# US 11,440,425 B2 · Charging device and method for aligning charging device with vehicle for charging

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- Number: US 11,440,425 B2
- Document ID: US11440425B2
- Status: Granted
- Kind: B2
- Application number: 17/023,712
- Filed: 2020-09-17
- Published: 2021-11-04
- Granted: 2022-09-13
- Earliest claimed: 2020-04-29
- Assignees: Triple Win Technology(Shenzhen) Co. Ltd.
- Applicants: Triple Win Technology(Shenzhen) Co.Ltd.
- Inventors: Szu-Chi Peng; Liang-Kao Chang
- Web page: https://patentgrep.com/patent/US11440425B2

## CPC

- G06V 20/52: Surveillance or monitoring of activities, e.g. for recognising suspicious objects (recognising microscopic objects G06V20/69)
- B60L 53/12: Inductive energy transfer
- B60L 53/126: Methods for pairing a vehicle and a charging station, e.g. establishing a one-to-one relation between a wireless power transmitter and a wireless power receiver
- B60L 53/37: using optical position determination, e.g. using cameras
- B60L 53/38: specially adapted for charging by inductive energy transfer
- B60L 53/66: Data transfer between charging stations and vehicles
- G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80)
- H02J 7/02: for charging batteries from AC mains by converters
- H02J 7/40: characterised by the exchange of charge or discharge related data
- H02J 7/825: {Detection of fully charged condition}
- H02J 50/10: using inductive coupling
- H02J 50/90: involving detection or optimisation of position, e.g. alignment
- G06T 2207/30248: Vehicle exterior or interior
- G06V 2201/08: Detecting or categorising vehicles
- H02J 2105/37: exchanging power with electric vehicles [EV] or with hybrid electric vehicles [HEV]
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- H02J: ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY

## Abstract

A method for aligning a charging device with a vehicle for charging includes detecting whether a vehicle is parked on a parking space where the charging device is located. If so, capturing at least one image of the vehicle and determining a position of a power receiving device of the vehicle by reference to the at least one image. Controlling movement of the charging device based on the relative positions of the power receiving device and a position of the charging device and aligning the charging device to couple wirelessly and charging the vehicle.

## Claims

### Claim 1

A charging device comprising:
at least one processor; and
a storage device coupled to the at least one processor and storing instructions for execution by the at least one processor to cause the at least one processor to:
detect whether a vehicle is parked on a parking space where a charging device is located;
capture, in response that the vehicle is detected to be parked on the parking space where the charging device is located, at least one image of the vehicle;
determine a position of a power receiving device of the vehicle by recognizing the at least one image;
determine a pixel coordinate of the vehicle in the image according to information as to body structure of the vehicle;
convert the pixel coordinate of the vehicle to a camera coordinate;
convert the camera coordinate of the vehicle to a world coordinate;
determine a world coordinate of the power receiving device according to the world coordinate of the vehicle and information as to position of the power receiving device; and
determine at least one movement parameter of the charging device according to deviation between an initial world coordinate of a power transmission device of the charging device and the world coordinate of the power receiving device;
control the charging device to move until aligned with the power receiving device according to the at least one movement parameter; and
control the charging device to couple with the power receiving device and to charge the vehicle.

### Claim 2 (depends on 1)

The charging device according to claim 1, wherein the at least one processor is further caused to:
acquire information as to body structure of a plurality of types of vehicles and the information as to position of the power receiving device on each type of vehicle; and
establish a charging position recognition model based on the information as to body structure of the plurality of types of vehicles and the information as to position of the power receiving device.

### Claim 3 (depends on 2)

The charging device according to claim 2, wherein the at least one processor is further caused to:
determine the position of the power receiving device of the vehicle according to the at least one image and the charging position recognition model.

### Claim 4 (depends on 3)

The charging device according to claim 3, wherein the at least one processor is further caused to:
process the at least one image to acquire the information as to body structure; and
determine the position of the power receiving device according to the information as to body structure and the charging position recognition model.

### Claim 5 (depends on 1)

The charging device according to claim 1, wherein the at least one processor is further caused to:
determine, in response that the vehicle is detected to be parked on the parking space, whether the charging device receives a charging instruction from a terminal device of a user; and
capture, in response that the charging device receives the charging instruction from the terminal device of the user, the at least one image of the vehicle.

### Claim 6 (depends on 1)

The charging device according to claim 1, wherein the at least one processor is further caused to:
transmit prompt information to a terminal device of a user when the charging device completes charging of the vehicle.

### Claim 7 (depends on 1)

The charging device according to claim 1, wherein the at least one processor is further caused to:
control the charging device to make an electrical connection with the power receiving device without actual contact, and wirelessly charge the vehicle.

### Claim 8

A method for aligning a charging device with a vehicle for charging implemented in a charging device comprising:
detecting whether a vehicle is parked on a parking space where a charging device is located;
capturing, in response that the vehicle is detected to be parked on the parking space where the charging device is located, at least one image of the vehicle;
determining a position of a power receiving device of the vehicle by recognizing the at least one image;
determining at least one movement parameter of the charging device based on the position of the power receiving device and a position of the charging device, comprising:
determining a pixel coordinate of the vehicle in the image according to information as to body structure of the vehicle;
converting the pixel coordinate of the vehicle to a camera coordinate;
converting the camera coordinate of the vehicle to a world coordinate;
determining a world coordinate of the power receiving device according to the world coordinate of the vehicle and information as to position of the power receiving device; and
determining the at least one movement parameter of the charging device according to deviation between an initial world coordinate of a power transmission device of the charging device and the world coordinate of the power receiving device;
controlling the charging device to move until aligned with the power receiving device according to the at least one movement parameter; and
controlling the charging device to couple with the power receiving device and to charge the vehicle.

### Claim 9 (depends on 8)

The method according to claim 8, further comprising:
acquiring information as to body structure of a plurality of types of vehicles and the information as to position of the power receiving device on each type of vehicle; and
establishing a charging position recognition model based on the information as to body structure of the plurality of types of vehicles and the information as to position of the power receiving device.

### Claim 10 (depends on 9)

The method according to claim 9, wherein a method of determining a position of a power receiving device of the vehicle by recognizing the at least one image comprises:
determining the position of the power receiving device of the vehicle according to the at least one image and the charging position recognition model.

### Claim 11 (depends on 10)

The method according to claim 10, wherein the step of determining the position of the power receiving device of the vehicle according to the at least one image and the charging position recognition mode comprises:
processing the at least one image to acquire the information as to body structure; and
determining the position of the power receiving device according to the information as to body structure and the charging position recognition model.

### Claim 12 (depends on 8)

The method according to claim 8, wherein the step of capturing at least one image of the vehicle comprises:
determining, in response that the vehicle is detected to be parked on the parking space, whether the charging device receives a charging instruction from a terminal device of a user; and
capturing, in response that the charging device receives the charging instruction from the terminal device of the user, the at least one image of the vehicle.

### Claim 13 (depends on 8)

The method according to claim 8, further comprising:
transmitting prompt information to a terminal device of a user when the charging device completes charging of the vehicle.

### Claim 14 (depends on 8)

The method according to claim 8, wherein the step of controlling the charging device to couple with the power receiving device and to charge the vehicle comprises:
controlling the charging device to make an electrical connection with the power receiving device with actual contact, and wirelessly charge the vehicle.