Wireless charging alignment method and apparatus, vehicle, readable medium, program product

Abstract

This application provides a wireless charging alignment method, apparatus, vehicle, readable medium, and program product. The method includes: acquiring a first image and a wireless positioning signal from a wireless transmitter, the first image containing image information of the wireless transmitter; determining a first positional relationship between a wireless receiver and a wireless transmitter based on the first image; the wireless receiver being fixed to the vehicle, and the wireless transmitter being fixed to a parking space; determining a second positional relationship between the wireless receiver and the wireless transmitter based on the wireless positioning signal; and determining a first relative positional relationship between the wireless receiver and the wireless transmitter based on the first and second positional relationships, so that the driver controls the vehicle's movement based on the first relative positional relationship, thereby aligning the wireless receiver and the wireless transmitter. This solution improves the accuracy of the alignment between the wireless receiver and the wireless transmitter and is cost-effective.

Description

Technical Field

[0001] This application relates to the field of wireless charging technology, and in particular to a wireless charging alignment method, apparatus and vehicle, readable medium and program product. Background Technology

[0002] Wireless charging technology is a technology that uses spatial electromagnetic fields as a medium to achieve electro-magnetic-electric energy transfer. Due to its advantages such as convenient charging, high operational reliability, and strong environmental adaptability, wireless charging technology has begun to be gradually applied in the field of electric vehicles (hereinafter referred to as vehicles).

[0003] When a vehicle is wirelessly charged, the wireless receiver on the vehicle and the wireless transmitter on the charging station must be aligned as closely as possible to achieve the maximum coupling coefficient, thereby achieving higher energy transfer efficiency and lower magnetic field leakage. Current solutions often use a moving wireless transmitter to achieve this alignment. Specifically, this moving transmitter is typically achieved through a trolley or other mobile mechanism to move the transmitter and receiver together. This method requires high hardware costs and frequent maintenance. Summary of the Invention

[0004] In view of the above problems, this application provides a wireless charging alignment method, apparatus, vehicle, readable medium, and program product that solves or at least partially solves the above problems.

[0005] In one embodiment of this application, a wireless charging alignment method for a vehicle is provided. The method includes:

[0006] Acquire a first image and the wireless positioning signal of the wireless transmitting device; the first image includes image information of the wireless transmitting device;

[0007] Based on the first image, a first positional relationship between the wireless receiving device and the wireless transmitting device is determined; the wireless receiving device is fixed to the vehicle, and the wireless transmitting device is fixed to the parking space;

[0008] Based on the wireless positioning signal, a second positional relationship between the wireless receiving device and the wireless transmitting device is determined;

[0009] Based on the first positional relationship and the second positional relationship, a first relative positional relationship between the wireless receiving device and the wireless transmitting device is determined, so as to guide the driver to control the movement of the vehicle based on the first relative positional relationship, so that the wireless receiving device and the wireless transmitting device are aligned.

[0010] In another embodiment of this application, a vehicle is provided. The vehicle includes:

[0011] The vehicle body, and a wireless receiving device and a first acquisition unit disposed on the bottom of the vehicle body;

[0012] A first positioning device is installed on the wireless receiving device to receive the wireless positioning signal from the wireless transmitting device of the charging pile; the wireless transmitting device is fixed in the parking space.

[0013] The controller, electrically connected to the first acquisition unit and the first positioning device, is configured to: acquire a first image through the first acquisition unit, the first image including image information of the wireless transmitter; acquire a wireless positioning signal of the wireless transmitter through the first positioning device; determine a first positional relationship between the wireless receiver and the wireless transmitter based on the first image; determine a second positional relationship between the wireless receiver and the wireless transmitter based on the wireless positioning signal; and determine a first relative positional relationship between the wireless receiver and the wireless transmitter based on the first and second positional relationships, so that the driver controls the vehicle movement based on the first relative positional relationship, thereby aligning the wireless receiver and the wireless transmitter.

[0014] In another embodiment of this application, a wireless charging alignment device for a vehicle is provided. The device includes:

[0015] An acquisition module is used to acquire a first image and a wireless positioning signal from a wireless transmitter; the first image includes image information from the wireless transmitter.

[0016] The first determining module is used to determine the first positional relationship between the wireless receiving device and the wireless transmitting device based on the first image; the wireless receiving device is fixed to the vehicle, and the wireless transmitting device is fixed to the parking space.

[0017] The second determining module is used to determine a second positional relationship between the wireless receiving device and the wireless transmitting device based on the wireless positioning signal.

[0018] The third determining module is used to determine a first relative positional relationship between the wireless receiving device and the wireless transmitting device based on the first positional relationship and the second positional relationship, so that the driver controls the vehicle to move based on the first relative positional relationship, thereby aligning the wireless receiving device and the wireless transmitting device.

[0019] In another embodiment of this application, a computer-readable medium is provided that stores a computer program / instructions thereon, which, when executed by a processor, cause the processor to perform the steps in the above-described method.

[0020] In another embodiment of this application, a computer program product is provided, which includes a computer program / instructions that, when executed by a processor, cause the processor to implement the steps of the above-described method.

[0021] In the technical solution provided by this application embodiment, a wireless receiving device is fixedly installed on the vehicle, and a wireless transmitting device is fixedly installed in the parking space. After acquiring a first image containing the wireless transmitting device and a wireless positioning signal of the wireless transmitting device, a first positional relationship between the wireless receiving device and the wireless transmitting device can be determined based on the first image, and a second positional relationship between the wireless receiving device and the wireless transmitting device can be determined based on the wireless positioning signal. Furthermore, based on the first positional relationship and the second positional relationship, a first relative positional relationship between the wireless receiving device and the wireless transmitting device can be determined, thereby facilitating the driver to control the vehicle movement based on the first relative positional relationship, so that the wireless receiving device and the wireless transmitting device are aligned. This technical solution uses an image combined with a wireless positioning signal to achieve the alignment of the wireless receiving device and the wireless transmitting device, which can improve the alignment accuracy and has low cost. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 A flowchart illustrating a wireless charging alignment method for a vehicle provided in an embodiment of this application;

[0024] Figure 2a This is a top view of a vehicle and charging pile provided in an embodiment of this application;

[0025] Figure 2b A three-dimensional structural diagram of a vehicle and charging pile provided in an embodiment of this application;

[0026] Figure 2c A three-dimensional structural diagram of a vehicle and a charging pile provided in another embodiment of this application;

[0027] Figure 3aA front view of a wireless receiving device and a wireless transmitting device after alignment, according to an embodiment of this application;

[0028] Figure 3b Provided for one embodiment of this application Figure 3a Top view of the corresponding locations of the wireless receiving device and the wireless transmitting device;

[0029] Figure 3c Provided for one embodiment of this application Figure 3a A schematic diagram showing the location information of the signal receiver installed on the corresponding wireless receiving device and the signal transmitter installed on the corresponding wireless transmitting device;

[0030] Figure 4 A schematic diagram illustrating the principle of the alignment method for wireless charging of a vehicle provided in this application embodiment;

[0031] Figure 5 This is a schematic diagram of the vehicle wireless charging alignment device provided in an embodiment of this application. Detailed Implementation

[0032] Electric vehicles are transportation vehicles powered by electricity and driven by traction motors. They represent an important direction for the transformation and upgrading of the vehicle industry, as well as an important way to solve problems such as environmental pollution.

[0033] Currently, there are two charging methods for electric vehicles: wired charging and wireless charging. While wired charging is widely used, frequent plugging and unplugging of the charging gun can easily damage and age the charging interface, potentially causing electrical sparks, short circuits, and electrical leaks. It also has poor adaptability to rain and snow. Wireless charging, on the other hand, uses the electromagnetic field of space to wirelessly transmit electrical energy to the vehicle without physical wires. This wireless power transmission method effectively avoids the problems associated with wired charging and eliminates contact loss and mechanical wear.

[0034] In practice, wireless charging involves the charging station's wireless transmitter converting electrical energy into electromagnetic waves, which are then emitted. The vehicle's wireless receiver receives these waves and converts them back into electrical energy through power electronic devices. A key performance indicator for vehicle wireless charging technology is energy transfer efficiency, and the alignment of the wireless transmitter and receiver is a significant factor affecting this efficiency. Existing technologies primarily employ two methods to achieve alignment: moving the wireless receiver and moving the wireless transmitter. Moving the wireless transmitter involves using a vehicle or other mobile mechanism to align it with the receiver. This method requires high hardware costs and frequent maintenance. Moving the wireless receiver involves moving the vehicle, but currently, this is mainly achieved through manual vehicle adjustment or the use of expensive LiDAR. Manual vehicle adjustment suffers from difficulty and low accuracy in alignment; using expensive LiDAR results in high hardware costs for alignment.

[0035] To address the problems existing in the prior art, this application provides a wireless charging alignment method, a wireless charging alignment system, and a vehicle. The technical solutions provided by the embodiments of this application ensure high accuracy in the alignment of the wireless transmitting device and the wireless receiving device, while also being cost-effective. To enable those skilled in the art to better understand the solutions of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0036] In some processes described in the specification, claims, and accompanying drawings of this application, multiple operations appearing in a specific order are included. These operations may be executed out of order or in parallel. Operation numbers such as 101, 102, etc., are merely used to distinguish different operations and do not represent any execution order. Furthermore, these processes may include more or fewer operations, and these operations may be executed sequentially or in parallel. It should be noted that the terms "first," "second," etc., used herein are used to distinguish different messages, devices, modules, etc., and do not represent a sequential order, nor do they limit "first" and "second" to different types. The term "or / and" in the embodiments of this application is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A or / and B means that A can exist alone, A and B can exist simultaneously, or B can exist alone. The character " / " in this application generally indicates that the preceding and following related objects have an "or" relationship. It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a product or system comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a product or system. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the product or system including said element. Furthermore, the following embodiments are merely some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0037] Figure 1 A schematic flowchart of a wireless charging alignment method for a vehicle according to an embodiment of this application is shown. This method can be applied to, for example... Figures 2a to 2c The vehicle 100 shown is implemented by a controller within the vehicle 100. The controller may be, but is not limited to, a Central Processing Unit (CPU), a microcontroller, etc. For details, see [link to relevant documentation]. Figures 2a to 3bAs shown, the vehicle 100 may include a vehicle body 11 and a first acquisition unit (not shown in the figure) and a wireless charging receiver 10 disposed on the bottom of the vehicle body 11. The wireless charging receiver 10 includes a wireless receiving device 12 and a first positioning device 13. The wireless receiving device 12 is used to establish a wireless charging connection channel with the wireless transmitting device 22 of the wireless charging pile 200, realizing the transmission of electrical energy from the wireless transmitting device 22 to the wireless receiving device 12. The first positioning device 13 is used to receive the wireless positioning signal transmitted by the second positioning device 23 disposed on the wireless transmitting device. In addition, the vehicle 100 may also include a second acquisition unit, an environmental detection unit, a memory, and a traveling component. The memory can be RAM (Random Access Memory), Flash memory, etc., and can be used to store received data (such as image data, radar data), data required for processing, and data generated during processing. For details on the specific structure and function of the vehicle 100, please refer to the following related content, which will not be elaborated here. Figure 1 As shown, the wireless charging alignment method for this vehicle may include:

[0038] 101. Acquire a first image and the wireless positioning signal of the wireless transmitting device; the first image includes image information of the wireless transmitting device;

[0039] 102. Based on the first image, determine the first positional relationship between the wireless receiving device and the wireless transmitting device; the wireless receiving device is fixed to the vehicle, and the wireless transmitting device is fixed to the parking space;

[0040] 103. Determine the second positional relationship between the wireless receiving device and the wireless transmitting device based on the wireless positioning signal;

[0041] 104. Based on the first positional relationship and the second positional relationship, determine the first relative positional relationship between the wireless receiving device and the wireless transmitting device, so as to guide the driver to control the movement of the vehicle based on the first relative positional relationship, so that the wireless receiving device and the wireless transmitting device are aligned.

[0042] In practical applications, such as Figures 2a to 2cAs shown, wireless charging for vehicles typically involves installing a wireless receiver 12 at the bottom of the vehicle body 11 of the vehicle 100, and embedding a wireless transmitter 22 in the ground within the inner area of ​​the parking space 300. This ensures that after the vehicle is parked (i.e., parked in the parking space 300), the wireless transmitter 22, located at the bottom of the vehicle, can establish a wireless charging connection with the wireless receiver 12 at the bottom of the vehicle body 11, thereby enabling wireless power transmission from the wireless transmitter 22 to the wireless receiver 12. Correspondingly, a vertical post 21 perpendicular to the ground is installed in the outer area of ​​the parking space 300. This post 21 is connected to the wireless transmitter 22, providing it with power. Of course, in some other embodiments, a wireless receiver 12 can also be set on one side of the vehicle body 11, such as the rear side (i.e. the rear side of the vehicle body). Correspondingly, a wireless transmitter 22 is set on the pile body 11 so that after the vehicle 100 is parked, the wireless transmitter 22 and the wireless receiver 12 can establish a wireless charging connection and be powered on to realize wireless power transmission for charging the vehicle.

[0043] This embodiment discusses a technical solution where a wireless receiver 12 is installed at the bottom of the vehicle body 11, and a wireless transmitter 22 is embedded in the ground within the parking space 300. The solution addresses how to achieve precise alignment for wireless charging of the vehicle 100, enabling a wireless charging connection between the wireless receiver 12 and the wireless transmitter 22, thus achieving high energy transmission efficiency. This alignment refers to the positional alignment of the wireless receiver 12 and the wireless transmitter 22. Specifically, it means that the opposite end faces of the wireless receiver 12 and the wireless transmitter 22 are completely aligned or their alignment accuracy meets requirements. This ensures that when the opposite end faces of the wireless receiver 12 and the wireless transmitter 22 come into contact, they can completely overlap or overlap to the maximum extent possible, thereby achieving a large coupling coefficient between the wireless receiver 12 and the wireless transmitter 22, and ultimately achieving high energy transmission efficiency.

[0044] For the wireless receiver 12 installed at the bottom of the vehicle body 11, a wireless transmitter 22 is embedded in the ground of the parking space 300. This arrangement allows the vehicle 100 to be parked for wireless charging in two main stages. Specifically, the first stage is when the vehicle 100 reaches the parking position and, under the driver's control, moves from the driving lane into the parking space until the wireless transmitter 22 is located at the bottom of the vehicle. After the first stage, although the wireless transmitter 22 is located at the bottom of the vehicle body 11 and the wireless receiver 12 and the wireless transmitter 22 can establish a wireless charging connection to a certain extent, the positions of the wireless receiver 12 and the wireless transmitter 22 may be misaligned or have low alignment accuracy. Therefore, a second stage is needed to further align the positions of the wireless receiver 12 and the wireless transmitter 22. That is, the second stage is to achieve the alignment of the positions of the wireless receiver 12 and the wireless transmitter 22 by means of a certain method, such as moving the wireless receiver 12 or moving the wireless transmitter 22. It is evident that the first stage, the parking process of vehicle 100, is the coarse alignment process between the wireless receiver 12 and the wireless transmitter 22, while the second stage is the fine alignment process between the wireless receiver 12 and the wireless transmitter 22. The result of the first stage will, to some extent, affect the complexity of achieving fine alignment in the second stage.

[0045] Based on this, the technical solution provided in this embodiment will employ different methods in the first and second stages to achieve coarse and fine alignment of the positions of the wireless receiving device 12 and the wireless transmitting device 22, respectively, so as to achieve high alignment accuracy while saving costs. Specifically, in the first stage, i.e., the parking stage of the vehicle 100, the vehicle can be parked using devices on the vehicle itself, such as the second acquisition unit (e.g., an image sensor) located at the rear of the vehicle body, and / or environmental detection units (e.g., radar) located around the vehicle body; in the second stage, the first acquisition unit (e.g., an image sensor) located at the bottom of the vehicle body 11, as well as the first positioning device 13 located on the wireless receiving device 12 and the second positioning device 23 located on the wireless transmitting device 22, can be used. For details on the implementation of the second stage (i.e., steps 101 to 104 above), please refer to the relevant content below.

[0046] In the first stage, to ensure that the coarse alignment of the wireless receiver 12 and the wireless transmitter 22 is relatively accurate—in other words, to maximize the accuracy of the coarse alignment when the vehicle 100 enters the parking space 300 and the wireless transmitter 22 is located at the bottom of the vehicle—the center lines of the wireless receiver 12 and the wireless transmitter 22 should be on the same vertical plane to simplify the subsequent fine alignment in the second stage, the technical solution provided in this embodiment utilizes both a second acquisition unit and an environmental detection unit to achieve coarse alignment of the wireless receiver 12 and the wireless transmitter 22. Specifically, the vehicle 100 may also be equipped with a second acquisition unit and an environmental detection unit (not shown in the accompanying drawings). Correspondingly, before performing steps 101 to 104 to achieve fine alignment of the wireless receiver 12 and the wireless transmitter 22, the method provided in this embodiment may further include the following steps:

[0047] 100a. Acquire the second image and the detection data related to the wireless transmitting device detected by the environmental detection unit; the second image includes image information of the wireless transmitting device, and the second image also includes image information of the parking space where the vehicle is about to stop;

[0048] 100b. Based on the second image and the detection data, determine the second relative positional relationship between the vehicle and the wireless transmitter;

[0049] 100c. Display the second image and the second relative position relationship so that the driver controls the vehicle to move toward the wireless transmitter based on the image information of the parking space in the second image and the second relative position relationship, until the vehicle moves to a position where the first image can be obtained.

[0050] In the aforementioned 100a, the second image is acquired by a second acquisition unit, which can be disposed on the first side of the vehicle body 11. Simultaneously, the environmental detection unit can also be disposed on the first side of the vehicle body 11. The first side can refer to the side of the vehicle 100 that faces the wireless transmitter 22 when parked, for example... Figures 2a to 2c The rear end of the vehicle body 11 is shown in the diagram, so that the second image acquired by the second acquisition unit includes image information of the wireless transmitter 22 and image information of the parking space where the vehicle is about to stop. The environmental detection unit can detect the spatial environment corresponding to the rear end of the vehicle body 11. Specifically, a second acquisition unit can be set at the center of the rear end of the vehicle body 11 to simplify subsequent calculations; and environmental detection units can be set at both upper corners of the rear end of the vehicle body 11 to perform omnidirectional detection of the spatial environment corresponding to the rear end of the vehicle body 11, so as to obtain detection data related to the wireless transmitter.

[0051] The rear end of the vehicle body 11 mentioned above refers to the rear end of the vehicle body 11, which is determined based on the direction of travel corresponding to the normal driving direction of the vehicle 100. In practical applications, along the direction of travel corresponding to the normal driving direction of the vehicle 100, such as... Figure 2b As indicated by the horizontal arrows shown, the four sides of the vehicle body 11 can be divided into: front, rear, left, and right. Accordingly, for ease of description, according to the above orientations, the sides of the vehicle body 11 can include: front end, rear end, left end, and right end.

[0052] Of course, in some other embodiments, the second acquisition unit may also be located at other positions on the vehicle body 11, such as the top of the vehicle body 11. This embodiment does not limit this, as long as it can ensure that the second acquisition unit can acquire images including the wireless transmitter during the parking process of the vehicle 100.

[0053] In specific implementation, the second acquisition unit is an image sensor. The image sensor can be a camera capable of outputting image and depth information, such as an RGBD (depth camera). It can also be other types of cameras, such as fisheye cameras or ordinary cameras used for acquiring video or image data; this is not limited here. The environment detection unit is a ranging sensor. Using a ranging sensor, the distance of detected objects relative to the sensor can be determined relatively accurately. The ranging sensor can be a radar, specifically, but not limited to, lidar, millimeter-wave radar, and ultrasonic radar; alternatively, the ranging sensor can be other types of sensors capable of ranging, such as ultrasonic sensors or infrared sensors; this embodiment does not limit this. As a preferred example of this embodiment, a radar is preferably selected as the ranging sensor.

[0054] When the vehicle reaches the parking position and the driver begins to park the vehicle using the steering wheel, the controller can control the second acquisition unit to continuously capture images, and simultaneously control the environmental detection unit to continuously detect the corresponding spatial environment around the vehicle. Furthermore, during the process of controlling the second acquisition unit to continuously capture images, the controller also identifies the images captured by the second acquisition unit to determine whether the captured images contain the wireless transmitter 22. If it is determined that the captured images contain the wireless transmitter 22, then the image captured at that time is identified as the second image. Based on this, in one feasible technical solution, "acquiring the second image" in 100a above can specifically include:

[0055] A11. Acquire the image acquired by the second acquisition unit;

[0056] A12. Perform image recognition on the acquired image to determine whether the acquired image contains the wireless transmitting device;

[0057] A13. When the acquired image contains the wireless transmitting device, the acquired image is determined as the second image.

[0058] In practical implementation, existing image recognition technologies (such as machine learning models, wavelet moment algorithms, etc.) can be used to identify and analyze the images acquired by the second acquisition unit. When the recognition results determine that the acquired image contains the wireless transmitter 22, the acquired image is used as the second image. This facilitates the subsequent determination of the second relative positional relationship between the vehicle and the wireless transmitter based on the second image. The driver can then control the vehicle to move towards the wireless transmitter 22 based on this second relative positional relationship until it reaches a position where the first image can be acquired. For details on determining the specific second relative positional relationship, please refer to the following related content.

[0059] In the above description, the wireless transmitter 22 is powered by the pile 21, and the positional relationship between the pile 21 and the wireless transmitter 22 is usually fixed. Generally, when the second acquisition unit acquires a second image containing image information of the wireless transmitter 22, the second image will also contain image information of the pile 21. Correspondingly, the detection data detected by the environmental detection unit will also contain data related to the pile 21. Therefore, to avoid a situation where the second acquisition unit cannot acquire an image containing the complete wireless transmitter 22 due to the vehicle's obstruction while it is parking in the parking space but has not reached a position where the first image can be obtained, thus making it impossible to determine the relative position of the vehicle and the wireless transmitter based on the image acquired by the second acquisition unit, when the second image containing the wireless transmitter is acquired, specifically, the positional relationship between the vehicle 100 and the pile 21 and the positional relationship between the pile 21 and the wireless transmitter 22 can be determined first based on the second image and the corresponding detection data. Then, the relative positional relationship between the vehicle 100 and the wireless transmitter 22 can be determined based on the positional relationship between the vehicle 100 and the pile 21 and the positional relationship between the pile 21 and the wireless transmitter 22.

[0060] That is, in a specific feasible technical solution, the above-mentioned 100b "determining the second relative positional relationship between the vehicle and the wireless transmitting device based on the second image and the detection data" may specifically include the following steps:

[0061] 1001b. Based on the second image and the detection data, determine the third positional relationship between the vehicle and the pile, and the fourth positional relationship between the pile and the wireless transmitting device;

[0062] 1002b. Based on the third positional relationship and the fourth positional relationship, calculate the second relative positional relationship between the vehicle and the wireless transmitter.

[0063] In the above 1001b, considering that when the wireless receiver 12 is placed on the bottom of the vehicle body 11, no matter where the wireless receiver 12 is placed on the bottom of the vehicle body 11, it is basically arranged symmetrically with the center line of the bottom of the vehicle body 11 as the axis of symmetry, that is, the center line of the wireless receiver 12 coincides with the center line of the bottom of the vehicle body 11. Based on this, to ensure that when the vehicle enters the parking space and reaches a position where the first image can be obtained, the center line of the wireless receiver 22 and the center line of the wireless transmitter 22 can be located on the same vertical plane to the greatest extent. In other words, the center line of the wireless receiver 22 and the center line of the wireless transmitter 22 can be parallel in the vertical direction to the greatest extent. This reduces the difficulty of achieving precise alignment between the wireless receiver 12 and the wireless transmitter 22 in the second stage. The third positional relationship between the vehicle and the pile 11 can be determined based on the positional information of the center line of the pile 11, and the fourth positional relationship between the pile 11 and the wireless transmitter 22 can be determined based on the positional information of the center line of the pile 11 and the center line of the wireless transmitter 22. In the subsequent process, the second relative positional relationship between the vehicle and the wireless transmitter 22 can be determined based on the third and fourth positional relationships.

[0064] That is, in a specific feasible technical solution, the above-mentioned 1001b "determining the third positional relationship between the vehicle and the pile, and the fourth positional relationship between the pile and the wireless transmitting device based on the second image and the detection data" can be implemented by the following steps;

[0065] A21. Perform data processing on the first image and the detection data to determine the position information of the first center line of the pile and the position information of the second center line of the wireless transmitting device; wherein, the first center line is perpendicular to the second center line.

[0066] A22. Based on the position information of the first centerline, determine the third positional relationship between the vehicle and the pile;

[0067] A23. Based on the position information of the first centerline and the position information of the second centerline, determine the fourth positional relationship between the pile and the wireless transmitting device.

[0068] In specific implementation, the third positional relationship between the vehicle 100 and the pile 21 can be determined by calculating the positional relationship between a point on the first centerline of the pile 21 and a point on the first vertical plane of the vehicle 100; where the first vertical plane refers to the perpendicularity to the centerline passing through the bottom of the vehicle 100. Furthermore, the fourth positional relationship between the pile 21 and the wireless transmitter 22 can be determined by calculating the positional relationship between a point on the first centerline of the pile 21 and the center point of the wireless transmitter 22; where the center point of the wireless transmitter 22 is a point located on the second centerline of the wireless transmitter 22. Thus, when determining the second relative positional relationship between the vehicle and the wireless transmitter based on the third and fourth positional relationships, i.e., determining the relative position between a point on the first vertical plane of the vehicle 100 and the center point of the wireless transmitter 22, the driver can adjust the vehicle's posture according to this relative position to control the vehicle's movement to reach the preset position of the charging parking area, ensuring that the centerline of the wireless receiver 12 and the centerline of the wireless transmitter 22 are on the same vertical plane to the greatest extent possible.

[0069] In step 1002b above, based on the third positional relationship between the vehicle 100 and the pile 21 and the fourth positional relationship between the pile 21 and the wireless transmitter 22 determined by step 1001b, the second relative positional relationship between the vehicle 100 and the wireless transmitter 22 can be directly determined by using the relevant algorithm of spatial geometry.

[0070] In the above 100c, a second image and a second relative position relationship can be simultaneously displayed on the interactive interface (i.e., the in-vehicle interactive screen) provided by the vehicle, so that the driver can control the vehicle to move toward the wireless transmitter according to the second image and the second relative position relationship displayed on the interactive interface, specifically, according to the image information of the parking space in the displayed second image and the second relative position relationship, so as to move to a position where the first image can be obtained.

[0071] In the above-described manner, the display of the second image and the second relative positional relationship on the interactive interface can be as follows: the second image is displayed at the center of the interactive interface, and the second relative positional relationship is displayed at one of the corners of the interactive interface; alternatively, the second relative positional relationship can be displayed at the center of the interactive interface, and the second image is displayed at one of the corners of the interactive interface, etc. The specific display method of the second image and the second relative positional relationship is not limited here. The second relative positional relationship may include the deviation angle between the vehicle and the wireless transmitting device, the lateral offset distance, etc.

[0072] Based on the above description, the following example will illustrate the process of determining the second relative positional relationship. Specifically,

[0073] See Figure 2a As shown, it is assumed that at the moment when the vehicle parks as shown in Figure 2a to enter the parking space 300, the second acquisition unit provided at the rear end of the vehicle body of the vehicle 100 acquires a second image including the wireless transmission device 22 and the pile body 21, and the environment detection unit provided at the rear end of the vehicle body of the vehicle 100 also detects detection data related to the wireless transmission device 22 and the pile body 21. Based on determining the position information of the first center line l1 of the pile body 21 and the position information of the second center line l2 of the wireless transmission device 22 according to the second image and the detection data, the distance D between the point C on the first center line l1 and the point A on the first vertical plane (not shown in the figure) of the vehicle 100 can be calculated CA , the distance D between the point C on the first center line l1 and the point B on the second center line l2 CB , and the angle of <ACB; obtaining D CA , D CB and the angle of <ACB, the distance D between the point A on the vehicle and the point B on the second center line l2 can be calculated by using the cosine theorem, for example AB . At the same time, the deviation angle of the point A relative to the point B can also be calculated, and further the lateral deviation distance Dist of the point A relative to the point B can be calculated. That is, the relative position relationship between the point A and the point B determined through the above processing process can include the distance D between the point A and the point B AB , the deviation angle α of the point A relative to the point B and the lateral deviation distance Dist. The determined relative position relationship between the point A and the point B is the second relative position relationship between the vehicle 100 and the wireless transmission device 22. By displaying the second relative position relationship on the interaction interface, the driver can adjust the wheel direction according to the displayed second relative position relationship, and after the adjustment is completed, control the vehicle 100 to move towards the wireless transmission device 22 so that the vehicle 100 moves to a position where the first acquisition unit can acquire the first image (such as Figure 2b the position shown), at this time the wireless transmission device 22 is located at the bottom of the vehicle 100, and the rough alignment of the positions of the wireless transmission device 22 and the wireless receiving device 12 is completed

[0074] In the above, during the process of controlling the vehicle to move towards the wireless transmission device 22, the second acquisition unit on the vehicle body 11 will be continuously controlled to acquire images and the environment detection unit will continue to detect the corresponding space environment around the vehicle body, so as to update the displayed second relative position relationship between the vehicle and the wireless transmission device 22 in real time according to the images acquired by the second acquisition unit and the detection data detected by the environment detection unit

[0075] It should be noted that, since the positional relationship between the wireless transmitter 22 and the pile 21 is fixed, during the subsequent movement of the vehicle 100 towards the wireless transmitter 22, the third positional relationship between the vehicle 100 and the pile 22 can be recalculated using only the newly acquired images and newly detected data. Then, based on the previously calculated fourth positional relationship between the wireless transmitter 22 and the pile 21, and the newly calculated third positional relationship, the second relative positional relationship between the vehicle 100 and the wireless transmitter 22 is re-determined and updated. This reduces the amount of data calculation and avoids the situation where, if the wireless transmitter 22 is partially obscured by the vehicle 100, the second acquisition unit cannot acquire an image containing the complete wireless transmitter, making it impossible to accurately calculate the third positional relationship between the pile 21 and the wireless transmitter 22 using the image acquired by the second acquisition unit, thus preventing the accurate calculation of the second relative positional relationship between the vehicle 100 and the wireless transmitter 22.

[0076] Furthermore, during the process of controlling the vehicle to move towards the wireless transmitter 22, the system can also determine whether the vehicle has moved to a position where the first image can be obtained based on the images continuously acquired by the second acquisition unit. This allows for precise alignment of the wireless receiver 12 and the wireless transmitter 22 when it is determined that the vehicle has moved to a position where the first image can be obtained. Based on this, in one feasible technical solution, step 100c, "controlling the vehicle to move towards the wireless transmitter," can specifically include:

[0077] 1001c. During the process of controlling the vehicle to move toward the wireless transmitting device, acquire multiple third images collected by the second acquisition unit;

[0078] 1002c. Based on the plurality of third images, determine whether the vehicle has moved to a position where the first acquisition unit can acquire the first image.

[0079] 1003c. When the position is determined to be such that the first acquisition unit can acquire the first image, the first acquisition unit is controlled to start to acquire the first image.

[0080] In the above 1001c, during the process of controlling the vehicle to continue moving toward the wireless transmitter 22, the second acquisition unit located at the rear end of the vehicle body 11 can be controlled to continue to capture images, so as to acquire multiple third images and send them to the controller, so that the controller can determine whether the vehicle has moved to a position where the first acquisition unit can acquire the first image based on the multiple third images.

[0081] In the aforementioned 1002c and 1003c, considering that as the vehicle continues to move towards the wireless transmitter 22 in the adjusted posture, as the vehicle gradually approaches the wireless transmitter 22, the vehicle 100 will obstruct the wireless transmitter 22 embedded in the ground, causing the second acquisition unit to gradually lose the ability to acquire a complete image of the wireless transmitter 22. Based on this, after receiving multiple third images sent by the second acquisition unit, the controller can identify and analyze these images. When it is determined that the received third image does not contain image information from the wireless transmitter 22, it determines that the vehicle has moved to a position where the first acquisition unit can acquire the first image. At this point, the controller can activate the first acquisition unit to acquire the first image. Conversely, if the vehicle has not moved to a position where the first acquisition unit can acquire the first image, the first acquisition unit remains in the off state.

[0082] As can be seen from the above, in the process of parking vehicle 100, this embodiment uses a combination of image and detection data (such as radar data) to assist the vehicle in parking and entering the parking space, achieving coarse alignment of the wireless receiving and transmitting devices. This alignment method has higher accuracy than simple lidar alignment, effectively reducing the difficulty of parking the vehicle and aligning the wireless receiving and transmitting devices.

[0083] Through steps 100a to 100c above, the vehicle is determined to have moved to a position where the first image can be acquired (e.g., Figure 2b When the position shown is reached, the controller can begin executing steps 101 to 104 above, thereby achieving precise alignment between the wireless receiver 12 and the wireless transmitter 22. Specifically, see... Figure 2b As shown, when the vehicle moves to a position where the first image can be acquired, the controller can activate the first acquisition unit (not shown in the figure) located at the bottom of the vehicle body 11 to continue acquiring images from the wireless transmitter 22 through the first acquisition unit.

[0084] In the above 101, the first image is obtained by the first acquisition unit and contains image information of the wireless transmitter. At the same time, the wireless positioning signal of the wireless transmitter is also acquired so that, in subsequent steps, the second relative positional relationship between the wireless receiver 12 and the wireless transmitter 22 can be determined based on the acquired first image and the wireless positioning signal, so that the driver can control the vehicle movement based on the first relative positional relationship and achieve precise alignment of the wireless transmitter and the wireless receiver.

[0085] In specific implementation, the first acquisition unit is located at the bottom of the vehicle body 11, and its specific location at the bottom of the vehicle body 11 can be flexibly set according to the actual situation. For example, it can be set on the wireless receiving device 12, or at other locations on the bottom of the vehicle body 11 besides the location of the wireless receiving device 12. No limitation is made here. For ease of subsequent calculation, this embodiment preferentially selects to set the first acquisition unit on the wireless receiving device 12, specifically, at the center of the wireless receiving device 12. The first acquisition unit is not specifically shown in the accompanying drawings.

[0086] The specific form of the first acquisition unit can be the same as that of the second acquisition unit. That is, the first acquisition unit is an image sensor. Specifically, the image sensor can be a camera that can output image information and depth information, such as an RGBD (depth camera), or it can be other types of cameras, such as a fisheye camera or a regular camera used to acquire video or image data. There are no limitations here.

[0087] The aforementioned wireless receiving device 12 may also be equipped with a first positioning device 13. The first positioning device 13 receives the wireless positioning signal from the wireless transmitting device 22 and sends the wireless positioning signal to the controller, so that the controller determines the first relative positional relationship between the wireless receiving device and the wireless transmitting device based on the wireless positioning signal. That is, in step 101 above, the acquisition of the wireless positioning signal of the wireless transmitting device 22 can be specifically achieved through the first positioning device 13 installed on the wireless receiving device 12. The wireless positioning signal of the wireless transmitting device 22 can be transmitted by a second positioning device 23 installed on the wireless transmitting device 22.

[0088] In a specific feasible technical solution, the first positioning device 13 may include at least one signal receiver 131; the at least one signal receiver 131 is used to communicate with the second positioning device 23 provided on the wireless transmitter 22 to receive the wireless positioning signal transmitted by the second positioning device 23; correspondingly, the controller provided on the vehicle body 11 can obtain the wireless positioning signal transmitted by the second positioning device 23 through the at least one signal receiver 131, so as to subsequently determine the first relative positional relationship between the wireless receiver 12 and the wireless transmitter 22 based on the wireless positioning signal.

[0089] In specific implementation, the second positioning device 23 includes at least three signal transmitters 231. Correspondingly, the at least one signal receiver 131 is communicatively connected to the at least three signal transmitters 231 to receive the wireless positioning signals emitted by the at least three signal transmitters 231. Specifically, the number of signal receivers 131 can be flexibly set according to the actual situation. For example, the number of signal receivers 131 can be 1, 3, 4, etc., and is not limited here. In addition, the specific form of the signal receiver 131 can be, but is not limited to, RFID (Radio Frequency Identification), NFC (Near Field Communication), UWB (Ultra Wide Band), Bluetooth, and other sensors. RFID and NFC are both short-range high-frequency wireless communication technologies that allow non-contact point-to-point data transmission and data exchange between different devices (or apparatuses); among them, NFC evolved from RFID. UWW is a wireless carrier communication technology that uses non-sinusoidal narrow pulses in the nanosecond to micronanosecond range to achieve data transmission.

[0090] In practical applications, the aforementioned RFID, NFC, and UWD devices can all be used as signal receivers to receive signals emitted by a compatible signal transmitter. Additionally, RFID, NFC, and UWD devices can also be used as signal transmitters to transmit signals for their compatible receivers to receive. Whether RFID, NFC, and UWD devices are used as signal receivers or signal transmitters depends on the specific application. In this embodiment, the RFID, NFC, or UWD device installed on the wireless receiving device 12 is used as a signal receiver 131 to be compatible with the signal transmitter 231 installed on the wireless transmitting device 22, receiving the wireless positioning signal emitted by the signal transmitter 231.

[0091] It should be noted that the specific form of the signal transmitter 231 can be, but is not limited to, RFID, NFC, UWD, Bluetooth, etc. In specific settings, the specific forms of the signal receiver 131 and the signal transmitter 231 can be the same or different, as long as they can be used compatiblely. This embodiment does not specifically limit the specific forms of the signal receiver 131 and the signal transmitter 231. Furthermore, to ensure accurate alignment, at least three signal transmitters 231 should be provided; and preferably, the specific forms of the signal receiver 131 and the signal transmitter 231 should be one of RFID, NFC, or UWD.

[0092] In the above 102, after the first image is acquired by the first acquisition unit, image recognition technology (such as machine learning model, wavelet moment algorithm, etc.) can be used to process the data of the first image to determine the position information of the center point of the wireless transmitter 22. Based on the position information of the center point of the wireless transmitter 22, combined with the fixed positional relationship between the first acquisition unit and the wireless receiver 12, the first positional relationship between the wireless receiver and the wireless transmitter is determined.

[0093] In step 103 above, the second positional relationship between the wireless receiving device 12 and the wireless transmitting device 22 is determined based on the acquired wireless positioning signal. The specific processing steps are as follows: After acquiring the wireless positioning signal through the signal receiver 131, the signal strength of the wireless positioning signal is determined; based on the signal strength, the distance between the signal receiver 131 and the corresponding signal transmitter 231 is determined; then, based on the pre-stored position information of the signal receiver 131 and the signal transmitter 231, and the determined distance between the signal receiver 131 and the signal transmitter 231, the second positional relationship between the wireless receiving device 12 and the wireless transmitting device 22 can be determined. The specific implementation process for determining the second positional relationship between the wireless receiving device 12 and the wireless transmitting device 22 can be found in existing technologies and will not be elaborated further here.

[0094] In specific implementations, to determine the second positional relationship between the wireless receiving device 12 and the wireless transmitting device 22 using triangulation technology, in some embodiments, see... Figures 3a to 3c As shown, the number of signal receivers 131 disposed on the wireless receiving device 12 can be one, and this single signal receiver 131 can be disposed at the center of the wireless receiving device 12; of course, this single signal receiver 131 can also be disposed at other positions on the wireless receiving device 12, such as the edge line or corner, etc., without specific limitation here. However, to simplify subsequent calculations, the solution provided in this embodiment preferentially selects to place the single signal receiver 131 at the center of the wireless receiving device 12. Correspondingly, the number of signal transmitters 231 disposed on the wireless transmitting device 22 is three, and the three signal transmitters 231 are arranged in a triangular shape along the edge of the wireless transmitting device 22. Specifically, to simplify subsequent calculations, the three signal transmitters 231 can be arranged in an equilateral triangle on the wireless transmitting device 22, without limitation here.

[0095] For a detailed introduction to triangulation technology, please refer to the prior art. Furthermore, when the wireless positioning signals emitted by the three signal transmitters 231 on the wireless transmitter 22 are obtained by the signal receiver 131 located at the center of the wireless receiver 12, how to use triangulation technology to determine the second positional relationship between the wireless receiver 12 and the wireless transmitter 22 can also be found in the prior art, and will not be elaborated upon here.

[0096] Figure 3a The diagram shows a front view of the wireless receiver 12 and the wireless transmitter 13, with a signal receiver 131 located at the center of the wireless receiver 12 and three signal transmitters 231 arranged in an equilateral triangle on the wireless transmitter 22. Figure 3b Is with Figure 3a Top view of the corresponding wireless receiver 12 and wireless transmitter 22. Figure 3c It shows Figure 3a and Figure 3b The location information between the one signal receiver 131 and the three signal transmitters 231 deployed in the system, specifically, Figure 3c In the diagram, T(x,y,z) represents the position information of the signal receiver 131, and R1(x1,y1,z1), R2(x2,y2,z2) and R3(x3,y3,z3) represent the position information of the three signal transmitters 231, respectively.

[0097] In step 104 above, after obtaining the first positional relationship and the second positional relationship of the wireless receiving device 12 and the wireless transmitting device 22 through steps 102 and 103 respectively, the first relative positional relationship between the wireless receiving device 12 and the wireless transmitting device 22 can be finally determined based on the first positional relationship and the second positional relationship. Specifically, the first relative positional relationship may include the distance and / or orientation of the wireless receiving device relative to the wireless transmitting device 22. In order to enable the driver to control the movement of the vehicle based on the first relative positional relationship, the distance and / or orientation can be displayed on the interactive interface provided by the vehicle 100, so that the driver can control the movement of the vehicle based on the displayed distance and / or orientation, and align the positions of the wireless receiving device and the wireless transmitting device.

[0098] Based on this, in a specific implementable technical solution, the phrase "determining the first relative positional relationship between the wireless receiving device and the wireless transmitting device, so that the driver controls the vehicle movement based on the first relative positional relationship" in step 104 above can specifically include:

[0099] 1041. Based on the determined first relative positional relationship, obtain the distance and / or orientation of the wireless transmitting device relative to the wireless receiving device;

[0100] 1042. Display the distance and / or orientation so that the driver can control the movement of the vehicle based on the displayed distance and / or orientation.

[0101] In specific implementation, the aforementioned distance may include lateral offset distance and longitudinal offset distance. Because the technical solution provided in this embodiment ensures that the centerline of the wireless receiver 12 and the centerline of the wireless transmitter 22 are on the same vertical plane to the greatest extent possible during the process of parking the vehicle and achieving coarse alignment of the wireless receiver and transmitter, the lateral offset distance included in the aforementioned distance will be relatively small, or even negligible. Based on this, when the driver controls the vehicle's movement based on the displayed distance and / or orientation to align the wireless receiver and transmitter, if it is determined that the lateral offset distance included in the distance is less than a first preset threshold (e.g., 1cm), the lateral offset distance can be ignored, and only the longitudinal offset distance included in the distance is displayed. This allows the driver to control the vehicle 100 to perform a reversing action based solely on the longitudinal offset distance to achieve alignment of the wireless receiver 12 and the wireless transmitter 22, simplifying the difficulty of aligning the wireless receiver and transmitter 22.

[0102] Furthermore, during the process of the driver controlling the vehicle's movement based on the displayed distance and / or orientation to align the wireless receiver and wireless transmitter, the displayed distance and / or orientation can be continuously updated based on the second image continuously acquired by the first acquisition unit and the wireless positioning signal obtained from the wireless transmitter. As the distance and / or orientation change, perceptible prompts are output, allowing the driver to determine whether the wireless receiver and wireless transmitter are aligned. Upon confirming alignment, the driver can then stop the vehicle's movement. That is, step 104 may further include the following steps:

[0103] 1043. Display the distance and / or orientation while the driver is controlling the vehicle's movement;

[0104] 1044. Depending on the distance and / or orientation, output human-perceptible prompt information so that the driver can determine whether the wireless receiving device and the wireless transmitting device are aligned based on the prompt information;

[0105] The prompt information includes at least one of the following: warning sounds of different frequencies and / or volumes, prompt voice messages of different content, and visual information of different content.

[0106] For example, if the distance between the wireless transmitter 12 and the wireless receiver 22 is determined to be relatively far (e.g., greater than 1m), the vehicle's warning devices (such as speakers, displays, etc.) can be controlled to periodically output low-volume warning sounds, voice prompts indicating the specific distance, visual information indicating the specific distance, etc. Alternatively, if the distance between the wireless transmitter 12 and the wireless receiver 22 is determined to be relatively close (e.g., less than 1m), the controller can control the speaker to output warning sounds such as long beeps, or it can control the speaker to output corresponding voice announcements, and / or control the display screen to display visual images (or visual text) indicating the distance, etc.

[0107] In summary, steps 101 to 106 above use an image combined with wireless positioning signals to achieve the alignment of the wireless receiving device 12 and the wireless transmitting device 22. The signal transmitter 231 for transmitting the wireless positioning signal and the signal receiver 131 for receiving the wireless positioning signal can be relatively inexpensive and highly accurate sensors such as RFID, NFC, and UWD. Therefore, this not only ensures high accuracy in the alignment of the wireless receiving device 12 and the wireless transmitting device 22, but also keeps costs low.

[0108] The technical solution provided in this embodiment includes a wireless receiver fixedly mounted on the vehicle and a wireless transmitter fixedly mounted in the parking space. After acquiring a first image containing the wireless transmitter and its wireless positioning signal, a first positional relationship between the wireless receiver and the wireless transmitter can be determined based on the first image, and a second positional relationship can be determined based on the wireless positioning signal. Furthermore, based on the first and second positional relationships, a first relative positional relationship between the wireless receiver and the wireless transmitter can be determined. The driver can control the vehicle's movement based on the first relative positional relationship to align the wireless receiver and the wireless transmitter. This technical solution uses an image combined with a wireless positioning signal to achieve alignment between the wireless receiver and the wireless transmitter, which improves alignment accuracy and is cost-effective.

[0109] The alignment scheme for wireless charging of vehicles provided in this embodiment, as described above, can be summarized as follows: Figure 4 The process shown is as follows:

[0110] Specifically, the wireless receiver is located at the bottom of the vehicle body, and the wireless transmitter is embedded in the ground of the charging parking area (also known as the parking space). The process of aligning the receiver and the wireless transmitter is divided into two stages: The first stage is when the vehicle is parked to achieve a coarse alignment between the wireless receiver and the wireless transmitter. That is, when it is determined that the wireless transmitter is located at the bottom of the vehicle body, the parking is considered complete. The specific implementation process of the first stage is as follows: When the vehicle reaches the parking position point, it begins to park. At this time, the first acquisition unit acquires a second image of the wireless transmitter and the charging pile, and the environmental detection unit detects relevant detection data of the wireless transmitter and the charging pile. Based on the second image and the detection data, the second relative positional relationship between the vehicle and the wireless transmitter is determined and displayed on the interactive interface. The driver controls the vehicle to move to the parking space according to the displayed second relative positional relationship. In the second stage, after the vehicle moves to the parking space in the first stage, the first image of the wireless transmitter is collected by the second acquisition unit at the bottom of the vehicle body, and the wireless positioning is received from the wireless transmitter to determine and display the first relative position relationship between the wireless receiver and the wireless transmitter, so that the driver can adjust the vehicle position based on the first relative position relationship and achieve precise alignment between the wireless receiver and the wireless transmitter.

[0111] Based on the foregoing, this application also provides a vehicle. Specifically, see [link to application]. Figures 2a to 3c As shown, the vehicle 100 includes: a vehicle body 11, a wireless receiver 12, a first acquisition unit (not shown in the figure), a first positioning device 13, and a controller (not shown in the figure). Among them,

[0112] Both the wireless receiver 12 and the first acquisition unit are located at the bottom of the vehicle body 11;

[0113] The first positioning device 13 is mounted on the wireless receiving device 22 and is used to receive the wireless positioning signal from the wireless transmitting device 22 of the wireless charging pile 200; the wireless transmitting device is fixed in the parking space.

[0114] The controller, electrically connected to the first acquisition unit and the first positioning device 13, is used to acquire a first image through the first acquisition unit, the first image including image information of the wireless transmitter; and acquire the wireless positioning signal of the wireless transmitter through the first positioning device 13; determine a first positional relationship between the wireless receiver and the wireless transmitter based on the first image; determine a second positional relationship between the wireless receiver and the wireless transmitter based on the wireless positioning signal; and determine a first relative positional relationship between the wireless receiver and the wireless transmitter based on the first and second positional relationships, so that the driver controls the vehicle to move based on the first relative positional relationship, thereby aligning the wireless receiver and the wireless transmitter.

[0115] In specific implementation, the aforementioned wireless receiving device 12 is used to establish a wireless charging connection channel with the wireless transmitting device 22 of the wireless charging pile 200, so as to realize the transmission of electrical energy from the wireless transmitting device 22 to the wireless receiving device 12. The vehicle body 11 may include a power battery (not shown in the figure), and the wireless receiving device 12 can also be connected to the power battery to charge the power battery through the wireless receiving device 12.

[0116] The location of the wireless receiver 12 on the bottom of the vehicle body 11 can be flexibly configured according to the actual application. For example, the wireless receiver 12 can be located at the center of the bottom of the vehicle body 11, or at a location on the bottom of the vehicle body 11 away from the center and closer to the front of the vehicle body 11, or at a location on the bottom of the vehicle body 11 away from the center and closer to the rear of the vehicle body 11, etc., and there is no limitation here. Correspondingly, the aforementioned wireless transmitter 22 can be embedded in the ground, specifically, it can be embedded in the ground within the charging parking area.

[0117] Furthermore, the wireless receiving device 12 can be circular, rectangular, square, polygonal, etc., and this embodiment is not limited in this regard. Correspondingly, the wireless transmitting device 22 can also be circular, rectangular, square, polygonal, etc., and this embodiment is also not limited in this regard. In specific implementation, the wireless receiving device 12 and the wireless transmitting device 22 can have the same or different shapes, as long as the wireless receiving device 12 and the wireless transmitting device 22 are compatible. Figure 3c The diagram shows that both the wireless receiver 12 and the wireless transmitter 22 are circular in shape.

[0118] Furthermore, the vehicle provided in this embodiment may also include:

[0119] The second data acquisition unit and the environmental detection unit (not shown in the figure) are installed on the vehicle body 11;

[0120] The controller is also electrically connected to the second acquisition unit and the environmental detection unit, and is used to acquire a second image through the second acquisition unit before acquiring the first image, the second image including image information of the wireless transmitter; and to acquire detection data about the wireless transmitter detected by the environmental detection unit; determine a second relative positional relationship between the vehicle and the wireless transmitter based on the second image and the detection data; and display the second relative positional relationship so that the driver can control the vehicle to move toward the wireless transmitter based on the second relative positional relationship until it moves to a position where the first acquisition unit can acquire the first image.

[0121] In specific implementation, the environmental detection unit is a ranging sensor, which can be a radar, specifically a lidar, millimeter-wave radar, or ultrasonic radar; alternatively, the ranging sensor can be other types of sensors capable of ranging, such as ultrasonic sensors or infrared sensors, etc., and this embodiment does not limit this. As a preferred example of this embodiment, a millimeter-wave radar is preferably selected as the ranging sensor.

[0122] Both the first acquisition unit and the second acquisition unit are image sensors. The image sensor can be a camera that can output image information and depth information, such as an RGBD (depth camera), or it can be other types of cameras, such as a fisheye camera or a regular camera used to acquire video or image data, etc. There are no limitations here.

[0123] It should be noted that any details not fully described in the steps of the solution provided in this embodiment can be found in the corresponding contents of the above embodiments, and will not be repeated here. Furthermore, the solution provided in this embodiment may include other parts or all of the steps in the above embodiments, in addition to the steps described above; details can be found in the corresponding contents of the above embodiments, and will not be repeated here. In addition, the vehicle 100 provided in this embodiment may include, in addition to the vehicle body, wireless transmitter, and first positioning device described above, other components such as traveling components, memory, and human-machine interface devices, etc., which are not specifically limited here. For details regarding other components that the vehicle 100 may include, please refer to the prior art.

[0124] This application also provides a wireless charging alignment system for a vehicle. Specifically, see [link to relevant documentation]. Figure 2a and Figure 2b As shown. The wireless charging alignment system includes:

[0125] The wireless charging pile 200 includes a wireless transmitter 22 and a second positioning device 23. The wireless transmitter 22 is embedded in the ground of the charging parking area and is used to establish a wireless charging connection channel with the wireless receiver 12 of the vehicle 100 to realize the transmission of electrical energy from the wireless transmitter to the wireless receiver. The second positioning device 23 is disposed on the wireless transmitter 22 and is used to transmit wireless positioning signals.

[0126] The vehicle has a wireless receiver 12 and a first acquisition unit at its bottom; the vehicle is used to: acquire a first image through the first acquisition unit, the first image including image information of the wireless transmitter; and acquire a wireless positioning signal transmitted by a second positioning device; determine a first positional relationship between the wireless receiver and the wireless transmitter based on the first image; determine a second positional relationship between the wireless receiver and the wireless transmitter based on the wireless positioning signal; and determine a first relative positional relationship between the wireless receiver and the wireless transmitter based on the first positional relationship and the second positional relationship, so that the driver controls the movement of the vehicle based on the first relative positional relationship, thereby aligning the wireless receiver and the wireless transmitter.

[0127] Furthermore, the second positioning device 23 includes at least three signal transmitters 231 for transmitting wireless positioning signals for the first positioning device 13 on the vehicle to receive.

[0128] In specific implementations, to determine the relative position between the wireless receiving device 12 and the wireless transmitting device 22 using triangulation technology, in some embodiments, three signal transmitters 231 are provided, and they are arranged in a triangular shape along the edge of the wireless receiving device 12 (as shown in 3b). Specifically, to simplify subsequent calculations, the three signal transmitters 231 can be arranged in an equilateral triangle along the edge of the wireless receiving device 12, which is not limited here.

[0129] It should be noted that any details not fully described in the steps of the solution provided in this embodiment can be found in the corresponding contents of the above embodiments, and will not be repeated here. Furthermore, the solution provided in this embodiment may include other parts or all of the steps in the above embodiments, in addition to the steps described above; details can be found in the corresponding contents of the above embodiments, and will not be repeated here. In addition, the charging pile 200 provided in this embodiment may include, in addition to the pile body, wireless transmitter, and second positioning device described above, other components such as a charging timer, a power meter, a charge meter, and a display screen, etc., which are not specifically limited here. For details on other components that the charging pile 200 may include, please refer to the prior art.

[0130] This application also provides a wireless charging alignment device for a vehicle. Specifically, see [link to relevant documentation]. Figure 5 The diagram shown illustrates the structure of a wireless charging alignment device according to an embodiment of this application. This wireless charging alignment device can be integrated into the vehicle 100 described above. Figure 5 As shown, the wireless charging alignment device includes: an acquisition module 301, a first determination module 302, a second determination module 303, and a fourth determination module 304; wherein,

[0131] The acquisition module 301 is used to acquire a first image and a wireless positioning signal from a wireless transmitter; the first image includes image information from the wireless transmitter.

[0132] The first determining module 302 is used to determine the first positional relationship between the wireless receiving device and the wireless transmitting device based on the first image; the wireless receiving device is fixed to the vehicle, and the wireless transmitting device is fixed to the parking space.

[0133] The second determining module 303 is used to determine a second positional relationship between the wireless receiving device and the wireless transmitting device based on the wireless positioning signal.

[0134] The third determining module 304 is used to determine a first relative positional relationship between the wireless receiving device and the wireless transmitting device based on the first positional relationship and the second positional relationship, so that the driver controls the vehicle to move based on the first relative positional relationship, thereby aligning the wireless receiving device and the wireless transmitting device.

[0135] It should be noted that the wireless charging alignment device provided in this embodiment can achieve... Figure 1 The technical solutions described in the wireless charging alignment method embodiments shown above, and the specific implementation principles of each module or unit can be found in the above description. Figure 1 The corresponding content in the wireless charging alignment method embodiment shown will not be repeated here.

[0136] Furthermore, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a computer, can implement the steps or functions of the vehicle wireless charging alignment method provided in the above embodiments.

[0137] This application also provides a computer program product, including a computer program / instructions, which, when executed by a processor, enables the processor to implement the steps or functions in the vehicle wireless charging alignment method provided in the above embodiments.

[0138] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0139] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0140] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A wireless charging alignment method of a vehicle, characterized by, include: Acquire the first image and the wireless positioning signal from the wireless transmitter; The first image includes image information from the wireless transmitting device; Based on the first image, determine the first positional relationship between the wireless receiving device and the wireless transmitting device; The wireless receiving device is fixed to the vehicle, and the wireless transmitting device is fixed to the parking space; Based on the wireless positioning signal, a second positional relationship between the wireless receiving device and the wireless transmitting device is determined; Based on the first positional relationship and the second positional relationship, a first relative positional relationship between the wireless receiving device and the wireless transmitting device is determined, so that the driver controls the vehicle movement based on the first relative positional relationship, thereby aligning the wireless receiving device and the wireless transmitting device. Before acquiring the first image, the process also includes: Acquire a second image, which includes image information of the wireless transmitter; and acquire detection data about the wireless transmitter detected by the environmental detection unit; the second image includes image information of the parking space where the vehicle is about to park. Based on the second image and the detection data, a second relative positional relationship between the vehicle and the wireless transmitter is determined; The second image and the second relative position relationship are displayed so that the driver can control the vehicle to move toward the wireless transmitter based on the image information of the parking space in the second image and the second relative position relationship, until the vehicle moves to a position where the first image can be obtained.

2. The method of claim 1, wherein, Determining a first relative positional relationship between the wireless receiving device and the wireless transmitting device, so that the driver can control vehicle movement based on the first relative positional relationship, includes: Based on the determined first relative positional relationship, the distance and / or orientation of the wireless transmitting device relative to the wireless receiving device are obtained; The distance and / or orientation are displayed so that the driver can control the vehicle's movement based on the displayed distance and / or orientation. move.

3. The method of claim 2, wherein, Also includes: The distance and / or orientation are displayed while the driver is controlling the vehicle's movement; Depending on the distance and / or orientation, human-perceptible prompts are output so that the driver can determine whether the wireless receiver and the wireless transmitter are aligned based on the prompts. The prompt information includes at least one of the following: warning sounds of different frequencies and / or volumes, prompt voice messages of different content, and visual information of different content.

4. The method of claim 1, wherein, The first image is acquired by the first acquisition unit, and the second image is acquired by the second acquisition unit; The first acquisition unit is fixed to the bottom of the vehicle, and the second acquisition unit is fixed to the side or top of the vehicle. Both the first acquisition unit and the second acquisition unit are image sensors.

5. The method according to claim 1, characterized in that, The wireless receiver is fixed to the bottom of the vehicle; The wireless receiving device includes a first positioning device for receiving wireless positioning signals; The wireless transmitter is fixed to the ground within the parking space area; The wireless transmitter includes a second positioning device for transmitting wireless positioning signals; The wireless transmitter is connected to a stake, which is fixed in the outer area of ​​the parking space; the environmental detection unit is a ranging sensor, which is fixed on the side of the vehicle.

6. The method of claim 5, wherein, The second image also contains image information of the pile, and the detection data also contains data about the pile; Determining the second relative positional relationship between the vehicle and the wireless transmitter based on the second image and the detection data includes: Based on the second image and the detection data, the third positional relationship between the vehicle and the pile is determined, and The fourth positional relationship between the pile and the wireless transmitting device; Based on the third and fourth positional relationships, the second relative positional relationship between the vehicle and the wireless transmitter is calculated.

7. The method according to claim 6, characterized in that, Based on the second image and the detection data, the third positional relationship between the vehicle and the pile, and the fourth positional relationship between the pile and the wireless transmitter are determined, including: The second image and the detection data are processed to determine the position information of the first center line of the pile and the position information of the second center line of the wireless transmitter; wherein the first center line is perpendicular to the second center line. Based on the position information of the first centerline, a third positional relationship between the vehicle and the pile is determined; Based on the position information of the first centerline and the position information of the second centerline, a fourth positional relationship between the pile and the wireless transmitting device is determined.

8. A vehicle, characterized in that, include: The vehicle body, and a wireless receiving device and a first acquisition unit disposed on the bottom of the vehicle body; A first positioning device is installed on the wireless receiving device to receive the wireless positioning signal of the second positioning device of the wireless transmitting device of the charging pile; the wireless transmitting device is fixed in the parking space. The controller, electrically connected to the first acquisition unit and the first positioning device, is used to acquire a first image through the first acquisition unit, the first image including image information of the wireless transmitter; and to acquire the wireless positioning signal of the wireless transmitter through the first positioning device; to determine a first positional relationship between the wireless receiver and the wireless transmitter based on the first image; and to determine a second positional relationship between the wireless receiver and the wireless transmitter based on the wireless positioning signal. Based on the first positional relationship and the second positional relationship, a first relative positional relationship between the wireless receiving device and the wireless transmitting device is determined, so that the driver controls the movement of the vehicle based on the first relative positional relationship, thereby aligning the wireless receiving device and the wireless transmitting device. This also includes: The second data acquisition unit and the environmental detection unit are installed on the vehicle body; The controller is also electrically connected to the second acquisition unit and the environmental detection unit, and is used to acquire a second image through the second acquisition unit before acquiring the first image, the second image including an image of the wireless transmitter. Information; and acquiring detection data about the wireless transmitter detected by the environmental detection unit; the second image also includes image information of the parking space where the vehicle is about to park; determining the second relative positional relationship between the vehicle and the wireless transmitter based on the second image and the detection data; displaying the second image and the second relative positional relationship so that the driver controls the vehicle to move toward the wireless transmitter based on the image information of the parking space in the second image and the second relative positional relationship, until it moves to a position where the first acquisition unit can acquire the first image.

9. The vehicle according to claim 8, characterized in that, Both the first acquisition unit and the second acquisition unit are image sensors; the environmental detection unit is a ranging sensor.

10. A wireless charging alignment device for a vehicle, characterized in that, include: An acquisition module is used to acquire a first image and a wireless positioning signal from a wireless transmitter; the first image includes image information from the wireless transmitter. The first determining module is used to determine the first positional relationship between the wireless receiving device and the wireless transmitting device based on the first image; The wireless receiving device is fixed to the vehicle, and the wireless transmitting device is fixed to the parking space; The second determining module is used to determine a second positional relationship between the wireless receiving device and the wireless transmitting device based on the wireless positioning signal. The third determining module is used to determine the first relative positional relationship between the wireless receiving device and the wireless transmitting device based on the first positional relationship and the second positional relationship, so that the driver controls the vehicle to move based on the first relative positional relationship, thereby aligning the wireless receiving device and the wireless transmitting device. Before acquiring the first image, the process also includes: Acquire a second image, which includes image information of the wireless transmitter; and acquire detection data about the wireless transmitter detected by the environmental detection unit; the second image includes image information of the parking space where the vehicle is about to park. Based on the second image and the detection data, a second relative positional relationship between the vehicle and the wireless transmitter is determined; The second image and the second relative position relationship are displayed so that the driver can control the vehicle to move toward the wireless transmitter based on the image information of the parking space in the second image and the second relative position relationship, until the vehicle moves to a position where the first image can be obtained.

11. A computer-readable medium having a computer program / instructions stored thereon, which, when executed by a processor, causes the processor to perform the steps of the method according to any one of claims 1 to 6.

12. A computer program product comprising a computer program / instructions that, when executed by a processor, cause the processor to perform the steps of the method according to any one of claims 1 to 6.

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