the vertical plane M1.

[0104] If the connection line between the first main reference scale 151 on the first scale plate 150 and the second main reference scale 161 on the second scale plate 160 is not parallel to the vertical plane where the third scale plate 170 is located, and the vertical plane where the connection line between the first image acquisition module 180 and the second image acquisition module 190 is not perpendicular to the arrangement direction of the head and tail of the electric vehicle 110, it is also necessary to obtain the distance between the first vertical plane where the first main reference scale 151 on the first scale plate 150 is located and the second vertical plane where the second main reference scale 161 on the second scale plate 160 is located. The first vertical plane and the second vertical plane are parallel to the vertical plane where the third scale plate is located, and obtain the distance between the third vertical plane where the first image acquisition module 180 is located and the fourth vertical plane where the second image acquisition module 190 is located. The third vertical plane and the fourth vertical plane are perpendicular to the head-to-tail direction (or the third vertical plane and the fourth vertical plane are perpendicular to the vertical plane where the shooting direction of the third image acquisition module 200 is located), and the calculation is relatively complex.

[0105] Optionally, on the basis of the above embodiments, Figure 8 It is a schematic structural diagram of another wireless charging system provided by an embodiment of the present invention. The first mobile signal further includes a left / right offset and a second steering. The first alignment adjustment module 210 further includes: a left / right offset determination sub-module 213, configured to determine the left / right offset and the second steering of the electric vehicle 110 according to the abscissa of the third main reference scale 171 of the third scale plate 170 in the third image when the left / right deviation angle is less than the first preset threshold.

[0106] The steering mechanism 111 is also configured to drive the wheel 113 to turn to a second preset angle in a second steering direction if the absolute value of the left / right offset is greater than or equal to a second preset threshold; the driving mechanism 112 is also configured to drive the wheel 113 to move forward a preset displacement; the steering mechanism 111 is also configured to drive the wheel 113 to return to the straight-ahead position.

[0107] Wherein, the third image acquisition module 200 is located on a vertical plane M6, and the vertical plane M6 is parallel to the vertical plane M1. After the steering mechanism 111 drives the wheel 113 to return to the straight-ahead position, the left / right offset determination sub-module 213 continues to determine the left / right offset and the second steering of the electric vehicle 110 according to the abscissa of the third main reference scale 171 of the third scale plate 170 in the third image until the absolute value of the left / right offset is less than the second preset threshold. After the body of the electric vehicle 110 is adjusted to be straight, through the adjustment of the left / right offset determination sub-module 213, the wireless charging receiving module 120 and the wireless charging transmitting module 140 satisfy a certain alignment accuracy in the Y-axis direction. The second steering includes left and right.

[0108] Optionally, the left / right offset determination sub-module 213 may include: a third ratio determination unit, a third deviation distance calculation unit, and a left / right offset determination unit. Wherein, the third ratio determination unit is configured to calculate the ratio of the third actual distance to the third image distance as the third ratio, where the third image distance is the difference between the abscissas of the third main reference scale and the adjacent third auxiliary scale of the third scale plate in the third image, and the third actual distance is the actual horizontal distance between the third main reference scale and the adjacent third auxiliary scale of the third scale plate; the third deviation distance calculation unit is configured to use the product of the abscissa of the third main reference scale of the third scale plate in the third image and the third ratio as the third deviation distance; the left / right offset determination unit is configured to determine the left / right offset and the second steering of the electric vehicle 110 according to the third deviation distance when the left / right deviation angle is less than the first preset threshold.

[0109] Optionally, on the basis of the above embodiments, continue to refer to Figure 8 The first movement signal further includes a second displacement and a third direction, and the first alignment adjustment module 210 further includes: a front / rear offset determination sub-module 214, configured to determine the second displacement and the third direction according to the abscissa of the first main reference scale 151 of the first scale plate 150 in the first image or the abscissa of the second main reference scale 161 of the second scale plate 160 in the second image, or according to the first deviation distance or the second deviation distance when the absolute value of the left / right offset is less than the second preset threshold; the driving mechanism 112 is also configured to drive the wheel 113 to move the second displacement along the third direction.

[0110] Among them, the third direction includes forward or backward. The adjustment effect of the sub-module 214 is determined by the front / back offset amount, so that the wireless charging receiving module 120 and the wireless charging transmitting module 140 meet a certain alignment accuracy in the X-axis direction.

[0111] Another embodiment of the present invention provides a wireless charging system. Figure 9 It is a schematic structural diagram of another wireless charging system provided by the embodiment of the present invention. On the basis of the above embodiment, three scale plates are arranged on the electric vehicle 110, and three image acquisition modules are arranged on the charging parking space 130. The first scale plate 150, the second scale plate 160, and the third scale plate 170 are arranged on the electric vehicle 110, and the first image acquisition module 180, the second image acquisition module 190, and the third image acquisition module 200 are arranged on the charging parking space 130.

[0112] Optionally, the first scale plate 150, the second scale plate 160, and the third scale plate 170 are respectively arranged on the left side, the right side, and the rear side of the electric vehicle, and the first image acquisition module 180, the second image acquisition module 190, and the third image acquisition module 200 are respectively arranged on the left side, the right side, and the rear side of the vehicle parking area 131.

[0113] Optionally, the connection line between the first main reference scale 151 on the first scale plate 150 and the second main reference scale 161 on the second scale plate 160 is parallel to the vertical plane where the third scale plate 170 is located, and the vertical plane where the connection line between the first image acquisition module 180 and the second image acquisition module 190 is located is perpendicular to the vertical plane where the shooting direction of the third image acquisition module 200 is located, for convenient calculation.

[0114] Optionally, the connection line between the first main reference scale 151 on the first scale plate 150 and the second main reference scale 161 on the second scale plate 160 is parallel to the vertical plane where the third scale plate 170 is located; the center of the wireless charging receiving module 120 is located in the vertical plane where the connection line between the first main reference scale 151 on the first scale plate 150 and the second main reference scale 161 on the second scale plate 160 is located, and the vertical plane where the connection line between the center of the wireless charging receiving module 120 and the third main reference scale 171 of the third scale plate 170 is located is perpendicular to the vertical plane where the third scale plate 170 is located, for convenient calculation.

[0115] Optionally, the vertical plane where the connection line of the first image acquisition module 180 and the second image acquisition module 190 is located is perpendicular to the vertical plane where the shooting direction of the third image acquisition module 200 is located; the center of the wireless charging transmitting module 140 is located in the vertical plane where the connection line of the first image acquisition module 180 and the second image acquisition module 190 is located; the vertical plane where the connection line of the center of the wireless charging transmitting module 140 and the third image acquisition module 200 is located is perpendicular to the vertical plane where the connection line of the first image acquisition module 180 and the second image acquisition module 190 is located, for the convenience of calculation.

[0116] Another wireless charging system is provided in an embodiment of the present invention. Figure 10 It is a schematic structural diagram of another wireless charging system provided in an embodiment of the present invention. On the basis of the above embodiment, the electric vehicle 110 is provided with an identifier 114, which is associated with the account for logging in to the wireless automatic charging client of the electric vehicle 110. The wireless charging system further includes: a fourth image acquisition module 220 and an identification module 230.

[0117] Among them, the fourth image acquisition module 220 is arranged at the charging bay 130 for acquiring a fourth image, and the fourth image includes the identifier 114; the identification module 230 is used for identifying the identifier 114 in the fourth image to determine the charging bay 130 where the electric vehicle 110 corresponding to the account associated with the identifier 114 is located.

[0118] Among them, the identifier 114 can be a barcode or the like. Optionally, the identifier 114 is a two-dimensional code. The fourth image acquisition module 220 can be a camera. The charging station can include multiple charging bays. Through the identification function of the fourth image acquisition module 220 and the identification module 230, the mismatch between the electric vehicle and the charging bay can be prevented, which is convenient for the electric vehicle 110 to log in to the account of the wireless automatic charging client for payment. The accounts of different electric vehicles 110 are different, and the identifiers 114 of different electric vehicles 110 are different.

[0119] Optionally, the wireless charging system further includes a charging request module, an end charging request module, a payment module, a charging start module, and a payment request module. Among them, the charging request module is used for connecting to the wireless communication network, opening the wireless automatic charging client, logging in to the account, and sending a charging request signal after the alignment accuracy between the wireless charging receiving module and the wireless charging transmitting module reaches the first preset accuracy range; the end charging request module is used for sending an end charging request signal when it is monitored that the power of the energy storage module reaches the preset power; the payment module is used for receiving the payment request signal, sending a confirmation payment message, and logging out the account. The positions of the charging request module, the end charging request module, and the payment module can be set as needed. For example, they can be set on the electric vehicle, and the embodiments of the present invention do not limit this.

[0120] Among them, the charging start module is used to receive the charging request signal sent by the electric vehicle and control the wireless charging transmitting module at the charging parking space where the electric vehicle corresponding to the account is located to work; the payment request module is used to receive the end charging request signal sent by the electric vehicle, control the wireless charging transmitting module at the charging parking space where the electric vehicle corresponding to the account is located to stop working, and send a payment request signal. The positions of the charging start module and the payment request module can be set as needed. For example, they can be set in the charging station. The embodiments of the present invention do not limit this.

[0121] Among them, the wireless communication network includes: Wi-Fi communication network, Bluetooth communication network, mobile network, opto-coupler communication network, Worldwide Interoperability for Microwave Access (WiMAX) communication network, ZigBee communication network or Ultra-Wideband (UWB) communication network.

[0122] An embodiment of the present invention provides another wireless charging system. On the basis of the above embodiment, continue to refer to Figure 9 , this wireless charging system further includes: an alignment mark 250, a fifth image acquisition module 260 and a second alignment adjustment module 270.

[0123] Among them, the fifth image acquisition module 260 is used to acquire a fifth image when the alignment accuracy between the wireless charging receiving module 120 and the wireless charging transmitting module 140 reaches a first preset accuracy range. The fifth image includes the alignment mark 250; the second alignment adjustment module 270 is used to generate a second movement signal of the electric vehicle 111 according to the fifth image, so that the alignment accuracy between the wireless charging receiving module 120 and the wireless charging transmitting module 140 reaches a second preset accuracy range, and the second preset accuracy range is smaller than the first preset accuracy range.

[0124] Among them, the fifth image acquisition module 260 may include a camera. The shooting direction of the fifth image acquisition module 260 is parallel to the vertical direction. Figure 11 It is a schematic diagram of a fifth image provided by an embodiment of the present invention. Through the adjustment of the second alignment adjustment module 270, the alignment accuracy between the wireless charging receiving module 120 and the wireless charging transmitting module 140 can be further improved. Figure 11 The X-axis in Figure 9 corresponds to the Y-axis direction in Figure 9 and the Y-axis corresponds to the X-axis direction in

[0125] Optionally, the second movement signal includes a third steering direction, a third displacement, and a fourth direction. The third steering direction may include turning left or right. The second alignment adjustment module 270 may include a second deviation angle determination sub-module and a second front / rear offset determination sub-module. The second deviation angle determination sub-module is configured to determine a second left / right deviation angle β and the third steering direction based on the coordinates of the alignment mark in the fifth image; the drive mechanism 112 is further configured to, if the second left / right deviation angle β is greater than or equal to a third preset threshold, drive the wheel 113 to reverse by a second preset displacement; the second deviation angle determination sub-module is further configured to continuously monitor the coordinates of the alignment mark in the fifth image after the drive mechanism 112 drives the wheel 113 to reverse by the second preset displacement, or after the second left / right deviation angle β is less than the third preset threshold, to determine the second left / right deviation angle β; the steering mechanism 111 is further configured to drive the wheel 113 to deflect in the third steering direction to a second preset steering angle, and when the second left / right deviation angle β is less than or equal to a fourth preset threshold, drive the wheel 113 to return to the straight position; the drive mechanism 112 is further configured to drive the wheel 113 forward until the second left / right deviation angle is less than or equal to the fourth preset threshold, and then stop driving the wheel 113. The second front / rear offset determination sub-module is configured to, when the second left / right deviation angle β is less than or equal to the fourth preset threshold, determine the third displacement and the fourth direction based on the coordinates of the alignment mark in the fifth image; the drive mechanism 112 is further configured to drive the wheel 113 to move in the fourth direction by the third displacement.

[0126] Optionally, the alignment mark 250 is provided on the electric vehicle 110, and the fifth image acquisition module 260 is provided at the charging parking space 130; alternatively, the alignment mark 250 is provided at the charging parking space 130, and the fifth image acquisition module 260 is provided on the electric vehicle 110.

[0127] Optionally, based on the above embodiments, continue to refer to Figure 10 , the fourth image acquisition module and the fifth image acquisition module may be the same image acquisition module to reduce the number of cameras installed and thus reduce costs. The identifier 114 and the alignment mark 250 are provided on the electric vehicle 110. The fifth image acquisition module may be provided at the center O2 of the wireless charging transmitting module 140, and the alignment mark 250 may be provided at the center O1 of the wireless charging receiving module 120. If the center O1 of the wireless charging receiving module 120 is aligned with the center O2 of the wireless charging transmitting module 140, then the wireless charging receiving module 120 is aligned with the wireless charging transmitting module 140.

[0128] An embodiment of the present invention provides a wireless charging alignment method. Figure 12The flowchart of a wireless charging alignment method provided by an embodiment of the present invention. The wireless charging alignment method is implemented based on the wireless charging system provided by any embodiment of the present invention. The wireless charging system includes: an electric vehicle 110, a wireless charging receiving module 120, a charging parking space 130, a wireless charging transmitting module 140, at least one scale plate, at least one image acquisition module, and a first alignment adjustment module 210. Among them, the wireless charging receiving module 120 is disposed on the electric vehicle 110; the charging parking space 130 includes a vehicle parking area 131; the wireless charging transmitting module 140 is disposed in the vehicle parking area 131; any scale plate includes a main reference scale arranged in the horizontal direction and at least one auxiliary scale; at least one image acquisition module corresponds to at least one scale plate one by one, and the image acquired by any image acquisition module includes the main reference scale of the scale plate corresponding thereto and at least part of the auxiliary scale.

[0129] The wireless charging alignment method specifically includes the following steps:

[0130] Step 301, at least one image acquisition module acquires an image, where at least one image acquisition module corresponds to at least one scale plate one by one, and the image acquired by any image acquisition module includes the main reference scale of the scale plate corresponding thereto and at least part of the auxiliary scale.

[0131] Step 305, the first alignment adjustment module generates a first movement signal of the electric vehicle according to the images acquired by at least one image acquisition module, so that the alignment accuracy between the wireless charging receiving module and the wireless charging transmitting module reaches a first preset accuracy range.

[0132] The wireless charging alignment method provided by the embodiment of the present invention is implemented based on the wireless charging system in the above embodiment. Therefore, the wireless charging alignment method provided by the embodiment of the present invention also has the beneficial effects described in the above embodiment, which will not be elaborated here.

[0133] At least one scale plate may include: a first scale plate 150, a second scale plate 160, and a third scale plate 170. The first scale plate 150 includes a first main reference scale 151 arranged in the horizontal direction and at least one first auxiliary scale 152; the second scale plate 160, the vertical plane where the second scale plate 160 is located is parallel to the vertical plane where the first scale plate 150 is located, and the second scale plate 160 includes: a second main reference scale 161 arranged in the horizontal direction and at least one second auxiliary scale 162; the third scale plate 170 is located on one side of the first scale plate 150 and the second scale plate 160, and the vertical plane where the third scale plate 170 is located is perpendicular to the vertical plane where the first scale plate 150 is located, and the third scale plate 170 includes: a third main reference scale 171 arranged in the horizontal direction and at least one third auxiliary scale 172. At least one image acquisition module may include a first image acquisition module 180, a second image acquisition module 190, and a third image acquisition module 200. The first image acquisition module 180, the second image acquisition module 190, and the third image acquisition module 200 are not on the same vertical plane.

[0134] At least one scale plate is arranged on the charging parking space 130, and at least one image acquisition module is arranged on the electric vehicle 110; or, at least one scale plate is arranged on the electric vehicle 110, and at least one image acquisition module is arranged on the charging parking space 130. That is, the first scale plate 150, the second scale plate 160, and the third scale plate 170 are arranged on the electric vehicle 110, and the first image acquisition module 180, the second image acquisition module 190, and the third image acquisition module 200 are arranged on the charging parking space 130; or, the first scale plate 150, the second scale plate 160, and the third scale plate 170 are arranged on the charging parking space 130, and the first image acquisition module 180, the second image acquisition module 190, and the third image acquisition module 200 are arranged on the electric vehicle 110.

[0135] An embodiment of the present invention provides another wireless charging alignment method. Figure 13 It is a flowchart of another wireless charging alignment method provided by an embodiment of the present invention. On the basis of the above embodiment, the wireless charging alignment method specifically includes the following steps:

[0136] Step 310, the first image acquisition module acquires a first image, and the first image includes the first main reference scale of the first scale plate and at least part of the first auxiliary scale.

[0137] Step 320, the second image acquisition module acquires a second image, and the second image includes the second main reference scale of the second scale plate and at least part of the second auxiliary scale.

[0138] Step 330, the third image acquisition module acquires a third image, and the third image includes the third main reference scale of the third scale plate and at least part of the third auxiliary scale.

[0139] Step 340: The first alignment adjustment module generates a first movement signal for the electric vehicle based on the first image, the second image, and the third image, so that the alignment accuracy between the wireless charging receiving module and the wireless charging transmitting module reaches a first preset accuracy range.

[0140] Optionally, the first scale plate 150, the second scale plate 160, and the third scale plate 170 are respectively arranged on the left side, the right side, and the rear side of the vehicle parking area 131, and the first image acquisition module 180, the second image acquisition module 190, and the third image acquisition module 200 are respectively arranged on the left side, the right side, and the rear side of the electric vehicle 110; or, the first scale plate 150, the second scale plate 160, and the third scale plate 170 are respectively arranged on the left side, the right side, and the rear side of the electric vehicle 110, and the first image acquisition module 180, the second image acquisition module 190, and the third image acquisition module 200 are respectively arranged on the left side, the right side, and the rear side of the vehicle parking area 131.

[0141] Another wireless charging alignment method is provided in an embodiment of the present invention. Figure 14 It is a flowchart of another wireless charging alignment method provided in an embodiment of the present invention. Based on the above embodiment, the electric vehicle 110 includes a steering mechanism, a driving mechanism, and wheels. The first movement signal includes: a first steering and a first displacement amount. The first alignment adjustment module 210 includes: a deviation angle determination sub-module 211 and a first displacement amount determination sub-module 212. Correspondingly, the method includes:

[0142] Step 410: The first image acquisition module acquires a first image, and the first image includes a first main reference scale of the first scale plate and at least part of the first auxiliary scales.

[0143] Step 420: The second image acquisition module acquires a second image, and the second image includes a second main reference scale of the second scale plate and at least part of the second auxiliary scales.

[0144] Step 430: The third image acquisition module acquires a third image, and the third image includes a third main reference scale of the third scale plate and at least part of the third auxiliary scales.

[0145] Step 440: The deviation angle determination sub-module determines the left / right deviation angle and the first steering of the electric vehicle according to the abscissa of the first main reference scale of the first scale plate in the first image and the abscissa of the second main reference scale of the second scale plate in the second image.

[0146] Step 450: Determine whether the left / right deviation angle is greater than or equal to a first preset threshold.

[0147] Among them, if so, step 460 is executed; if not, the body of the electric vehicle is aligned, and step 500 is executed to facilitate subsequent adjustment of the left / right position and front / rear position of the electric vehicle. The first alignment adjustment module 210 aligns the body of the electric vehicle according to the images collected by the three image acquisition modules, and then adjusts the left / right position and front / rear position of the electric vehicle.

[0148] Step 460: The first displacement determination sub-module determines the first displacement according to the left / right deviation angle and the first preset steering angle.

[0149] Step 470: The steering mechanism drives the wheels to turn to the first steering deflection to the first preset steering angle.

[0150] Step 480: The driving mechanism drives the wheels to advance the first displacement.

[0151] Step 490: The steering mechanism drives the wheels to return to the straight position.

[0152] Among them, after step 490 is executed, step 440 is continued to be executed until the left / right deviation angle is adjusted to be less than the first preset threshold. The first image acquisition module 180, the second image acquisition module 190, and the third image acquisition module 200 can acquire images in real time.

[0153] Step 500: Determine the alignment of the body of the electric vehicle.

[0154] Optionally, on the basis of the above embodiments, the deviation angle determination sub-module 211 includes: a first ratio determination unit 2111, a first deviation distance calculation unit 2112, a second ratio determination unit 2113, a second deviation distance calculation unit 2114, and a deviation angle determination unit 2115. Step 440 can be further refined specifically as follows. Figure 15 For Figure 14 The method flowchart for refining step 440 in. The deviation angle determination sub-module determines the left / right deviation angle and the first steering of the electric vehicle according to the abscissa of the first main reference scale of the first scale plate in the first image and the abscissa of the second main reference scale of the second scale plate in the second image, which may include:

[0155] Step 441: The first ratio determination unit calculates the ratio of the first actual distance to the first image distance as the first ratio, where the first image distance is the difference between the abscissa of the first main reference scale of the first scale plate in the first image and the abscissa of the adjacent first auxiliary scale, and the first actual distance is the actual horizontal distance between the first main reference scale and the adjacent first auxiliary scale of the first scale plate.

[0156] Step 443: The first deviation distance calculation unit takes the product of the abscissa of the first main reference scale of the first scale plate in the first image and the first ratio as the first deviation distance.

[0157] Step 445: The second ratio determination unit calculates the ratio of the second actual distance to the second image distance as the second ratio. The second image distance is the difference in the abscissa between the second main reference scale and the adjacent second auxiliary scale of the second scale plate in the second image, and the second actual distance is the actual horizontal distance between the second main reference scale and the adjacent second auxiliary scale of the second scale plate.

[0158] Step 447: The second deviation distance calculation unit takes the product of the abscissa of the second main reference scale of the second scale plate in the second image and the second ratio as the second deviation distance.

[0159] Step 449: The deviation angle determination unit determines the left / right deviation angle and the first steering of the electric vehicle according to the first difference between the first deviation distance and the second deviation distance, and the horizontal distance between the first scale plate and the second scale plate.

[0160] Optionally, the connection line between the first main reference scale 151 on the first scale plate 150 and the second main reference scale 161 on the second scale plate 160 is parallel to the vertical plane where the third scale plate 170 is located. The vertical plane where the connection line between the first image acquisition module 180 and the second image acquisition module 190 is located is perpendicular to the arrangement direction of the head and tail of the electric vehicle 110. The left / right deviation angle θ = arctan((a - b) / w), where a is the first deviation distance, b is the second deviation distance, and w is the horizontal distance between the first scale plate 150 and the second scale plate 160.

[0161] Another wireless charging alignment method is provided in an embodiment of the present invention. Figure 16 It is a flowchart of another wireless charging alignment method provided in an embodiment of the present invention. On the basis of the above embodiment, the first movement signal further includes a left / right offset and a second steering, and the first alignment adjustment module 210 further includes: a left / right offset determination sub-module 213. Further, the first movement signal further includes a second displacement and a third direction, and the first alignment adjustment module 210 further includes: a front / rear offset determination sub-module 214.

[0162] Correspondingly, the method includes:

[0163] Step 510: The first image acquisition module acquires a first image, and the first image includes the first main reference scale and at least part of the first auxiliary scales of the first scale plate.

[0164] Step 520: The second image acquisition module acquires a second image, and the second image includes the second main reference scale and at least part of the second auxiliary scales of the second scale plate.

[0165] Step 530: The third image acquisition module acquires a third image, which includes the third main reference scale of the third scale plate and at least part of the third auxiliary scales.

[0166] Step 540: The deviation angle determination sub-module determines the left / right deviation angle and the first steering of the electric vehicle based on the abscissa of the first main reference scale of the first scale plate in the first image and the abscissa of the second main reference scale of the second scale plate in the second image.

[0167] Step 550: Determine whether the left / right deviation angle is greater than or equal to a first preset threshold.

[0168] Wherein, if so, execute Step 560; if not, execute Step 600.

[0169] Step 560: The first displacement amount determination sub-module determines a first displacement amount based on the left / right deviation angle and the first preset steering angle.

[0170] Step 570: The steering mechanism drives the wheels to deflect to the first steering by a first preset steering angle.

[0171] Step 580: The driving mechanism drives the wheels to advance by the first displacement amount.

[0172] Step 590: The steering mechanism drives the wheels to return to the straight position.

[0173] Step 600: The left / right offset determination sub-module determines the left / right offset and the second steering of the electric vehicle based on the abscissa of the third main reference scale of the third scale plate in the third image.

[0174] Step 610: Determine whether the absolute value of the left / right offset is greater than or equal to a second preset threshold.

[0175] Wherein, if so, execute Step 620; if not, execute Step 650.

[0176] Step 620: The steering mechanism drives the wheels to deflect to the second steering by a second preset angle.

[0177] Step 630: The driving mechanism drives the wheels to advance by a preset displacement amount.

[0178] Step 640: The steering mechanism drives the wheels to return to the straight position.

[0179] Wherein, after executing Step 640, return to execute Step 600.

[0180] Step 650: The front / rear offset determination sub-module determines a second displacement amount and a third direction based on the abscissa of the first main reference scale of the first scale plate in the first image or the abscissa of the second main reference scale of the second scale plate in the second image.

[0181] Step 660, the driving mechanism drives the wheel to move a second displacement amount in the third direction.

[0182] Another wireless charging alignment method is provided in an embodiment of the present invention. Figure 17 It is a flowchart of another wireless charging alignment method provided in an embodiment of the present invention. On the basis of the above embodiment, the electric vehicle 110 is provided with an identifier 114, which is associated with the account for the electric vehicle 110 to log in to the wireless automatic charging client. The wireless charging system further includes: a fourth image acquisition module 220 and an identification module 230, and the fourth image acquisition module 220 is disposed at the charging parking space 130. Correspondingly, the wireless charging alignment method includes:

[0183] Step 710, the first image acquisition module acquires a first image, and the first image includes the first main reference scale of the first scale plate and at least part of the first auxiliary scale.

[0184] Step 720, the second image acquisition module acquires a second image, and the second image includes the second main reference scale of the second scale plate and at least part of the second auxiliary scale.

[0185] Step 730, the third image acquisition module acquires a third image, and the third image includes the third main reference scale of the third scale plate and at least part of the third auxiliary scale.

[0186] Step 740, the first alignment adjustment module generates a first movement signal of the electric vehicle according to the first image, the second image and the third image, so that the alignment accuracy between the wireless charging receiving module and the wireless charging transmitting module reaches a first preset accuracy range.

[0187] Step 750, the fourth image acquisition module acquires a fourth image, and the fourth image includes the identifier.

[0188] Step 760, the identification module identifies the identifier in the fourth image and determines the charging parking space where the electric vehicle corresponding to the account associated with the identifier is located.

[0189] Another wireless charging alignment method is provided in an embodiment of the present invention. Figure 18 It is a flowchart of another wireless charging alignment method provided in an embodiment of the present invention. On the basis of the above embodiment, the wireless charging system further includes: an alignment mark 250, a fifth image acquisition module 260 and a second alignment adjustment module 270. Correspondingly, the wireless charging alignment method includes:

[0190] Step 810, the first image acquisition module acquires a first image, and the first image includes the first main reference scale of the first scale plate and at least part of the first auxiliary scale.

[0191] Step 820: The second image acquisition module acquires a second image, where the second image includes the second main reference scale and at least part of the second auxiliary scales of the second scale plate.

[0192] Step 830: The third image acquisition module acquires a third image, where the third image includes the third main reference scale and at least part of the third auxiliary scales of the third scale plate.

[0193] Step 840: The first alignment adjustment module generates a first movement signal for the electric vehicle based on the first image, the second image, and the third image, so that the alignment accuracy between the wireless charging receiving module and the wireless charging transmitting module reaches a first preset accuracy range.

[0194] Step 850: When the alignment accuracy between the wireless charging receiving module and the wireless charging transmitting module reaches the first preset accuracy range, the fifth image acquisition module acquires a fifth image, where the fifth image includes an alignment mark.

[0195] Step 860: The second alignment adjustment module generates a second movement signal for the electric vehicle based on the fifth image, so that the alignment accuracy between the wireless charging receiving module and the wireless charging transmitting module reaches a second preset accuracy range, and the second preset accuracy range is smaller than the first preset accuracy range.

[0196] Optionally, the alignment mark 250 is set on the electric vehicle 110, and the fifth image acquisition module 260 is set at the charging parking space 130; or, the alignment mark 250 is set at the charging parking space 130, and the fifth image acquisition module 260 is set on the electric vehicle 110.

[0197] Optionally, the first image acquisition module 180, the second image acquisition module 190, and the third image acquisition module 200 are located inside the region surrounded by the vertical planes where the first scale plate 150, the second scale plate 160, and the third scale plate 170 are located; or, the first image acquisition module 180, the second image acquisition module 190, and the third image acquisition module 200 are located outside the region surrounded by the vertical planes where the first scale plate 150, the second scale plate 160, and the third scale plate 170 are located.

[0198] An embodiment of the present invention provides a wireless charging method. Figure 19 It is a flowchart of a wireless charging method provided by an embodiment of the present invention. This wireless charging method is implemented based on the wireless charging system provided by any embodiment of the present invention. The principles and specific processes of steps 910 to 920 in this example are the same as or similar to those of the wireless charging alignment method in the above embodiment, and will not be elaborated here. This wireless charging method specifically includes the following steps:

[0199] Step 910: At least one image acquisition module acquires images. Herein, at least one image acquisition module corresponds to at least one scale plate one by one. The image acquired by any one image acquisition module includes the main reference scale and at least part of the auxiliary scales of the scale plate corresponding thereto.

[0200] Step 920: The first alignment adjustment module generates a first movement signal of the electric vehicle according to the images acquired by at least one image acquisition module, so that the alignment accuracy between the wireless charging receiving module and the wireless charging transmitting module reaches a first preset accuracy range.

[0201] Step 930: The charging request module connects to the wireless communication network, opens the wireless automatic charging client, logs in to the account, and sends a charging request signal.

[0202] Step 940: The charging start module receives the charging request signal sent by the electric vehicle, and controls the wireless charging transmitting module at the charging parking space where the electric vehicle corresponding to the account is located to work.

[0203] The wireless charging method provided by the embodiment of the present invention is implemented based on the wireless charging system in the above embodiment. Therefore, the wireless charging method provided by the embodiment of the present invention also has the beneficial effects described in the above embodiment, which will not be elaborated herein.

[0204] The embodiment of the present invention provides another wireless charging method. Figure 20 It is a flowchart of another wireless charging method provided by the embodiment of the present invention. On the basis of the above embodiment, the wireless charging method includes:

[0205] Step 1010: At least one image acquisition module acquires images. Herein, at least one image acquisition module corresponds to at least one scale plate one by one. The image acquired by any one image acquisition module includes the main reference scale and at least part of the auxiliary scales of the scale plate corresponding thereto.

[0206] Step 1020: The first alignment adjustment module generates a first movement signal of the electric vehicle according to the images acquired by at least one image acquisition module, so that the alignment accuracy between the wireless charging receiving module and the wireless charging transmitting module reaches a first preset accuracy range.

[0207] Step 1030: The charging request module connects to the wireless communication network, opens the wireless automatic charging client, logs in to the account, and sends a charging request signal.

[0208] Step 1040: The charging start module receives the charging request signal sent by the electric vehicle, and controls the wireless charging transmitting module at the charging parking space where the electric vehicle corresponding to the account is located to work.

[0209] Step 1050: When the end charging request module monitors that the power of the energy storage module reaches the preset power, it sends an end charging request signal.

[0210] Step 1060: The payment request module receives the end charging request signal sent by the electric vehicle, controls the wireless charging transmitting module at the charging parking space where the electric vehicle corresponding to the account is located to stop working, and sends a payment request signal.

[0211] Step 1070: The payment module receives the payment request signal, sends a confirmation payment message, and logs out the account.

[0212] Note that the above is only the preferred embodiment of the present invention and the applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described here, and various obvious changes, re-adjustments, combinations with each other, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments only. Without departing from the concept of the present invention, it can also include more other equivalent embodiments, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A wireless charging system, characterized in that, Comprising: An electric vehicle; A wireless charging receiving module, disposed on the electric vehicle; A charging parking space, including a vehicle parking area; A wireless charging transmitting module, disposed within the vehicle parking area; At least one scale plate, any one of the scale plates including a main reference scale arranged in a horizontal direction and at least one auxiliary scale; At least one image acquisition module, corresponding one-to-one with the at least one scale plate, an image acquired by any one of the image acquisition modules including the main reference scale and at least part of the auxiliary scale of the corresponding scale plate; the image acquisition module is a camera; A first alignment adjustment module, configured to generate a first movement signal of the electric vehicle according to the images acquired by the at least one image acquisition module, so that the alignment accuracy between the wireless charging receiving module and the wireless charging transmitting module reaches a first preset accuracy range; The at least one scale plate includes a first scale plate, a second scale plate and a third scale plate; the at least one image acquisition module includes a first image acquisition module, a second image acquisition module and a third image acquisition module, corresponding to the first scale plate, the second scale plate and the third scale plate respectively; The first scale plate includes a first main reference scale arranged in a horizontal direction and at least one first auxiliary scale; A vertical plane where the second scale plate is located is parallel to a vertical plane where the first scale plate is located, and the second scale plate includes: a second main reference scale arranged in a horizontal direction and at least one second auxiliary scale; The third scale plate is located on one side of the first scale plate and the second scale plate, a vertical plane where the third scale plate is located is perpendicular to a vertical plane where the first scale plate is located, and the third scale plate includes: a third main reference scale arranged in a horizontal direction and at least one third auxiliary scale; The first image acquisition module is configured to acquire a first image, the first image including the first main reference scale and at least part of the first auxiliary scale of the first scale plate; The second image acquisition module is configured to acquire a second image, the second image including the second main reference scale and at least part of the second auxiliary scale of the second scale plate; The third image acquisition module is configured to acquire a third image, the third image including the third main reference scale and at least part of the third auxiliary scale of the third scale plate; The first image acquisition module, the second image acquisition module and the third image acquisition module are not in the same vertical plane.

2. The wireless charging system according to claim 1, characterized in that, The at least one scale plate is disposed on the electric vehicle, and the at least one image acquisition module is disposed on the charging parking space; or, the at least one scale plate is disposed on the charging parking space, and the at least one image acquisition module is disposed on the electric vehicle.

3. The wireless charging system according to claim 1, characterized in that, The first scale plate, the second scale plate and the third scale plate are respectively disposed on the left side, the right side and the rear side of the vehicle parking area, and the first image acquisition module, the second image acquisition module and the third image acquisition module are respectively disposed on the left side, the right side and the rear side of the electric vehicle; Alternatively, the first scale plate, the second scale plate, and the third scale plate are respectively disposed on the left side, the right side, and the rear side of the electric vehicle, and the first image acquisition module, the second image acquisition module, and the third image acquisition module are respectively disposed on the left side, the right side, and the rear side of the vehicle parking area.

4. The wireless charging system according to claim 1, characterized in that, The electric vehicle includes a steering mechanism, a driving mechanism, and wheels. The first movement signal includes: a first steering and a first displacement amount, and the first alignment adjustment module includes: a deviation angle determination sub-module, configured to determine the left / right deviation angle and the first steering of the electric vehicle according to the abscissa of the first main reference scale of the first scale plate in the first image and the abscissa of the second main reference scale of the second scale plate in the second image; a first displacement amount determination sub-module, configured to determine a first displacement amount according to the left / right deviation angle and a first preset steering angle if the left / right deviation angle is greater than or equal to a first preset threshold; The steering mechanism is configured to drive the wheels to deflect to the first preset steering angle in the first steering direction; The driving mechanism is configured to drive the wheels to move forward by the first displacement amount; The steering mechanism is further configured to drive the wheels to return to the straight-ahead position if the left / right deviation angle is less than the first preset threshold.

5. The wireless charging system according to claim 4, characterized in that, The deviation angle determination sub-module includes: a first ratio determination unit, configured to calculate a ratio of a first actual distance to a first image distance as a first ratio, where the first image distance is a difference between the abscissa of the first main reference scale of the first scale plate in the first image and the abscissa of an adjacent first auxiliary scale, and the first actual distance is an actual horizontal distance between the first main reference scale and the adjacent first auxiliary scale of the first scale plate; a first deviation distance calculation unit, configured to use a product of the abscissa of the first main reference scale of the first scale plate in the first image and the first ratio as a first deviation distance; a second ratio determination unit, configured to calculate a ratio of a second actual distance to a second image distance as a second ratio, where the second image distance is a difference between the abscissa of the second main reference scale of the second scale plate in the second image and the abscissa of an adjacent second auxiliary scale, and the second actual distance is an actual horizontal distance between the second main reference scale and the adjacent second auxiliary scale of the second scale plate; a second deviation distance calculation unit, configured to use a product of the abscissa of the second main reference scale of the second scale plate in the second image and the second ratio as a second deviation distance; a deviation angle determination unit, configured to determine the left / right deviation angle and the first steering of the electric vehicle according to a first difference between the first deviation distance and the second deviation distance, and a horizontal distance between the first scale plate and the second scale plate.

6. The wireless charging system according to claim 5, characterized in that, A connection line between the first main reference scale on the first scale plate and the second main reference scale on the second scale plate is parallel to a vertical plane where the third scale plate is located. A vertical plane where a connection line between the first image acquisition module and the second image acquisition module is located is perpendicular to an arrangement direction of the front and rear of the electric vehicle. The left / right deviation angle θ = arctan((a - b) / w), where a is the first deviation distance, b is the second deviation distance, and w is the horizontal distance between the first scale plate and the second scale plate.

7. A wireless charging alignment method, characterized in that, It includes: At least one image acquisition module acquires images, where the at least one image acquisition module corresponds one-to-one with at least one scale plate, and the image acquired by any one of the image acquisition modules includes the main reference scale and at least part of the auxiliary scales of the scale plate corresponding to it; The first alignment adjustment module generates a first movement signal of the electric vehicle according to the images acquired by the at least one image acquisition module, so that the alignment accuracy between the wireless charging receiving module and the wireless charging transmitting module reaches a first preset accuracy range; The at least one scale plate includes a first scale plate, a second scale plate, and a third scale plate. The vertical plane where the second scale plate is located is parallel to the vertical plane where the first scale plate is located, and the third scale plate is located on one side of the first scale plate and the second scale plate; the at least one image acquisition module includes a first image acquisition module, a second image acquisition module, and a third image acquisition module, corresponding to the first scale plate, the second scale plate, and the third scale plate respectively, and the first image acquisition module, the second image acquisition module, and the third image acquisition module are not in the same vertical plane; The at least one image acquisition module acquiring images includes: The first image acquisition module acquires a first image, and the first image includes the first main reference scale and at least part of the first auxiliary scales of the first scale plate; The second image acquisition module acquires a second image, and the second image includes the second main reference scale and at least part of the second auxiliary scales of the second scale plate; The third image acquisition module acquires a third image, and the third image includes the third main reference scale and at least part of the third auxiliary scales of the third scale plate.

8. A wireless charging method, characterized in that, It includes: At least one image acquisition module acquires images, where the at least one image acquisition module corresponds one-to-one with at least one scale plate, and the image acquired by any one of the image acquisition modules includes the main reference scale and at least part of the auxiliary scales of the scale plate corresponding to it; The first alignment adjustment module generates a first movement signal of the electric vehicle according to the images acquired by the at least one image acquisition module, so that the alignment accuracy between the wireless charging receiving module and the wireless charging transmitting module reaches a first preset accuracy range; The charging request module connects to the wireless communication network, opens the wireless automatic charging client, logs in to the account, and sends a charging request signal; The charging start module receives the charging request signal sent by the electric vehicle and controls the wireless charging transmitting module at the charging parking space where the electric vehicle corresponding to the account is located to work; The at least one scale plate includes a first scale plate, a second scale plate, and a third scale plate. A vertical plane where the second scale plate is located is parallel to a vertical plane where the first scale plate is located. The third scale plate is located on one side of the first scale plate and the second scale plate. The at least one image acquisition module includes a first image acquisition module, a second image acquisition module, and a third image acquisition module, which respectively correspond to the first scale plate, the second scale plate, and the third scale plate. The first image acquisition module, the second image acquisition module, and the third image acquisition module are not in the same vertical plane. The at least one image acquisition module acquiring images includes: The first image acquisition module acquires a first image, and the first image includes a first main reference scale of the first scale plate and at least part of first auxiliary scales. The second image acquisition module acquires a second image, and the second image includes a second main reference scale of the second scale plate and at least part of second auxiliary scales. The third image acquisition module acquires a third image, and the third image includes a third main reference scale of the third scale plate and at least part of third auxiliary scales.

Images