Wireless charging method and device, vehicle and computer readable storage medium

Abstract

The invention provides a wireless charging method and device, a vehicle and a computer readable storage medium. The method comprises the following steps: acquiring put-in image data obtained by performing image acquisition on a process of putting target charging equipment into a charging tray by a foreign matter detection camera; determining whether foreign matters exist between the target charging equipment and the charging tray or not according to the put-in image data; and if the foreign matter does not exist between the target charging equipment and the charging tray, controlling the charging tray to wirelessly charge the target charging equipment. By collecting the put-in image data, the condition of foreign matters on the charging tray and the target charging equipment can be known through the obtained put-in image data; therefore, whether the foreign matter exists between the target charging equipment and the charging tray or not is directly determined based on the put-in image data, the existence of the foreign matter can be directly detected, indirect parameters such as power loss do not need to be used, the accuracy of foreign matter detection can be improved, and the situations of false detection and missing detection are avoided.

Description

Technical Field

[0001] The present invention relates to the field of wireless charging, and in particular to a wireless charging method, device, vehicle, and computer-readable storage medium. Background Art

[0002] Currently, a foreign object detection module is integrated into the wireless charging module of in-vehicle mobile devices. When the foreign object detection module detects the presence of foreign objects on the wireless charging tray, it will stop charging. The existing foreign object detection is achieved by calculating the loss of signal transmission power of wireless charging. This method is subject to many interference factors and may cause missed detection and false detection. Summary of the Invention

[0003] The main purpose of the present invention is to provide a wireless charging method, device, vehicle and computer-readable storage medium, aiming to solve the problems of missed detection and false detection of foreign objects in wireless charging in the prior art.

[0004] To achieve the above object, the present invention provides a wireless charging method, which includes:

[0005] Obtain placement image data obtained by a foreign object detection camera capturing an image of a target charging device being placed into a charging tray;

[0006] determining whether there is a foreign object between the target charging device and the charging tray according to the placement image data;

[0007] If there is no foreign object between the target charging device and the charging tray, the charging tray is controlled to wirelessly charge the target charging device.

[0008] Optionally, the inserted image data includes a device image; and determining whether there is a foreign object between the target charging device and the charging tray according to the inserted image data includes:

[0009] determining whether there is a foreign object on the charging surface of the target charging device based on the device image;

[0010] If there is a foreign object on the charging surface of the target charging device, it is determined that there is a foreign object between the target charging device and the charging tray.

[0011] Optionally, determining whether there is a foreign object on the charging surface of the target charging device according to the device image includes:

[0012] Obtaining a trained feature extraction model, and performing feature extraction on the device image using the trained feature extraction model to obtain a device feature vector;

[0013] Obtaining a preset device vector, and comparing the device feature vector with the preset device vector to obtain a device feature similarity;

[0014] Determining whether the device feature similarity is greater than a preset device similarity threshold;

[0015] If the device feature similarity is greater than the preset device similarity threshold, it is determined that there is no foreign object on the charging surface of the target charging device.

[0016] Optionally, before obtaining the preset device vector, the method includes:

[0017] Identify the device image to determine whether the target charging device has the corresponding preset device vector;

[0018] If the target charging device does not have the corresponding device feature vector, a vector acquisition operation is performed on the target charging device to obtain a preset device vector corresponding to the target charging device.

[0019] Optionally, performing a vector acquisition operation on the target charging device includes:

[0020] Indicating learning prompt information to remind the user to display the target charging device;

[0021] Acquire learning image data of the target charging device at different angles;

[0022] The trained feature extraction model is used to perform feature extraction on the learning image data to obtain the preset device vector corresponding to the target charging device.

[0023] Optionally, the placement image data includes a global image of the tray; and determining whether there is a foreign object between the target charging device and the charging tray according to the placement image data includes:

[0024] determining whether there is a foreign object on the charging tray according to the global image of the tray;

[0025] If there is a foreign object on the charging tray, it is determined that there is a foreign object between the target charging device and the charging tray.

[0026] To achieve the above-mentioned object, the present invention further provides a wireless charging device, which includes a charging tray, a foreign object detection camera, and a control device; the control device includes:

[0027] The first acquisition module is used to obtain placement image data obtained by a foreign object detection camera capturing an image of a target charging device being placed into the charging tray;

[0028] a first determining module, configured to determine whether there is a foreign object between the target charging device and the charging tray according to the placement image data;

[0029] The first control module is configured to control the charging tray to wirelessly charge the target charging device if there is no foreign object between the target charging device and the charging tray.

[0030] Optionally, the foreign object detection camera includes a first foreign object detection camera and a second foreign object detection camera; wherein:

[0031] The detection areas of the first foreign object detection camera and the second foreign object detection camera cover the charging tray;

[0032] When the target charging device is placed in the charging tray, the detection areas of the first foreign object detection camera and the second foreign object detection camera cover the charging surface of the target charging device.

[0033] Optionally, the control device includes a processor and a memory connected to the processor; the memory stores a first acquisition module program code, a first determination module program code and a first control module program code;

[0034] The processor is configured to execute the first acquisition module program code to obtain placement image data obtained by a foreign object detection camera capturing an image of a process in which a target charging device is placed into a charging tray;

[0035] The processor is further configured to execute the first determination module program code to determine whether there is a foreign object between the target charging device and the charging tray;

[0036] The processor is further configured to execute the first control module program code to control the charging tray to wirelessly charge the target charging device if there is no foreign object between the target charging device and the charging tray.

[0037] To achieve the above objectives, the present invention also provides a vehicle, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the wireless charging method described above.

[0038] To achieve the above objectives, the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the wireless charging method described above are implemented.

[0039] The present invention proposes a wireless charging method, device, vehicle, and computer-readable storage medium. The method acquires placement image data obtained by a foreign object detection camera during image capture of the process of a target charging device being placed into a charging tray. The method then determines whether a foreign object exists between the target charging device and the charging tray based on the placement image data. If no foreign object exists between the target charging device and the charging tray, the method controls the charging tray to wirelessly charge the target charging device. By acquiring the placement image data, the placement image data obtained allows the user to understand the foreign object situation on the charging tray and the target charging device. Furthermore, the method directly determines whether a foreign object exists between the target charging device and the charging tray based on the placement image data. This allows the user to directly detect the presence of the foreign object itself without resorting to indirect parameters such as power loss. This improves the accuracy of foreign object detection and avoids false or missed detections. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0042] Figure 1 This is a flow chart of a first embodiment of a wireless charging method according to the present invention;

[0043] Figure 2 This is a schematic diagram of the arrangement of a foreign object detection camera in the wireless charging method of the present invention;

[0044] Figure 3 Schematic diagram of the overall process of the wireless charging method of the present invention;

[0045] Figure 4 Schematic diagram of the module structure of the vehicle of the present invention. DETAILED DESCRIPTION

[0046] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only embodiments of a part of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of this application.

[0047] The present invention provides a wireless charging method, referring to Figure 1 , Figure 1 This is a flow chart of a first embodiment of a wireless charging method according to the present invention, wherein the method comprises the following steps:

[0048] Step S10, obtaining placement image data obtained by capturing an image of the target charging device being placed into the charging tray by a foreign object detection camera;

[0049] The target charging device is a device that needs to be wirelessly charged through a charging tray; it is understandable that the target charging device itself has a wireless charging function; the specific type of the target charging device can be set based on actual needs, such as a mobile phone, watch, earphones, etc.

[0050] The charging tray provides wireless charging for the target device. The tray contains wireless charging components, such as a wireless charging coil. Once the target device is placed on the tray, the tray wirelessly charges the device. It is understood that the specific wireless charging component configuration can be customized based on actual needs.

[0051] The foreign object detection camera is a camera set up to capture images of the target charging device and charging tray.

[0052] It should be noted that, in this embodiment, the placement image data is collected during the process of the target charging device being placed in the charging tray; it is understandable that when the target charging device is not placed in or there is no need to place it in, there is no charging demand for the charging tray, and the foreign object detection camera will not detect the target charging device. Therefore, there is no need to collect the placement image data; and after the target charging device is completely placed in the charging tray, since the target charging device is in contact with the charging tray, the foreign object situation between the target charging device and the charging tray cannot be collected; therefore, in order to detect foreign objects between the target charging device and the charging tray by visual means, in this embodiment, image collection is performed during the process of the target charging device being placed in the charging tray to obtain placement image data. In practical applications, the foreign object detection camera may be started, and image acquisition may be continuously performed, and device detection may be performed on the acquired images. When it is detected that the image contains the target charging device, such as when the target charging device is about to be placed in the charging tray but is still a certain distance away from the charging tray, or when the target charging device enters the detection area of ​​the foreign object detection camera, the acquisition of image data may be started. It is understandable that the acquisition of image data may be performed during the period from the detection of the target charging device to the complete placement of the target charging device in the tray, and the acquisition of image data may be performed once or multiple times. The image data may be in the form of pictures or videos, etc.

[0053] For ease of explanation, the wireless charging device used in the wireless charging method of the present application is first described below; the wireless charging device includes a charging tray, a foreign object detection camera, and a control device.

[0054] The control device is connected to the charging tray and the foreign object detection camera respectively; after the foreign object detection camera performs image acquisition to obtain the placed image data, the placed image data is sent to the control device; the control device determines whether there is a foreign object between the target charging device and the charging tray based on the placed image data, and controls the charging status of the charging tray according to whether there is a foreign object; specifically, when there is a foreign object between the target charging device and the charging tray, the charging tray is controlled not to wirelessly charge the target charging device, and when there is no foreign object between the target charging device and the charging tray, the charging tray is controlled to wirelessly charge the target charging device.

[0055] The control device can be set based on actual needs. The control device can be set independently for the charging tray, or it can be an original device in the vehicle. If relevant devices are set in the vehicle, such as the charging tray and foreign object detection camera, the control device can be the vehicle's computer.

[0056] Furthermore, the foreign object detection camera includes a first foreign object detection camera and a second foreign object detection camera; wherein:

[0057] The detection areas of the first foreign object detection camera and the second foreign object detection camera cover the charging tray;

[0058] When the target charging device is placed in the charging tray, the detection areas of the first foreign object detection camera and the second foreign object detection camera cover the charging surface of the target charging device.

[0059] It can be understood that by inserting image data, it is necessary to be able to determine the foreign object situation between the target charging device and the charging tray. Therefore, the inserted image data needs to include the charging surface of the target charging device and the surface image of the charging tray, that is, the foreign object detection camera that collects the inserted image data needs to be able to capture images of the charging surface of the target charging device and the surface of the charging tray.

[0060] The charging surface of the target charging device is the surface that contacts the charging tray when wireless charging is implemented, such as the surface where the wireless charging coil is provided.

[0061] In terms of specific implementation, generally, see Figure 2 The charging surface of the target charging device 100 faces downward, while the charging surface of the charging tray 200 faces upward, meaning the acquisition angles of the two objects to be captured differ significantly. Therefore, to ensure image capture of both the charging tray 200 and the charging surface of the target charging device 100, multiple foreign object detection cameras can be provided. In this embodiment, two foreign object detection cameras are used as an example. If the charging tray 200 tilts forward and then sinks backward, a first foreign object detection camera C1 can be positioned at the front of the charging tray 200, with its acquisition angle facing downward toward the charging tray 200. A second foreign object detection camera C2 can be positioned at the rear of the charging tray 200, with its acquisition angle facing upward toward the top of the charging tray 200. In this case, the first foreign object detection camera C1 can better capture images of the charging tray 200, while the second foreign object detection camera C2 can better capture images of the target charging device 100. In specific applications, a foreign object detection camera with an appropriate FOV (Field of View) can also be selected, such as between 65 and 90 degrees.

[0062] The foreign object detection camera can be set up for the charging tray or it can be an original device of the vehicle; if the vehicle itself has a camera installed inside the vehicle, and the camera happens to be able to capture the charging tray, then the camera can be used as the first foreign object detection camera, and a second foreign object detection camera can be set up independently.

[0063] The specific number and location of foreign object detection cameras can also be set based on actual needs.

[0064] In other embodiments, the charging tray can also be set with transparent material, and the foreign object detection camera can be set under the charging tray, so that the foreign object detection camera can capture images of the target charging device through the transparent charging tray, so that after the target charging device is placed on the charging tray, the foreign object situation in the contact part between the charging tray and the target charging device can still be obtained, and then it can be determined whether there is foreign object between the target charging device and the charging tray.

[0065] Step S20, determining whether there is a foreign object between the target charging device and the charging tray according to the placement image data;

[0066] Since the insertion image data includes the surface conditions of the target charging device and the charging tray, it is possible to determine whether there is a foreign object between the target charging device and the charging tray based on the insertion image data.

[0067] Step S30 : If there is no foreign object between the target charging device and the charging tray, controlling the charging tray to wirelessly charge the target charging device.

[0068] If there is a foreign object between the target charging device and the charging tray, the charging tray is controlled not to wirelessly charge the target charging device.

[0069] It is understandable that when there is a foreign object between the target charging device and the charging tray, the wireless charging will be interfered with by the foreign object. Therefore, the charging tray will not be controlled to wirelessly charge the target charging device. At the same time, an alarm indication of the foreign object can be given, such as sending an alarm message to the vehicle's HMI (Human Machine Interface) for display to remind the user that there is a foreign object between the target charging device and the charging tray, so that the user can remove the foreign object and then place the target charging device on the charging tray for charging.

[0070] When there is no foreign object between the target charging device and the charging tray, the wireless charging will not be interfered with by the foreign object, so the charging tray can be controlled to wirelessly charge the target charging device, thereby realizing the wireless charging function.

[0071] This embodiment collects the placement image data so that the foreign object situation on the charging tray and the target charging device can be understood through the obtained placement image data; then, it is directly determined whether there is a foreign object between the target charging device and the charging tray based on the placement image data, so that the presence of the foreign object itself can be directly detected without the help of indirect parameters such as power loss, thereby improving the accuracy of foreign object detection and avoiding the occurrence of false detection and missed detection.

[0072] Further, see Figure 3 In a second embodiment of the wireless charging method of the present invention proposed based on the first embodiment of the present invention, the input image data includes a device image; and step S20 includes the following steps:

[0073] Step S21, determining whether there is a foreign object on the charging surface of the target charging device based on the device image;

[0074] Step S22: If there is a foreign object on the charging surface of the target charging device, it is determined that there is a foreign object between the target charging device and the charging tray.

[0075] The device image is an image of the charging surface of the target charging device.

[0076] The charging surface is the surface where the target charging device contacts the charging tray when wireless charging is implemented, such as the surface where the wireless charging coil is provided. It is understandable that when there is foreign matter on the charging surface, after the target charging device is completely placed on the charging tray, there will be foreign matter between the charging tray and the charging surface. Therefore, in this embodiment, the presence of foreign matter between the target charging device and the charging tray is determined by judging the foreign matter on the charging surface of the target charging device.

[0077] Furthermore, the step S21 includes the steps of:

[0078] Step S211: Acquire a trained feature extraction model, and extract features from the device image using the trained feature extraction model to obtain a device feature vector;

[0079] Step S212: obtaining a preset device vector, and comparing the device feature vector with the preset device vector to obtain a device feature similarity;

[0080] Step S213, determining whether the device feature similarity is greater than a preset device similarity threshold;

[0081] Step S214 : If the device feature similarity is greater than the preset device similarity threshold, it is determined that there is no foreign object on the charging surface of the target charging device.

[0082] If the device feature similarity is less than or equal to the preset device similarity threshold, it is determined that there is a foreign object on the charging surface of the target charging device.

[0083] The feature extraction model is used to extract features from image data.

[0084] The specific type of feature extraction model can be set based on actual needs, such as CNN (Convolutional Neural Network).

[0085] The device feature vector is obtained by extracting features from the device image; the device feature vector is the device feature vector corresponding to the target charging device.

[0086] The preset feature vector is a preset feature vector obtained by image extraction when the charging device is free of foreign matter.

[0087] The device feature similarity indicates the degree of similarity between the device feature vector and the preset device vector. The specific type of device feature similarity can be set based on actual needs, such as calculating the cosine similarity between the device feature vector and the preset device vector as the device feature similarity.

[0088] It can be understood that since the preset device vector indicates the characteristics of the target charging device when there is no foreign object on the charging surface, the greater the device feature similarity, the more similar the device feature vector is to the preset device vector, that is, the charging surface of the target charging device is less likely to contain foreign objects; and the smaller the device feature similarity, the more different the device feature vector is from the preset device vector, that is, the charging surface of the target charging device is more likely to contain foreign objects.

[0089] A preset device similarity threshold is set. When the device feature similarity is greater than the preset device similarity threshold, it is considered that the device feature vector is sufficiently similar to the preset device vector, and there is no foreign object on the charging surface of the target charging device; when the device feature similarity is less than or equal to the preset device similarity threshold, it is considered that the device feature vector is not sufficiently similar to the preset device vector, and there is a foreign object on the charging surface of the target charging device.

[0090] In other embodiments, multiple preset device vectors may be set; for example, images of the charging device may be captured at different angles, and features may be extracted from the captured images to obtain preset device vectors corresponding to different angles; when determining the device feature similarity, the device feature vectors may be respectively generated with corresponding device feature similarities of each preset device vector; when there is a device feature similarity greater than a preset device similarity threshold, it is considered that there is no foreign matter on the charging surface of the target charging device; when all device feature similarities are less than or equal to the preset device similarity threshold, it is considered that there is a foreign matter on the charging surface of the target charging device.

[0091] Furthermore, the step S212 includes the following steps:

[0092] Step S215, identifying the device image to determine whether the target charging device has the corresponding preset device vector;

[0093] Step S216 : If the target charging device does not have the corresponding device feature vector, a vector acquisition operation is performed on the target charging device to obtain a preset device vector corresponding to the target charging device.

[0094] When the target charging device used by the user is a new device, such as the user has changed the mobile phone model or replaced the mobile phone case; at this time, the target charging device is different from the previous charging device in appearance; and the device feature vector in this embodiment is obtained based on the actual collection of the charging device, so there may be no device feature vector corresponding to the target charging device.

[0095] When there is no device feature vector corresponding to the target charging device, in order to ensure detection of foreign objects, a new preset device vector corresponding to the target charging device is acquired and stored, so that foreign object detection can be performed on the new target charging device.

[0096] The method for obtaining the preset device vector corresponding to the target charging device can be set based on actual needs.

[0097] When determining whether the target charging device has a corresponding preset device vector, the appearance of the target charging device can be detected, and the model of the target device can also be detected; for example, the device model of the target charging device can be obtained by recognizing the device image. At the same time, when the preset device vector is extracted before, the corresponding device model can also be synchronously determined and associated with the preset device vector; the device model corresponding to the target charging device is matched with the device model corresponding to each preset device vector. If there is no preset device vector corresponding to the device model of the target charging device, it is considered that the target charging device does not have a corresponding preset device vector. For another example, a second preset device similarity threshold can be set, and the second preset device similarity threshold is less than the preset device similarity threshold. If the similarities of all device features are less than the second preset device similarity threshold, it is considered that the target charging device is very different from the charging devices corresponding to all preset device vectors. Therefore, the target charging device is considered to be a new device.

[0098] Furthermore, the step S216 includes the steps of:

[0099] Step S2161, indicating the learning prompt information to remind the user to display the target charging device;

[0100] Step S2162, obtaining learning image data of the target charging device at different angles;

[0101] Step S2163 , performing feature extraction on the learning image data using the trained feature extraction model to obtain the preset device vector corresponding to the target charging device.

[0102] The learning prompt information indicates that a preset device vector corresponding to the target charging device needs to be extracted, and can be set based on actual needs. For example, the learning reminder information can be displayed in text through the HMI, and the text content may be such as "Please point the phone at the camera to complete feature learning." After the user places the phone in front of the camera, the user activates the learning process. At this time, the foreign object detection camera can be used to take a picture of the phone. After taking the picture, the HMI may display text to remind the user to change the angle of the phone. The text content may be such as "Please change the angle of the phone," "Please move the phone closer to the charging tray," "Please point the front, side, or back of the phone at the camera," or "Please turn the phone 30° clockwise," etc., thereby collecting images of the phone at different angles to obtain learning image data at different angles. The specific angle to be collected can be set based on actual needs, such as 30°, 60°, 90°, and other typical holding postures.

[0103] If the user does not present the target charging device to the camera within a preset time after the learning prompt message is indicated, an error message such as "mobile phone not recognized" will be output.

[0104] By performing feature extraction on the learning image data using the trained feature extraction model, the preset device vectors of different angles corresponding to the target charging device can be obtained. The preset device vectors are stored in the vehicle-mounted encrypted database. When the preset device vectors are needed, they can be obtained from the vehicle-mounted encrypted database. The preset device vectors can be set to high-dimensional feature vectors, such as 1024-dimensional feature vectors.

[0105] It is understood that as the preset device vector for a new target charging device is acquired, the vehicle-mounted encrypted database may contain preset device vectors corresponding to charging devices of different shapes. When determining device feature similarity, the device feature vector can be used to generate corresponding device feature similarities with each preset device vector. When a device feature similarity is greater than a preset device similarity threshold, it is considered that no foreign object is present on the charging surface of the target charging device. When all device feature similarities are less than or equal to the preset device similarity threshold, it is considered that a foreign object is present on the charging surface of the target charging device. Alternatively, the target charging device type can be determined first, and the preset device vector corresponding to the target charging device type can be matched to obtain the corresponding device feature similarity.

[0106] In other embodiments, the corresponding preset device vector can also be obtained according to the model of the target charging device; for example, preset device vectors corresponding to different mobile phone models are set in the cloud or locally. When the preset device vector corresponding to the target charging device does not exist locally, the device image is identified to determine the mobile phone model corresponding to the target charging device, and the preset device vector corresponding to the mobile phone model is obtained, thereby eliminating the need to determine the preset device vector through local collection.

[0107] It should be noted that, in this embodiment, the foreign object detection camera is used to capture images of the target charging device and then obtain the corresponding preset device vector, so that the preset device vector can be obtained based on the in-vehicle environment. In the application scenario of the in-vehicle environment, the accuracy of foreign object detection can be improved. At the same time, compared with the method of determining the preset device vector of the mobile phone model, when the user wears a mobile phone case, the external form of the target charging device cannot be obtained only by the mobile phone model. The preset device vector acquisition method of the foreign object detection camera in this embodiment can achieve accurate acquisition of the preset device vector when wearing a mobile phone case or making other appearance modifications to the target charging device.

[0108] Furthermore, the input image data includes a global image of the tray, and the step S20 includes the steps of:

[0109] Step S23, judging whether there is any foreign matter on the charging tray according to the global image of the tray;

[0110] Step S24 : If there is a foreign object on the charging tray, it is determined that there is a foreign object between the target charging device and the charging tray.

[0111] The tray global image is an image of the placement surface including the charging tray.

[0112] After the target charging device is completely placed on the charging tray, the charging tray contacts the target charging device. Therefore, when there is a foreign object on the charging tray, after the target charging device is completely placed on the charging tray, there will be a foreign object between the charging tray and the charging surface. Therefore, in this embodiment, the foreign object on the charging tray is judged to determine whether there is a foreign object between the target charging device and the charging tray.

[0113] It is understandable that when there is no foreign object on the charging surface of the target charging device and there is no foreign object on the charging tray, it is determined that there is no foreign object between the target charging device and the charging tray.

[0114] The determination of whether there is a foreign object on the charging tray can be performed in a manner similar to the determination of whether there is a foreign object on the charging surface of the aforementioned target charging device.

[0115] For example, when the vehicle computer system is initialized, an image of a charging pallet that is not carrying any objects, that is, where no foreign objects exist, is acquired to obtain pallet learning data. Feature extraction is performed on the pallet learning data using a trained feature extraction model to obtain a blank pallet feature vector, which is then stored in the vehicle computer encrypted database.

[0116] Furthermore, the step S23 includes the steps of:

[0117] Step S231, obtaining a trained feature extraction model, and performing feature extraction on the global image of the pallet using the trained feature extraction model to obtain a pallet feature vector;

[0118] Step S232, obtaining a blank pallet feature vector, and comparing the pallet feature vector with the blank pallet feature vector to obtain pallet feature similarity;

[0119] Step S233, determining whether the pallet feature similarity is greater than a preset pallet similarity threshold;

[0120] Step S234 : If the tray feature similarity is greater than the preset tray similarity threshold, it is determined that there is no foreign object on the charging tray.

[0121] If the tray feature similarity is less than or equal to the preset tray similarity threshold, it is determined that there is a foreign object on the charging tray.

[0122] The feature extraction model is used to extract features from image data.

[0123] The specific type of feature extraction model can be set based on actual needs, such as CNN (Convolutional Neural Network).

[0124] The pallet feature vector is obtained by extracting features from the global image of the pallet; the pallet feature vector is the feature vector corresponding to the charging pallet.

[0125] The blank tray feature vector is a feature vector obtained by image extraction when there is no foreign matter in the preset charging tray.

[0126] The pallet feature similarity indicates the degree of similarity between the pallet feature vector and the blank pallet feature vector; the specific type of pallet feature similarity can be set based on actual needs, such as calculating the cosine similarity between the pallet feature vector and the blank pallet feature vector as the pallet feature similarity.

[0127] It can be understood that since the blank tray feature vector indicates the characteristics of the charging tray when there is no foreign matter on the charging surface, the greater the tray feature similarity, the more similar the tray feature vector is to the blank tray feature vector, that is, the charging tray is less likely to contain foreign matter; and the smaller the tray feature similarity, the more different the tray feature vector is from the blank tray feature vector, that is, the charging tray is more likely to contain foreign matter.

[0128] A preset pallet similarity threshold is set. When the pallet feature similarity is greater than the preset pallet similarity threshold, it is considered that the pallet feature vector is sufficiently similar to the blank pallet feature vector, and there is no foreign object on the charging pallet; when the pallet feature similarity is less than or equal to the preset pallet similarity threshold, it is considered that the pallet feature vector is not similar enough to the blank pallet feature vector, and there is foreign object on the charging pallet.

[0129] It should be noted that since the charging tray is always within the detection area of ​​the foreign object detection camera, the charging tray can be continuously detected for foreign objects without having to wait for the target charging device to enter the detection area.

[0130] It should be noted that in order to ensure the consistency of feature extraction and improve the accuracy of foreign object detection, the feature extraction model in this application adopts the same feature extraction model, that is, the device feature vector, preset device vector, pallet feature vector, and blank pallet feature vector are extracted through the same feature extraction model.

[0131] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0132] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus the necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0133] The present application also provides a wireless charging device for implementing the above-mentioned wireless charging method, wherein the wireless charging device includes a charging tray, a foreign object detection camera, and a control device; the control device includes:

[0134] The first acquisition module is used to obtain placement image data obtained by a foreign object detection camera capturing an image of a target charging device being placed into the charging tray;

[0135] a first determining module, configured to determine whether there is a foreign object between the target charging device and the charging tray according to the placement image data;

[0136] The first control module is configured to control the charging tray to wirelessly charge the target charging device if there is no foreign object between the target charging device and the charging tray.

[0137] It should be noted that the first acquisition module in this embodiment can be used to execute step S10 in the embodiment of the present application, the first determination module in this embodiment can be used to execute step S20 in the embodiment of the present application, and the first control module in this embodiment can be used to execute step S30 in the embodiment of the present application.

[0138] This wireless charging device collects the placement image data so that the foreign object situation on the charging tray and the target charging device can be understood through the obtained placement image data; then, based on the placement image data, it is directly determined whether there is a foreign object between the target charging device and the charging tray, thereby being able to directly detect the presence of the foreign object itself without the need for indirect parameters such as power loss, thereby improving the accuracy of foreign object detection and avoiding the occurrence of false detection and missed detection.

[0139] Furthermore, the foreign object detection camera includes a first foreign object detection camera and a second foreign object detection camera; wherein:

[0140] The detection areas of the first foreign object detection camera and the second foreign object detection camera cover the charging tray;

[0141] When the target charging device is placed in the charging tray, the detection areas of the first foreign object detection camera and the second foreign object detection camera cover the charging surface of the target charging device.

[0142] Furthermore, the control device includes a processor and a memory connected to the processor; the memory stores a first acquisition module program code, a first determination module program code and a first control module program code;

[0143] The processor is configured to execute the first acquisition module program code to obtain placement image data obtained by a foreign object detection camera capturing an image of a process in which a target charging device is placed into a charging tray;

[0144] The processor is further configured to execute the first determination module program code to determine whether there is a foreign object between the target charging device and the charging tray;

[0145] The processor is further configured to execute the first control module program code to control the charging tray to wirelessly charge the target charging device if there is no foreign object between the target charging device and the charging tray.

[0146] Furthermore, the input image data includes a device image; and the first determining module includes:

[0147] A first judgment submodule is configured to judge whether there is a foreign object on the charging surface of the target charging device based on the device image;

[0148] The first determining submodule is configured to determine whether there is a foreign object between the target charging device and the charging tray if there is a foreign object on the charging surface of the target charging device.

[0149] Furthermore, the first judgment submodule includes:

[0150] a first acquisition unit, configured to acquire a trained feature extraction model, and extract features from the device image using the trained feature extraction model to obtain a device feature vector;

[0151] A second acquiring unit is configured to acquire a preset device vector and compare the device feature vector with the preset device vector to obtain a device feature similarity;

[0152] A first judging unit, configured to judge whether the device feature similarity is greater than a preset device similarity threshold;

[0153] The first determining unit is configured to determine that there is no foreign object on the charging surface of the target charging device if the device feature similarity is greater than the preset device similarity threshold.

[0154] Furthermore, the first judgment submodule further includes:

[0155] a second determining unit, configured to identify the device image to determine whether the target charging device has a corresponding preset device vector;

[0156] The Dui execution unit is configured to perform a vector acquisition operation on the target charging device to obtain a preset device vector corresponding to the target charging device if the target charging device does not have the corresponding device feature vector.

[0157] Furthermore, the first execution unit includes:

[0158] a first indicating subunit, configured to indicate the learning prompt information to remind the user to display the target charging device;

[0159] A first acquisition subunit is configured to acquire learning image data of the target charging device at different angles;

[0160] The first extraction subunit is configured to perform feature extraction on the learning image data using the trained feature extraction model to obtain the preset device vector corresponding to the target charging device.

[0161] Furthermore, the input image data includes a global image of the tray; and the first determining module includes:

[0162] A second judgment submodule is configured to judge whether there is a foreign object on the charging tray according to the global image of the tray;

[0163] The second determining submodule is configured to determine whether there is a foreign object between the target charging device and the charging tray if there is a foreign object on the charging tray.

[0164] Reference Figure 4 In terms of hardware structure, the vehicle may include components such as a communication module 10, a memory 20, and a processor 30. In the vehicle, the processor 30 is connected to the memory 20 and the communication module 10, respectively. The memory 20 stores a computer program, which is simultaneously executed by the processor 30. When the computer program is executed, the steps of the above-mentioned method embodiment are implemented.

[0165] The communication module 10 can be connected to an external communication device via a network. The communication module 10 can receive requests from the external communication device and can also send requests, instructions and information to the external communication device. The external communication device can be another vehicle, a server or an IoT device such as a TV.

[0166] Memory 20 can be used to store software programs and various data. Memory 20 may primarily include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function (such as capturing images of the target charging device being placed into the charging tray via a foreign object detection camera). The data storage area may include a database and may store data or information generated based on system usage. Furthermore, memory 20 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0167] Processor 30 is the vehicle's control center, connecting all vehicle components via various interfaces and circuits. By running or executing software programs and / or modules stored in memory 20 and accessing data stored in memory 20, it performs various vehicle functions and processes data, thereby providing overall vehicle monitoring. Processor 30 may include one or more processing units; optionally, processor 30 may integrate an application processor and a modem processor. The application processor primarily handles the operating system, user interface, and application programs, while the modem processor primarily handles wireless communications. It is understood that the modem processor may not be integrated into processor 30.

[0168] although Figure 4 Although not shown, the above vehicle may further include a circuit control module, which is used to connect to the power supply to ensure the normal operation of other components. Figure 4 The vehicle structure shown in the figure does not constitute a limitation to the vehicle, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0169] The present invention also provides a computer-readable storage medium on which a computer program is stored. The computer-readable storage medium may be Figure 4 The memory 20 in the vehicle may also be at least one of a ROM (Read-Only Memory) / RAM (Random Access Memory), a magnetic disk, and an optical disk. The computer-readable storage medium includes a number of instructions for enabling a terminal device with a processor (which may be a television, a car, a mobile phone, a computer, a server, a terminal, or a network device, etc.) to execute the methods described in various embodiments of the present invention.

[0170] In the present invention, the terms "first", "second", "third", "fourth" and "fifth" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0171] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0172] Although the embodiments of the present invention have been shown and described above, the scope of protection of the present invention is not limited thereto. It should be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Persons skilled in the art may make changes, modifications, and substitutions to the above embodiments within the scope of the present invention, and such changes, modifications, and substitutions should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A wireless charging method, characterized in that: The wireless charging method includes: Obtain placement image data obtained by a foreign object detection camera capturing an image of a target charging device being placed into a charging tray; determining whether there is a foreign object between the target charging device and the charging tray according to the placement image data; If there is no foreign object between the target charging device and the charging tray, the charging tray is controlled to wirelessly charge the target charging device.

2. The wireless charging method according to claim 1, wherein: The placed image data includes a device image; and determining whether there is a foreign object between the target charging device and the charging tray according to the placed image data includes: determining whether there is a foreign object on the charging surface of the target charging device based on the device image; If there is a foreign object on the charging surface of the target charging device, it is determined that there is a foreign object between the target charging device and the charging tray.

3. The wireless charging method according to claim 2, wherein: The determining whether there is a foreign object on the charging surface of the target charging device according to the device image includes: Obtaining a trained feature extraction model, and performing feature extraction on the device image using the trained feature extraction model to obtain a device feature vector; Obtaining a preset device vector, and comparing the device feature vector with the preset device vector to obtain a device feature similarity; Determining whether the device feature similarity is greater than a preset device similarity threshold; If the device feature similarity is greater than the preset device similarity threshold, it is determined that there is no foreign object on the charging surface of the target charging device.

4. The wireless charging method according to claim 3, wherein: The step of obtaining the preset device vector includes: Identify the device image to determine whether the target charging device has the corresponding preset device vector; If the target charging device does not have the corresponding device feature vector, a vector acquisition operation is performed on the target charging device to obtain a preset device vector corresponding to the target charging device.

5. The wireless charging method according to claim 4, wherein: The performing a vector acquisition operation on the target charging device includes: Indicating learning prompt information to remind the user to display the target charging device; Acquire learning image data of the target charging device at different angles; The trained feature extraction model is used to perform feature extraction on the learning image data to obtain the preset device vector corresponding to the target charging device.

6. The wireless charging method according to claim 1, wherein: The placement image data includes a global image of the tray; and determining whether there is a foreign object between the target charging device and the charging tray according to the placement image data includes: determining whether there is a foreign object on the charging tray according to the global image of the tray; If there is a foreign object on the charging tray, it is determined that there is a foreign object between the target charging device and the charging tray.

7. A wireless charging device, characterized in that: The wireless charging device includes a charging tray, a foreign object detection camera, and a control device; the control device includes: The first acquisition module is used to obtain placement image data obtained by a foreign object detection camera capturing an image of a target charging device being placed into the charging tray; a first determining module, configured to determine whether there is a foreign object between the target charging device and the charging tray according to the placement image data; The first control module is configured to control the charging tray to wirelessly charge the target charging device if there is no foreign object between the target charging device and the charging tray.

8. The wireless charging device according to claim 7, wherein: The foreign object detection camera includes a first foreign object detection camera and a second foreign object detection camera; wherein: The detection areas of the first foreign object detection camera and the second foreign object detection camera cover the charging tray; When the target charging device is placed in the charging tray, the detection areas of the first foreign object detection camera and the second foreign object detection camera cover the charging surface of the target charging device.

9. The wireless charging device according to claim 7, wherein: The control device includes a processor and a memory connected to the processor; the memory stores a first acquisition module program code, a first determination module program code and a first control module program code; The processor is configured to execute the first acquisition module program code to obtain placement image data obtained by a foreign object detection camera capturing an image of a process in which a target charging device is placed into a charging tray; The processor is further configured to execute the first determination module program code to determine whether there is a foreign object between the target charging device and the charging tray; The processor is further configured to execute the first control module program code to control the charging tray to wirelessly charge the target charging device if there is no foreign object between the target charging device and the charging tray.

10. A vehicle, characterized in that: The vehicle includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the steps of the wireless charging method according to any one of claims 1 to 6 when executed by the processor.

11. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the wireless charging method according to any one of claims 1 to 6 are implemented.

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