Single-coil spatial positioning method and apparatus, terminal device, and storage medium

Abstract

This invention relates to a single-coil spatial positioning method, apparatus, terminal device, and storage medium. The method involves acquiring multiple load voltages at different locations of the receiving coil; determining multiple offset distances corresponding to the load voltages based on a pre-established relationship between the load voltages of the receiving coil and the spatial offset distances of the coil's center point; determining the position information of the center point of the transmitting coil connected to the receiving coil based on the position information of the receiving coil at different locations and the corresponding offset distances; and moving the receiving coil according to the position information to ensure that the transmission efficiency of the receiving and transmitting coils exceeds a preset value. This method eliminates the need to know the vertical distance between the transmitting and receiving coils beforehand and avoids maintaining parallelism between them during positioning. It overcomes the accuracy reduction caused by the inability to maintain parallelism at all times in existing methods, and also reduces manufacturing costs and waste of space in the receiving end layout.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of control, and in particular to a single-coil spatial positioning method and device, a terminal device and a storage medium. BACKGROUND

[0002] The transmission efficiency of inductive wireless charging is largely dependent on the relative position of the transmitting coil and the receiving coil, for example, a method of guiding the alignment of the coil position can be used by using a receiving coil and multiple auxiliary coils. By fixing the vertical distance between the transmitting coil and the receiving coil, the power parameters such as voltage and current of the receiving coil and the auxiliary coil are used to guide the movement of the receiving end to reduce the horizontal distance offset of the transmitting coil and the receiving coil in the plane, so that the transmission efficiency of wireless charging reaches the maximum value.

[0003] However, in the existing coil positioning method, the vertical distance between the transmitting coil and the receiving coil must be pre-set, and the two must be kept parallel, which cannot be guaranteed in various working conditions in actual application. Moreover, the existing method requires multiple auxiliary coils, resulting in waste of manufacturing cost and space utilization. SUMMARY

[0004] The present application aims to provide a single-coil spatial positioning method, device, terminal device and storage medium to solve the problems existing in the prior art. The technical problems to be solved by the present application are solved by the following technical solutions.

[0005] In a first aspect, the present application provides a single-coil spatial positioning method applied to a terminal device, wherein the terminal device comprises a receiving coil, and the method comprises:

[0006] obtaining a plurality of load voltages of the receiving coil at different positions;

[0007] determining a plurality of offset distances corresponding to the load voltages according to a pre-established relationship between the load voltages of the receiving coil and the spatial offset distances of the coil center point;

[0008] determining the position information of the center point of the transmitting coil connected with the receiving coil according to the position information of the receiving coil at different positions and the offset distances corresponding to the position information;

[0009] moving the receiving coil according to the position information, so that the transmission efficiency of the receiving coil and the transmitting coil is greater than a preset value.

[0010] Optionally, the pre-established relationship between the load voltages of the receiving coil and the spatial offset distances of the coil center point is obtained by the following way:

[0011] obtaining a first transmission parameter of a transmitting coil, a second transmission parameter of a receiving coil and a wireless charging circuit parameter;

[0012] calculating a function relationship curve of a receiving end load voltage and a coil center point spatial offset distance according to the first transmission parameter, the second transmission parameter and the wireless charging circuit parameter.

[0013] Optionally, the calculating the function relationship curve of the receiving end load voltage and the coil center point spatial offset distance according to the first transmission parameter, the second transmission parameter and the wireless charging circuit parameter comprises:

[0014] calculating a mutual inductance coefficient of the parallel axis transmitting coil and the receiving coil according to a Noeiman formula;

[0015] calculating a relationship formula of the mutual inductance coefficient of the parallel center offset current-carrying coil;

[0016] establishing an electromagnetic mutual inductance energy transmission equivalent circuit model between the transmitting coil and the receiving coil according to a mutual inductance theory in a series resonance compensation mode;

[0017] calculating a transmitting coil current and a complex current of the receiving coil according to a Kirchhoff voltage law;

[0018] calculating a relationship formula of a load instantaneous voltage of the receiving coil of the coil mutual inductance energy transmission according to the equivalent circuit model;

[0019] determining the function relationship curve of the receiving end load voltage and the coil center point spatial offset distance according to the relationship formula of the mutual inductance coefficient of the parallel center offset current-carrying coil and the relationship formula of the load instantaneous voltage of the receiving coil.

[0020] Optionally, the determining the position information of the center point of the transmitting coil connected with the receiving coil according to the position information of the receiving coil at different positions and the offset distance corresponding to the position information comprises:

[0021] obtaining a first coordinate value of a first position, a second coordinate value of a second position and a third coordinate value of a third position of the receiving coil;

[0022] determining a plurality of corresponding relationships between a square value of a distance between any two positions and the first coordinate value, the second coordinate value and the third coordinate value according to a spatial geometric coordinate relationship between the obtained position points;

[0023] determining a position coordinate of the center point of the transmitting coil according to the plurality of corresponding relationships.

[0024] In a second aspect, an embodiment of the present application provides a single coil spatial positioning device,

[0025] The application is applied to a terminal device, the terminal device comprises a receiving coil, and the device comprises:

[0026] An acquisition module is configured to acquire a plurality of load voltages of the receiving coil at different positions;

[0027] A determination module is configured to determine a plurality of offset distances corresponding to the load voltages respectively according to a pre-established relationship between the load voltages of the receiving coil and the spatial offset distances of the coil center points;

[0028] A calculation module is configured to determine position information of a center point of a transmitting coil connected with the receiving coil according to position information of the receiving coil at different positions and the offset distances corresponding to the position information;

[0029] A positioning module is configured to move the receiving coil according to the position information, so that the transmission efficiency of the receiving coil and the transmitting coil is greater than a preset value.

[0030] Optionally, the determination module is configured to:

[0031] acquire a first transmission parameter of the transmitting coil, a second transmission parameter of the receiving coil and a wireless charging circuit parameter;

[0032] calculate a function relationship curve of the load voltage of the receiving end and the spatial offset distance of the coil center point according to the first transmission parameter, the second transmission parameter and the wireless charging circuit parameter.

[0033] Optionally, the determination module is configured to:

[0034] calculate the mutual inductance coefficient of the parallel-axis transmitting coil and the receiving coil according to the Neumann formula;

[0035] calculate a relationship formula of the mutual inductance coefficient between the parallel center offset current-carrying coils;

[0036] adopt a series resonance compensation mode, and establish an electromagnetic mutual inductance energy transmission equivalent circuit model between the transmitting coil and the receiving coil according to the mutual inductance theory;

[0037] calculate the transmitting coil current and the complex current of the receiving coil according to the Kirchhoff voltage law;

[0038] calculate a relationship formula of the load instantaneous voltage of the receiving coil of the coil mutual inductance energy transmission according to the equivalent circuit model;

[0039] determine the function relationship curve of the load voltage of the receiving end and the spatial offset distance of the coil center point according to the relationship formula of the mutual inductance coefficient between the parallel center offset current-carrying coils and the relationship formula of the load instantaneous voltage of the receiving coil.

[0040] Optionally, the calculation module is configured to:

[0041] obtaining a first coordinate value of a first position, a second coordinate value of a second position and a third coordinate value of a third position of the receiving coil;

[0042] determining a plurality of corresponding relationships between the first coordinate value, the second coordinate value and the third coordinate value according to the spatial geometric coordinate relationship between the obtained position points;

[0043] determining the position coordinate of the center point of the transmitting coil according to the plurality of corresponding relationships.

[0044] In a third aspect, an embodiment of the present application provides a terminal device, comprising at least one processor and a memory;

[0045] The memory stores a computer program, and the at least one processor executes the computer program stored in the memory to implement the single-coil spatial positioning method provided in the first aspect.

[0046] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed to implement the single-coil spatial positioning method provided in the first aspect.

[0047] Embodiments of the present application have the following advantages:

[0048] The single-coil spatial positioning method, device, terminal device and storage medium provided by the embodiments of the present application obtain a plurality of load voltages of the receiving coil at different positions; determine a plurality of offset distances corresponding to the load voltages respectively according to a previously established relationship between the load voltage of the receiving coil and the spatial offset distance of the coil center point; determine the position information of the center point of the transmitting coil connected with the receiving coil according to the position information of the receiving coil at different positions and the offset distances corresponding to the position information; and move the receiving coil according to the position information, so that the transmission efficiency of the receiving coil and the transmitting coil is greater than a preset value. The single-coil spatial positioning method provided by the embodiments of the present application does not need to know the vertical distance between the transmitting coil and the receiving coil, and does not need to keep the transmitting coil and the receiving coil parallel during the positioning process, thereby overcoming the reduction of the accuracy of the existing method due to the fact that the coil positioning cannot be kept parallel at all times, and reducing the manufacturing cost and the waste of the space layout of the receiving end. BRIEF DESCRIPTION OF DRAWINGS

[0049] Figure 1 is a step flowchart of an embodiment of a single-coil spatial positioning method of the present application;

[0050] Figure 2 is a schematic diagram of the spatial positions of the transmitting coil and the receiving coil of the present application;

[0051] Figure 3 is a schematic diagram of the planar position of the transmitting coil and the receiving coil of the present application;

[0052] Figure 4 is an equivalent circuit diagram of the coil electromagnetic mutual inductance energy transmission of the present application;

[0053] Figure 5 is a structure block diagram of an embodiment of a single coil spatial positioning device of the present application;

[0054] Figure 6 is a structure schematic diagram of a terminal device of the present application. DETAILED DESCRIPTION

[0055] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0056] An embodiment of the present application provides a single coil spatial positioning method for positioning a single coil to perform charging. The execution subject of the embodiment is a single coil spatial positioning device, which is arranged on a terminal device, for example, the terminal device at least includes a tablet terminal and a computer terminal.

[0057] Referring to Figure 1 , a step flow chart of an embodiment of a single coil spatial positioning method of the present application is shown, which is applied to a terminal device including a receiving coil, and the method can specifically include the following steps:

[0058] S101, obtaining multiple load voltages of the receiving coil at different positions;

[0059] Specifically, the embodiment of the present application is applied to a terminal device, and a receiving coil and a charging circuit are installed on the terminal device. When a transmitting coil is close to the receiving coil, the terminal device obtains multiple load voltages at multiple different positions.

[0060] S102, determining multiple offset distances corresponding to the load voltages respectively according to a pre-established relationship between the load voltages of the receiving coil and the spatial offset distance of the coil center point;

[0061] The terminal device is pre-provided with the relationship between the load voltage of the receiving coil and the spatial offset distance of the coil center point, which can be a table or a curve. Then, the terminal device finds the offset distance corresponding to the load voltage according to different load voltages. For example, the load voltages at three positions are obtained, and then the corresponding offset distances are determined according to the three load voltages. The offset distance is the spatial offset distance between the transmitting coil and the receiving coil center.

[0062] The number of the specifically set load voltages is not specifically limited in the embodiment of the present application.

[0063] S103, determining the position information of the center point of the transmitting coil connected with the receiving coil according to the position information of the receiving coil in different positions and the offset distance corresponding to the position information;

[0064] The terminal device obtains different position information, for example, coordinate information, of the receiving coil in multiple positions, and then performs geometric relationship operation according to the coordinate information and the offset distance corresponding to the position information, to determine the position information of the center point of the transmitting coil connected with the receiving coil.

[0065] S104, moving the receiving coil according to the position information, so that the transmission efficiency of the receiving coil and the transmitting coil is greater than a preset value.

[0066] The terminal device controls the receiving coil to move according to the spatial coordinates of the center point of the transmitting coil, that is, the position information of the center point of the transmitting coil connected with the receiving coil, until the transmission efficiency of the transmitting coil and the receiving coil reaches the maximum value.

[0067] The single-coil spatial positioning method provided in the embodiment of the present application comprises the following steps: obtaining multiple load voltages of the receiving coil in different positions; determining multiple offset distances corresponding to the load voltages according to a previously established relationship between the load voltages of the receiving coil and the spatial offset distance of the coil center point; determining the position information of the center point of the transmitting coil connected with the receiving coil according to the position information of the receiving coil in different positions and the offset distance corresponding to the position information; and moving the receiving coil according to the position information, so that the transmission efficiency of the receiving coil and the transmitting coil is greater than a preset value. The single-coil spatial positioning method provided in the embodiment of the present application does not need to know the vertical distance between the transmitting coil and the receiving coil, and the parallelism between the transmitting coil and the receiving coil does not need to be maintained during the positioning process, thereby overcoming the reduction of the accuracy of the existing method due to the fact that the coils cannot be kept parallel at all times, and reducing the manufacturing cost and the waste of the spatial layout of the receiving end.

[0068] Another embodiment of the present application further supplements the single-coil spatial positioning method provided in the above embodiment.

[0069] Optionally, the relationship between the load voltage of the receiving coil and the spatial offset distance of the coil center point is obtained by the following method:

[0070] The first transmission parameter of the transmitting coil, the second transmission parameter of the receiving coil and the wireless charging circuit parameter are obtained.

[0071] According to the first transmission parameter, the second transmission parameter and the wireless charging circuit parameter, a function relationship curve of the receiving end load voltage and the coil center point spatial offset distance is calculated.

[0072] Figure 2 The figure is a schematic diagram of the spatial position of the transmitting coil and the receiving coil of the application. First, according to the transmitting coil and the receiving coil parameter and the wireless charging circuit parameter, a function relationship curve of the receiving end load voltage and the coil center point spatial offset distance is calculated.

[0073] Then the receiving end collects the receiving end load voltage U L1 at the coordinate origin O1, and then according to the receiving end load voltage, the transmitting coil and the receiving coil center spatial offset distance The receiving end moves a certain distance, and the receiving coil center point moves to O3. The receiving end collects the load voltage U L2 , and according to the load voltage, the coil center point spatial offset distance at this time is queried. The receiving end moves a certain distance again, and the receiving coil center point moves to O4. The receiving end collects the load voltage U L3 , and according to the load voltage, the coil center point spatial offset distance at this time is queried.

[0074] According to the three position point coordinates of the receiving coil and the distance between the three position center points of the receiving coil center point and the transmitting coil center point The spatial position (x, y, z) of the transmitting coil center point is calculated, wherein z≤0.

[0075] The control part moves the receiving end according to the calculated spatial coordinates of the transmitting coil center point until the transmission efficiency of the transmitting coil and the receiving coil reaches the maximum value.

[0076] 1. The function relationship curve of the receiving end load voltage and the coil center point spatial offset distance is calculated as follows:

[0077] As Figure 2 , the mutual inductance coefficient of the two coils parallel to the axis is obtained according to the Neumann formula:

[0078]

[0079] In the formula, μ0 is the magnetic permeability of vacuum, N1 and N2 are the number of turns of the receiving coil and the transmitting coil respectively, and are the microelements of the loop integrals of the receiving coil and the transmitting coil respectively, and are the deflection angles between the vector microelements and the x-axis; and are the deflection angles between the vector microelements and the x-axis; is and Vector distance between micro-elements, h is the vertical distance between the transmitting coil and the receiving coil, and l is And Transverse distance between micro-elements, r is the transverse distance between the center of the transmitting coil and the receiving coil,

[0080] Optionally, according to the first transmission parameter, the second transmission parameter and the wireless charging circuit parameter, the receiving end load voltage-coil center point space offset distance function relationship curve is calculated, comprising:

[0081] According to the Neumann formula, the mutual inductance coefficient of the parallel axis transmitting coil and the receiving coil is calculated;

[0082] The relationship formula for calculating the mutual inductance coefficient between the parallel center offset current-carrying coils is calculated;

[0083] Using the series resonance compensation method, an electromagnetic mutual inductance energy transmission equivalent circuit model between the transmitting coil and the receiving coil is established according to the mutual inductance theory;

[0084] According to the Kirchhoff voltage law, the transmitting coil current and the receiving coil complex current are calculated;

[0085] According to the equivalent circuit model, the relationship formula of the load instantaneous voltage of the receiving coil of the mutual inductance energy transmission is calculated;

[0086] According to the relationship formula of the mutual inductance coefficient between the parallel center offset current-carrying coils and the relationship formula of the load instantaneous voltage of the receiving coil, the receiving end load voltage-coil center point space offset distance function relationship curve is determined.

[0087] Figure 3 is the schematic diagram of the planar position of the transmitting coil and the receiving coil of the application, according to Figure 3 The planar position relationship of the transmitting coil and the receiving coil in the formula is obtained according to the geometric relationship:

[0088]

[0089] In the formula, r1 and r2 are the average radii of the receiving coil and the transmitting coil respectively,

[0090] The mutual inductance coefficient between the parallel center offset current-carrying coils is obtained as:

[0091]

[0092] When

[0093] When

[0094]

[0095] Reference transformation The mutual inductance between the parallel center offset current-carrying coils is obtained as:

[0096]

[0097] Using the elliptic integral formula, the following can be obtained:

[0098]

[0099] wherein, and are the first and second complete elliptic integrals, respectively.

[0100] The expansion formulas of the first and second complete elliptic integrals are as follows:

[0101]

[0102]

[0103] The modulus k is:

[0104]

[0105] k' 2 = 1-k 2 is the complementary modulus of k.

[0106] The expansion formula of the elliptic integral is applicable when k∈(0, 1). To meet the prerequisite of the expansion formula of the elliptic integral, the following formula is derived:

[0107] (r1-r2) 2 +h 2 +r 2 >0 (1.10)

[0108] Alternatively, according to the position information of the receiving coil located at different positions and the offset distance corresponding to the position information, the position information of the center point of the transmitting coil connected with the receiving coil is determined, comprising:

[0109] The first coordinate value of the first position, the second coordinate value of the second position and the third coordinate value of the third position of the receiving coil are obtained;

[0110] According to the spatial geometric coordinate relationship between the obtained position points, a plurality of corresponding relationships between the square value of the distance between any two positions and the first coordinate value, the second coordinate value and the third coordinate value are determined;

[0111] According to the plurality of corresponding relationships, the position coordinate of the center point of the transmitting coil is determined.

[0112] Figure 4 is the coil electromagnetic mutual inductance energy transmission equivalent circuit diagram of the application, which adopts series resonance compensation mode and establishes a coil electromagnetic mutual inductance energy transmission equivalent circuit model according to the mutual inductance theory.

[0113] Since the circuit model satisfies the quasi-stable condition, the following equation can be obtained according to the Kirchhoff voltage law:

[0114]

[0115]

[0116] The transmitting coil current and the complex current of the receiving coil are:

[0117]

[0118]

[0119] In the formula, is the complex voltage of the transmitting end AC voltage source in the electromagnetic mutual inductance energy transmission model. The complex impedance of the transmitting end is The complex impedance of the receiving end is ω is the system resonance frequency, L1, C1 and R1 are the inductance, capacitance and parasitic resistance of the transmitting resonance body, L2,

[0120] C2 and R2 are the inductance, capacitance and parasitic resistance of the receiving resonance body, and R L is the load resistance. Assuming that the parameters of the two resonance bodies are the same, the system resonance frequency is

[0121] The instantaneous voltage of the receiving end load of the coil mutual inductance energy transmission is:

[0122]

[0123] When the system excitation voltage source works at the resonance frequency ω0, the transmission efficiency can be represented as:

[0124]

[0125] The function relationship curve of the receiving end load voltage and the coil center point space displacement distance is obtained by combining (1.6) and (1.15).

[0126] 2. The steps for calculating the spatial position coordinates of the transmitting coil center point are as follows:

[0127] Let the coordinates of the transmitting coil center point be (x, y, z), and according to the obtained spatial geometric coordinate relationship between the position points, the following can be obtained:

[0128]

[0129] The center point of the transmitting coil is O2;

[0130] The center point of the receiving coil is O1, the coordinate of the center point of the receiving coil O3 is and the coordinate of the center of the receiving coil O4 is The position coordinate of the center point of the transmitting coil is obtained from the motion posture of the receiving end by (1.17).

[0131] In the embodiment of the present application, the load voltage-receiving coil center point spatial offset distance function relationship curve is calculated, the spatial coordinate of the transmitting coil center point is calculated by using a single receiving coil, no additional positioning device is needed, and only a signal collection part needs to be added to the wireless charging device. The vertical distance between the transmitting coil and the receiving coil does not need to be known in advance, and the parallelism of the transmitting coil and the receiving coil does not need to be maintained during positioning, which is suitable for mobile robot coil positioning under various working conditions. No additional auxiliary coil and positioning device are needed, which reduces the manufacturing cost and the layout space, and avoids the influence of environmental changes such as light, rain and snow on the positioning accuracy.

[0132] It should be noted that for the method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the embodiments of the present application are not limited by the action sequence described, because according to the embodiments of the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions involved are not necessarily necessary for the embodiments of the present application.

[0133] The single coil spatial positioning method provided by the embodiments of the present application obtains a plurality of load voltages when the receiving coil is located at different positions; determines a plurality of offset distances corresponding to the load voltages according to the pre-established relationship between the load voltage of the receiving coil and the spatial offset distance of the coil center point; determines the position information of the center point of the transmitting coil connected with the receiving coil according to the position information of the receiving coil at different positions and the offset distance corresponding to the position information; and moves the receiving coil according to the position information, so that the transmission efficiency of the receiving coil and the transmitting coil is greater than a preset value. The single coil spatial positioning method provided by the embodiments of the present application does not need to know the vertical distance between the transmitting coil and the receiving coil in advance, and does not need to maintain the parallelism of the transmitting coil and the receiving coil during positioning, which overcomes the reduction of the accuracy of the existing method caused by the fact that the coil positioning cannot be kept parallel at all times, and reduces the manufacturing cost and the waste of the receiving end space layout.

[0134] Another embodiment of the present application provides a single coil spatial positioning device for executing the single coil spatial positioning method provided by the above-mentioned embodiments.

[0135] Reference Figure 5, a structural block diagram of an embodiment of a single-coil spatial positioning device of the application is shown, which is applied to a terminal device, the terminal device comprising a receiving coil, and the device can specifically comprise the following modules: an acquisition module 501, a determination module 502, a calculation module 503 and a positioning module 504, wherein:

[0136] The acquisition module 501 is configured to acquire a plurality of load voltages of the receiving coil at different positions.

[0137] The determination module 502 is configured to determine a plurality of offset distances corresponding to the load voltages respectively according to a pre-established relationship between the load voltages of the receiving coil and the spatial offset distances of the coil center points.

[0138] The calculation module 503 is configured to determine the position information of the center point of a transmitting coil connected with the receiving coil according to the position information of the receiving coil at different positions and the offset distances corresponding to the position information.

[0139] The positioning module 504 is configured to move the receiving coil according to the position information, so that the transmission efficiency of the receiving coil and the transmitting coil is greater than a preset value.

[0140] The single-coil spatial positioning device provided by the embodiment of the application acquires a plurality of load voltages of the receiving coil at different positions, determines a plurality of offset distances corresponding to the load voltages respectively according to a pre-established relationship between the load voltages of the receiving coil and the spatial offset distances of the coil center points, determines the position information of the center point of a transmitting coil connected with the receiving coil according to the position information of the receiving coil at different positions and the offset distances corresponding to the position information, and moves the receiving coil according to the position information, so that the transmission efficiency of the receiving coil and the transmitting coil is greater than a preset value. The single-coil spatial positioning method provided by the embodiment of the application does not need to know the vertical distance between the transmitting coil and the receiving coil, and the parallelism between the transmitting coil and the receiving coil does not need to be maintained during the positioning process, which overcomes the reduction of the accuracy of the existing method due to the fact that the coils cannot be kept parallel at all times during the positioning process, and reduces the manufacturing cost and the waste of the spatial layout of the receiving end.

[0141] Another embodiment of the application further supplements the single-coil spatial positioning device provided by the above-mentioned embodiment.

[0142] Optionally, the determination module is configured to:

[0143] acquire a first transmission parameter of the transmitting coil, a second transmission parameter of the receiving coil and a wireless charging circuit parameter;

[0144] calculate a function relationship curve of the load voltage of the receiving end and the spatial offset distance of the coil center point according to the first transmission parameter, the second transmission parameter and the wireless charging circuit parameter.

[0145] Optionally, the determining module is configured to:

[0146] According to the Noeiman formula, the mutual inductance coefficient of the parallel axis transmitting coil and the receiving coil is calculated;

[0147] The relationship of the mutual inductance coefficient between the parallel center offset current-carrying coils is calculated;

[0148] The electromagnetic mutual inductance energy transmission equivalent circuit model between the transmitting coil and the receiving coil is established according to the mutual inductance theory in the series resonance compensation mode;

[0149] According to the Kirchhoff voltage law, the transmitting coil current and the complex current of the receiving coil are calculated;

[0150] According to the equivalent circuit model, the relationship of the load instantaneous voltage of the coil mutual inductance energy transmission receiving coil is calculated;

[0151] According to the relationship of the mutual inductance coefficient between the parallel center offset current-carrying coils and the relationship of the load instantaneous voltage of the receiving coil, the receiving end load voltage-coil center point space offset distance function relationship curve is determined.

[0152] Optionally, the calculating module is configured to:

[0153] The first coordinate value of the first position, the second coordinate value of the second position and the third coordinate value of the third position of the receiving coil are obtained;

[0154] According to the obtained spatial geometric coordinate relationship between the position points, the square value of the distance between any two positions and a plurality of corresponding relationships between the first coordinate value, the second coordinate value and the third coordinate value are determined;

[0155] According to the plurality of corresponding relationships, the transmitting coil center point position coordinate is determined.

[0156] For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the related parts are referred to the part of the method embodiment.

[0157] The single-coil spatial positioning device provided by the embodiment of the present application obtains multiple load voltages of the receiving coil at different positions; determines multiple offset distances corresponding to the load voltages respectively according to a pre-established relationship between the load voltages of the receiving coil and the spatial offset distances of the coil center points; determines the position information of the center point of the transmitting coil connected with the receiving coil according to the position information of the receiving coil at different positions and the offset distances corresponding to the position information; and moves the receiving coil according to the position information, so that the transmission efficiency of the receiving coil and the transmitting coil is greater than a preset value. The single-coil spatial positioning method provided by the embodiment of the present application does not need to know the vertical distance between the transmitting coil and the receiving coil, and does not need to keep the transmitting coil and the receiving coil parallel during the positioning process, thereby overcoming the reduction of the accuracy of the existing method caused by the fact that the coil positioning cannot keep parallel at all times, and reducing the manufacturing cost and the waste of the spatial layout of the receiving end.

[0158] The embodiment of the present application further provides a terminal device used for executing the single-coil spatial positioning method provided by the above-mentioned embodiments.

[0159] Figure 6 is a structural schematic diagram of a terminal device of the present application, as Figure 6 shown, the terminal device comprises at least one processor 601 and a memory 602.

[0160] The memory stores a computer program, and the at least one processor executes the computer program stored in the memory to realize the single-coil spatial positioning method provided by the above-mentioned embodiments.

[0161] The terminal device provided by the embodiment obtains multiple load voltages of the receiving coil at different positions; determines multiple offset distances corresponding to the load voltages respectively according to a pre-established relationship between the load voltages of the receiving coil and the spatial offset distances of the coil center points; determines the position information of the center point of the transmitting coil connected with the receiving coil according to the position information of the receiving coil at different positions and the offset distances corresponding to the position information; and moves the receiving coil according to the position information, so that the transmission efficiency of the receiving coil and the transmitting coil is greater than a preset value. The single-coil spatial positioning method provided by the embodiment of the present application does not need to know the vertical distance between the transmitting coil and the receiving coil, and does not need to keep the transmitting coil and the receiving coil parallel during the positioning process, thereby overcoming the reduction of the accuracy of the existing method caused by the fact that the coil positioning cannot keep parallel at all times, and reducing the manufacturing cost and the waste of the spatial layout of the receiving end.

[0162] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed to realize the single-coil spatial positioning method provided by any of the above-mentioned embodiments.

[0163] According to the computer readable storage medium of the embodiment, a plurality of load voltages of the receiving coil in different positions are acquired; a plurality of offset distances corresponding to the load voltages are respectively determined according to a previously established relationship between the load voltage of the receiving coil and the spatial offset distance of the coil center point; the position information of the center point of the transmitting coil connected with the receiving coil is determined according to the position information of the receiving coil in different positions and the offset distances corresponding to the position information; and the receiving coil is moved according to the position information, so that the transmission efficiency of the receiving coil and the transmitting coil is greater than a preset value. The single coil spatial positioning method provided in the embodiment does not need to know the vertical distance between the transmitting coil and the receiving coil, and the parallelism between the transmitting coil and the receiving coil does not need to be maintained during the positioning process, thereby overcoming the reduction of the accuracy of the existing method caused by the fact that the coil positioning cannot be kept parallel at all times, and reducing the manufacturing cost and the waste of the spatial layout of the receiving end.

[0164] It should be noted that the above detailed description is exemplary and is intended to provide further explanation of the present application. Unless otherwise indicated, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs.

[0165] It should be noted that the terms used herein are only for the purpose of describing specific embodiments, and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprise" and / or "include" are used in the specification, they refer to the presence of a feature, step, operation, device, component, and / or combinations thereof.

[0166] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged as appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0167] In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to the process, method, product, or device.

[0168] For purposes of the description hereinafter, spatial

[0169] In the detailed description above, reference is made to the accompanying drawings, which form a part hereof. In the drawings, similar symbols typically identify similar components, unless context dictates otherwise. The illustrative embodiments described in the detailed description, drawings, and claims are not meant to be limiting. Other embodiments can be used, and other changes can be made, without departing from the spirit or scope of the subject matter presented herein.

[0170] The above description is embodied in the form of a preferred embodiment only and is not intended to limit the present application. The present application can be variously changed and substituted without departing from the spirit and scope thereof. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the present application.

Claims

1. A single-coil spatial positioning method, characterized in that, Applied to a terminal device, the terminal device including a receiving coil, the method includes: Obtain multiple load voltages at different locations of the receiving coil; Based on the pre-established relationship between the load voltage of the receiving coil and the spatial offset distance of the coil center point, multiple offset distances corresponding to the load voltage are determined respectively; the pre-established relationship between the load voltage of the receiving coil and the spatial offset distance of the coil center point is obtained in the following way: the first transmission parameter of the transmitting coil, the second transmission parameter of the receiving coil and the wireless charging circuit parameter are obtained, and the functional relationship curve between the load voltage of the receiving end and the spatial offset distance of the coil center point is calculated based on the first transmission parameter, the second transmission parameter and the wireless charging circuit parameter. Based on the position information of the receiving coil at different locations and the offset distance corresponding to the position information, the position information of the center point of the transmitting coil connected to the receiving coil is determined, including: obtaining the first coordinate value of the first position of the receiving coil, the second coordinate value of the second position, and the third coordinate value of the third position; determining multiple correspondences between the square of the distance between any two positions and the first coordinate value, the second coordinate value, and the third coordinate value based on the obtained spatial geometric coordinate relationship between the position points; and determining the position coordinates of the center point of the transmitting coil based on the multiple correspondences. Based on the location information, the receiving coil is moved so that the transmission efficiency of the receiving coil and the transmitting coil is greater than a preset value.

2. The method according to claim 1, characterized in that, The step of calculating the receiver load voltage-coil center point spatial offset distance function curve based on the first transmission parameters, the second transmission parameters, and the wireless charging circuit parameters includes: Calculate the mutual inductance coefficients of the parallel-axis transmitting and receiving coils according to the Neumann formula; Formula for calculating the mutual inductance coefficients between parallel center-offset current-carrying coils; A series resonance compensation method is adopted, and an equivalent circuit model of electromagnetic mutual inductance energy transfer between the transmitting coil and the receiving coil is established based on mutual inductance theory. Calculate the current in the transmitting coil and the complex current in the receiving coil according to Kirchhoff's voltage law; Based on the equivalent circuit model, calculate the relationship between the instantaneous load voltage of the coil receiving coil and the mutual inductance energy transfer coil. Based on the relationship between the mutual inductance coefficients between the parallel center offset current-carrying coils and the relationship between the instantaneous load voltage of the receiving coil, the curve of the relationship between the load voltage of the receiving end and the spatial offset distance of the coil center point is determined.

3. A single-coil spatial positioning device, characterized in that, Applied to a terminal device, the terminal device including a receiving coil, the device comprising: The acquisition module is used to acquire multiple load voltages at different locations of the receiving coil; The determination module is used to determine multiple offset distances corresponding to the load voltage based on a pre-established relationship between the load voltage of the receiving coil and the spatial offset distance of the coil center point; including: acquiring the first transmission parameters of the transmitting coil, the second transmission parameters of the receiving coil, and the wireless charging circuit parameters; and calculating the functional relationship curve between the load voltage of the receiving end and the spatial offset distance of the coil center point based on the first transmission parameters, the second transmission parameters, and the wireless charging circuit parameters. The calculation module is used to determine the position information of the center point of the transmitting coil connected to the receiving coil based on the position information of the receiving coil at different positions and the offset distance corresponding to the position information; including: obtaining the first coordinate value of the first position, the second coordinate value of the second position, and the third coordinate value of the third position of the receiving coil; determining multiple correspondences between the square of the distance between any two positions and the first coordinate value, the second coordinate value, and the third coordinate value based on the obtained spatial geometric coordinate relationship between the position points; and determining the position coordinates of the center point of the transmitting coil based on the multiple correspondences. The positioning module is used to move the receiving coil according to the location information so that the transmission efficiency of the receiving coil and the transmitting coil is greater than a preset value.

4. The apparatus according to claim 3, characterized in that, The determining module is used for: Calculate the mutual inductance coefficients of the parallel-axis transmitting and receiving coils according to the Neumann formula; Formula for calculating the mutual inductance coefficients between parallel center-offset current-carrying coils; A series resonance compensation method is adopted, and an equivalent circuit model of electromagnetic mutual inductance energy transfer between the transmitting coil and the receiving coil is established based on mutual inductance theory. Calculate the current in the transmitting coil and the complex current in the receiving coil according to Kirchhoff's voltage law; Based on the equivalent circuit model, calculate the relationship between the instantaneous load voltage of the coil receiving coil and the mutual inductance energy transfer coil. Based on the relationship between the mutual inductance coefficients between the parallel center offset current-carrying coils and the relationship between the instantaneous load voltage of the receiving coil, the curve of the relationship between the load voltage of the receiving end and the spatial offset distance of the coil center point is determined.

5. A terminal device, characterized in that, include: At least one processor and memory; The memory stores computer programs; The at least one processor executes the computer program stored in the memory to implement the single-coil spatial positioning method according to claim 1 or 2.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the single-coil spatial positioning method according to claim 1 or 2.

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