CN116979710A

CN116979710A - Electromagnetic positioning equipment and system

Info

Publication number: CN116979710A
Application number: CN202210864045.8A
Authority: CN
Inventors: 朱应成; 王贺; 朱蓓蓓
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2022-04-22
Filing date: 2022-07-20
Publication date: 2023-10-31

Abstract

The embodiment of the application provides electromagnetic positioning equipment and a system, wherein the system comprises: the first device comprises a first wireless charging module, a first positioning module and a first coil; the first wireless charging module and the first positioning module are electrically connected with the first coil; the second device comprises a second positioning module and a second coil, and the second positioning module is electrically connected with the second coil; the first positioning module is used for transmitting positioning signals through the first coil and the second device; the second positioning module is used for transmitting positioning signals with the first equipment through the second coil; the first wireless charging module is used for receiving a charging signal through the first coil. The power supply device is used for improving the convenience of power supply of the first equipment and improving user experience.

Description

Electromagnetic positioning equipment and system

The present application claims priority from chinese patent office, application number 202210430814.3, application name "an electromagnetic positioning device and system", filed 22 months 2022, the entire contents of which are incorporated herein by reference.

Technical Field

The application relates to the technical field of electronics, in particular to electromagnetic positioning equipment and an electromagnetic positioning system.

Background

Virtual Reality (VR) is an "interactive computer simulation environment that senses the state and behavior of a user, replacing or enhancing sensory feedback information to one or more sensory systems, thereby allowing the user to obtain a sensation of immersion in the simulated environment Virtual environment. The virtual reality technology is characterized by high immersive performance, and when a user is in a virtual environment, such as being in the scene; and when the user changes angles, the virtual environment will also make corresponding changes.

With the development of virtual reality technology, the action of a handle is more and more important. After wearing the head-mounted display device, the user can interact with the virtual reality scene through the handle. Currently, the tracking mode of the handle is generally an electromagnetic positioning mode.

The electromagnetic positioning is realized based on Faraday's law of electromagnetic induction, and the signal transmitting end of the electromagnetic positioning generates a changing magnetic field in space by providing a changing current on the transmitting coil, and the signal receiving end of the electromagnetic positioning generates an induced electromotive force by inducing the changing magnetic field through the receiving coil. The electromagnetic positioning signal receiving end solves the pose between the electromagnetic positioning signal transmitting end and the electromagnetic positioning signal receiving end by establishing the relation between the induced electromotive force and the poses of the two coils. In the above process, the electromagnetic positioning signal transmitting end and the electromagnetic positioning signal receiving end need to be powered to realize the positioning process, and the efficiency and the flexibility of the power supply mode become important factors affecting the product experience.

The current electromagnetic positioning equipment is an electromagnetic positioning signal transmitting end and/or an electromagnetic positioning signal receiving end, the current common power supply mode comprises dry battery power supply and lithium battery power supply with a bit of charging, the battery needs to be frequently replaced when the dry battery power supply is used, the connecting wire needs to be frequently replaced when the wired charging mode is used, the equipment needs to be stopped when the charging mode is used, and the contact type charging has a safety problem.

Disclosure of Invention

In view of the above, the present application provides an electromagnetic positioning device and a system thereof, so as to solve the problem of inconvenient charging of the electromagnetic positioning device.

In a first aspect, an embodiment of the present application provides an electromagnetic positioning system, including: the first device comprises a first wireless charging module, a first positioning module and a first coil; the first wireless charging module and the first positioning module are electrically connected with the first coil;

the second device comprises a second positioning module and a second coil, and the second positioning module is electrically connected with the second coil;

the first positioning module is used for transmitting positioning signals through the first coil and the second device;

the second positioning module is used for transmitting positioning signals with the first equipment through the second coil;

The first wireless charging module is used for receiving a charging signal through the first coil.

As a possible implementation manner of the first aspect, the first positioning module is specifically configured to transmit a positioning signal to the second device through the first coil;

the second positioning module is specifically configured to receive the positioning signal through the second coil.

As a possible implementation manner of the first aspect, the second positioning module is specifically configured to transmit a positioning signal to the first device through the second coil;

the first positioning module is specifically configured to receive a positioning signal through the first coil.

As a possible implementation manner of the first aspect, the second device further includes a second wireless charging module, where the second wireless charging module is electrically connected to the second coil;

wherein the second wireless charging module is used for transmitting a charging signal to the first device through the second coil;

the first wireless charging module is specifically configured to receive, through the first coil, a charging signal transmitted by the second device.

As a possible implementation manner of the first aspect, the electromagnetic positioning system includes at least two second devices; the first device further comprises a first control module, and the first control module is connected with the first positioning module;

The first control module is used for acquiring the distance between the first equipment and each second equipment, determining target second equipment in the at least two second equipment according to the distance between the first equipment and each second equipment, and sending a charging instruction to the target equipment; the target second device is a second device, of which the distance between the second device and the first device is within a preset distance threshold, of at least two second devices;

the first wireless charging module is specifically configured to receive, through the first coil, a charging signal transmitted by the target second device.

As a possible implementation manner of the first aspect, when the first positioning module is specifically configured to receive a positioning signal through the first coil, the first control module is specifically configured to obtain a positioning signal of each second device of the at least two second devices, and calculate a distance between the first device and each second device according to the positioning signal of each second device.

As a possible implementation manner of the first aspect, each of the at least two second devices further includes a second control module, where the second control module is connected to the second positioning module;

When the second positioning module is specifically configured to receive the positioning signal through the second coil, the second control module is configured to obtain a positioning signal transmitted by a first device, and calculate a distance between a second device where the second control module is located and the first device according to the positioning signal transmitted by the first device; sending the distance between the second device where the second control module is located and the first device to the first device;

the first control module is specifically configured to receive a distance between the first device and the second device, where the distance is sent by the second device.

As a possible implementation manner of the first aspect, the electromagnetic positioning system further includes: the third device comprises a third wireless charging module and a third coil; the third wireless charging module is electrically connected with the third coil;

the third wireless charging module is used for transmitting a charging signal to the first device through the third coil;

the first wireless charging module is specifically configured to receive, through the first coil, a charging signal transmitted by the third device.

In a second aspect, an embodiment of the present application provides an electromagnetic positioning apparatus, including: the wireless charging device comprises a positioning module, a control module, a wireless charging module, a coil and a switch module; wherein,,

The positioning module is connected with the first end of the switch module, the wireless charging module is connected with the second end of the switch module, and the third end of the switch module is connected with the coil;

the control module is connected with the control end of the switch module, the wireless charging module and the positioning module;

the control module is used for controlling the second end and the third end of the switch module to be conducted when the current working mode is a charging mode; or when the current working mode is a positioning mode, controlling the first end and the third end of the switch module to be conducted;

the wireless charging module is used for transmitting a charging signal through the coil or receiving the charging signal through the coil when the second end and the third end of the switch module are conducted;

and the positioning module is used for transmitting a positioning signal through the coil or receiving the positioning signal through the coil when the first end of the switch module is conducted with the third end.

As a possible implementation manner of the second aspect, the control module is further configured to obtain a preset first signal when the current working mode is a positioning mode, and send the preset first signal to the positioning module;

The positioning module is specifically configured to convert the preset first signal into a positioning signal, and transmit the positioning signal through the coil when the first end and the third end of the switch module are turned on.

As a possible implementation manner of the second aspect, the control module is further configured to determine a current working period; the current working period comprises a positioning signal transmitting time period and a charging time period;

when the current time is within the positioning signal transmitting time period, determining that the current working mode is a positioning mode;

and when the current time is within the charging time period, determining that the current working mode is a charging mode.

As a possible implementation manner of the second aspect, the positioning module includes a digital-to-analog converter and a first amplifier; the input end of the digital-to-analog converter is connected with the control module, and the output end of the digital-to-analog converter is connected with the input end of the first amplifier; the output end of the first amplifier is connected with the first end of the switch module.

As a possible implementation manner of the second aspect, the coil is configured to receive a positioning signal, and transmit the positioning signal to the positioning module when the first end and the third end of the switch module are turned on;

The positioning module is specifically configured to convert the determined signal into a second signal, and send the second signal to the control module;

the control module is further used for carrying out positioning processing according to the second signal and positioning the transmitting end of the positioning signal.

As a possible implementation manner of the second aspect, the control module is further configured to determine that the current working mode is a positioning mode in response to a start operation.

As a possible implementation manner of the second aspect, the control module is further configured to switch, if the current working mode is a positioning mode and if the second signal is detected to be transmitted when the second signal is received, the current working mode to a charging mode; or when the duration of the second signal which is not received exceeds a first preset time threshold, switching the current working mode into a charging mode;

or if the current working mode is the charging mode, switching the current working mode into the positioning mode when the duration of the charging mode reaches a second preset time threshold; or when receiving the charging closing instruction, switching the current working mode into the positioning mode.

As a possible implementation manner of the second aspect, the positioning module includes a filter, an analog-to-digital converter, and a second amplifier;

The input end of the filter is connected with the first end of the switch module, the output end of the filter is connected with the input end of the second amplifier, the output end of the second amplifier is connected with the input end of the analog-to-digital converter, and the output of the analog-to-digital converter is connected with the control module.

As a possible implementation manner of the second aspect, the coil is configured to receive a charging signal, and transmit the charging signal to the wireless charging module when the second end and the third end of the switch module are turned on;

the wireless charging module is specifically configured to convert the charging signal into a direct current signal and output the direct current signal.

As a possible implementation manner of the second aspect, the wireless charging module includes: the device comprises a rectification module, a first charging control module and a resonance capacitor module;

one end of the resonance capacitor is connected with the second end of the switch module, the other end of the resonance capacitor is connected with the input end of the rectification module, the output end of the rectification module is connected with the first charging control module, and the first charging control module is connected with the control module.

As a possible implementation manner of the second aspect, the control module is further configured to obtain a distance between the electromagnetic positioning device and a transmitting end of the charging signal, and determine a target transmitting end of the charging signal according to the distance between the transmitting end of the charging signal; the target transmitting end of the charging signal is a transmitting end of which the distance between the transmitting end of the charging signal and the electromagnetic positioning equipment is within a preset distance threshold;

the coil is specifically configured to receive a charging signal transmitted by the target transmitting end.

As a possible implementation manner of the second aspect, when the transmitting end of the charging signal transmits a positioning signal to the electromagnetic positioning device, the control module is specifically configured to obtain a positioning signal of the transmitting end of the charging signal, and calculate a distance between the electromagnetic positioning device and the transmitting end of the charging signal according to the positioning signal of the transmitting end of the charging signal.

As a possible implementation manner of the second aspect, when the electromagnetic positioning device transmits a positioning signal to the transmitting end of the charging signal, the control module is specifically configured to receive distance information between the electromagnetic positioning device and the transmitting end of the charging signal, where the distance information is sent by the transmitting end of the charging signal.

As a possible implementation manner of the second aspect, the control module is configured to send the trigger signal to the wireless charging control module when the second end and the third end of the switch module are turned on;

the wireless charging module is specifically used for responding to the trigger signal and transmitting a charging signal through the coil.

As a possible implementation manner of the second aspect, the wireless charging control module includes: the second charge control module and the first capacitor; one end of the first capacitor is connected with the second end of the switch module, the other end of the first capacitor is connected with the second charging control module, and the second charging control module is connected with the control module.

As a possible implementation manner of the second aspect, when the electromagnetic positioning device receives the positioning signal transmitted by the receiving end of the charging signal, the control module is further configured to obtain the positioning signal of the receiving end of the charging signal, and calculate, according to the positioning signal of the receiving end of the charging signal, a distance between the electromagnetic positioning device and the receiving end of the charging signal;

and sending the distance information between the electromagnetic positioning equipment and the receiving end of the charging signal to the receiving end of the charging signal.

As a possible implementation manner of the second aspect, the switch module includes a first switch and a second switch;

the first end of the first switch is connected with one end of the positioning module, and the first end of the second switch is connected with the other end of the positioning module; the second end of the first switch is connected with one end of the wireless charging module, the second end of the second switch is connected with the other end of the wireless charging module, the third end of the first switch is connected with one end of the coil, and the third end of the second switch is connected with the other end of the coil; and the control ends of the first switch and the second switch are connected with the control module.

As a possible implementation manner of the second aspect, the method further includes: a third switch;

the first end of the third switch is connected with the enabling end of the positioning module, the second end of the third switch is connected with the enabling end of the wireless charging module, and the third end and the control end of the third switch are connected with the control module;

the control module is further configured to control, when the current working mode is a charging mode, the second end and the third end of the third switch to be turned on, so that the control module sends an enabling signal to the wireless charging module; or when the current working mode is a positioning mode, the first end and the third end of the third switch are controlled to be conducted, so that the control module sends an enabling signal to the positioning module.

By adopting the scheme provided by the embodiment of the application, the electromagnetic positioning system comprises: the first device comprises a first wireless charging module, a first positioning module and a first coil; the first wireless charging module and the first positioning module are electrically connected with the first coil; the second device comprises a second positioning module and a second coil, and the second positioning module is electrically connected with the second coil. The first positioning module is used for transmitting positioning signals through the first coil and the second device. And the second positioning module is used for transmitting positioning signals with the first equipment through the second coil. The first wireless charging module is used for receiving a charging signal through the first coil. In this way, in the electromagnetic positioning system, the first device comprises the first positioning module and the first coil, and the second device comprises the second coil and the second positioning module, so that positioning signals can be transmitted between the first device and the second device, and positioning between the first device and the second device is realized. And the first device also comprises a first wireless charging module, and the first wireless charging module is connected with the first coil, so that the first device can receive a charging signal. In the electromagnetic positioning system, the first equipment can not only transmit positioning signals, but also charge in a wireless charging mode, so that the convenience of charging of the first equipment is improved, and further user experience is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of a VR system according to an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of a VR headset according to an embodiment of the present disclosure;

fig. 3 is a schematic software structure of a VR headset according to an embodiment of the present disclosure;

fig. 4 is a schematic view of a scenario of an electromagnetic positioning system according to an embodiment of the present application;

FIG. 5 is a schematic structural diagram of an electromagnetic positioning system according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of a coil according to an embodiment of the present application;

FIG. 7a is a schematic diagram of another electromagnetic positioning system according to an embodiment of the present application;

FIG. 7b is a schematic diagram of another electromagnetic positioning system according to an embodiment of the present application;

FIG. 8a is a schematic diagram of another electromagnetic positioning system according to an embodiment of the present application;

FIG. 8b is a schematic diagram of another electromagnetic positioning system according to an embodiment of the present application;

FIG. 8c is a schematic diagram of another electromagnetic positioning system according to an embodiment of the present application;

FIG. 8d is a schematic diagram of a scenario of another electromagnetic positioning system according to an embodiment of the present application;

FIG. 9 is a schematic structural diagram of another electromagnetic positioning system according to an embodiment of the present application;

FIG. 10 is a schematic view of another electromagnetic positioning system according to an embodiment of the present application;

FIG. 11 is a schematic view of another electromagnetic positioning system according to an embodiment of the present application;

FIG. 12 is a schematic view of another electromagnetic positioning system according to an embodiment of the present application;

FIG. 13 is a schematic view of another electromagnetic positioning system according to an embodiment of the present application;

fig. 14 is a schematic structural diagram of an electromagnetic positioning device according to an embodiment of the present application;

FIG. 15a is a schematic structural diagram of another electromagnetic positioning device according to an embodiment of the present application;

FIG. 15b is a schematic structural diagram of another electromagnetic positioning device according to an embodiment of the present application;

FIG. 16a is a schematic structural view of another electromagnetic positioning device according to an embodiment of the present application;

FIG. 16b is a schematic diagram of another electromagnetic positioning apparatus according to an embodiment of the present application;

FIG. 16c is a schematic diagram of another electromagnetic positioning apparatus according to an embodiment of the present application;

FIG. 16d is a schematic diagram of another electromagnetic positioning apparatus according to an embodiment of the present application;

FIG. 17a is a schematic structural diagram of another electromagnetic positioning device according to an embodiment of the present application;

FIG. 17b is a schematic structural diagram of another electromagnetic positioning device according to an embodiment of the present application;

FIG. 18a is a schematic structural diagram of another electromagnetic positioning device according to an embodiment of the present application;

FIG. 18b is a schematic diagram illustrating an alternative electromagnetic positioning apparatus according to an embodiment of the present application;

FIG. 18c is a schematic diagram of another electromagnetic positioning apparatus according to an embodiment of the present application;

FIG. 19a is a schematic diagram of another electromagnetic positioning apparatus according to an embodiment of the present application;

FIG. 19b is a schematic diagram of another electromagnetic positioning apparatus according to an embodiment of the present application;

FIG. 19c is a schematic diagram of another electromagnetic positioning apparatus according to an embodiment of the present application;

fig. 19d is a schematic structural diagram of another electromagnetic positioning device according to an embodiment of the present application.

Detailed Description

In the following, some terms in the embodiments of the present application are explained for easy understanding by those skilled in the art.

At least one of the embodiments of the present application includes one or more; wherein, a plurality refers to greater than or equal to two. In addition, it should be understood that in the description herein, the words "first," "second," and the like are used solely for the purpose of distinguishing between the descriptions and not necessarily for the purpose of indicating or implying a relative importance or order. For example, the first object and the second object do not represent the importance of both or the order of both, only for distinguishing descriptions. In the embodiment of the present application, "and/or" merely describes the association relationship, which means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

In describing embodiments of the present application, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" should be construed broadly, and for example, the terms "connected" may be removably connected or non-removably connected; may be directly connected or indirectly connected through an intermediate medium. References to directional terms in the embodiments of the present application, such as "upper", "lower", "left", "right", "inner", "outer", etc., are merely with reference to the directions of the drawings, and thus, the directional terms are used in order to better and more clearly describe and understand the embodiments of the present application, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present application. "plurality" means at least two.

Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the specification. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.

Virtual Reality (VR) technology is a man-machine interaction means created by means of computer and sensor technologies. VR technology integrates a variety of scientific technologies such as computer graphics technology, computer simulation technology, sensor technology, display technology, etc., and can create a virtual environment. The virtual environment comprises a two-dimensional or three-dimensional virtual object which is generated by a computer and dynamically played in real time, and provides a sense simulation of the user about vision and the like, so that the user can feel as if the user is in the environment. Furthermore, besides visual perception generated by computer graphics technology, there are also perceives such as hearing, touch, force sense, movement, and even olfactory sense and gustatory sense, which are also called multi-perception. In addition, the head rotation, eyes, gestures or other human behavior actions of the user can be detected, the computer is used for processing data which are suitable for the actions of the user, the data respond to the actions of the user in real time and are respectively fed back to the five sense organs of the user, and then a virtual environment is formed. For example, a user wearing a VR headset display device (e.g., VR headset, etc.) may see a VR game interface, through gestures, handles, etc., may interact with the VR game interface as if in a game.

Augmented reality (Augmented Reality, AR) technology refers to overlaying computer-generated virtual objects over a real-world scene, thereby enabling augmentation of the real world. That is, the AR technology needs to acquire a real-world scene and then add a virtual environment on the real world. Thus, VR technology differs from AR technology in that VR technology creates a complete virtual environment, and all users see is a virtual object; while AR technology is the superposition of virtual objects on the real world, i.e. both objects in the real world and virtual objects can be seen. For example, a user wears transparent glasses through which a surrounding real environment can be seen, and virtual objects can be displayed on the glasses, so that the user can see both the real objects and the virtual objects.

The Mixed Reality technology (MR) is to introduce real scene information (or referred to as real scene information) into a virtual environment, and bridge an interactive feedback information among the virtual environment, the real world and a user, so as to enhance the sense of Reality of user experience. Specifically, the real object is virtualized (e.g., a camera is used to scan the real object for three-dimensional reconstruction, generating a virtual object), and the virtualized real object is introduced into the virtual environment, so that the user can see the real object in the virtual environment.

It should be noted that, the technical scheme provided by the embodiment of the application can be applied to head-mounted display devices such as VR, AR or MR; or, the method and the device can be also applied to other scenes or electronic devices needing to display three-dimensional environments to users besides VR, AR and MR, and the embodiment of the application does not limit the specific type of the electronic device.

For ease of understanding, the following description will mainly be presented with VR head mounted display devices as examples.

By way of example, VR head mounted display device 100 may be employed in a VR system as shown in fig. 1. Included in the VR system, which may be referred to as a VR splitter, is a VR head mounted display device 100, and a processing device 200. VR headset 100 may be connected to processing device 200. The connection between the VR headset 100 and the processing device 200 includes a wired or wireless connection, which may be Bluetooth (BT), conventional bluetooth or low energy BLE bluetooth, wireless local area network (wireless local area networks, WLAN) (e.g., wireless fidelity (wireless fidelity, wi-Fi) network), zigbee, frequency modulation (frequency modulation, FM), near field wireless communication technology (near field communication, NFC), infrared (IR), or general 2.4G/5G band wireless communication connection, etc.

In some embodiments, the processing device 200 may perform processing calculations, e.g., the processing device 200 may generate and process images (the manner of processing will be described below), and then send the processed images to a VR head mounted display device for display. The processing device 200 may include a host (e.g., VR host) or a server (e.g., VR server), among others. The VR host or VR server may be a device with greater computing capabilities. For example, the VR host may be a device such as a cell phone, tablet, notebook, etc., and the VR server may be a cloud server, etc.

In some embodiments, VR head mounted display device 100 may be glasses, a helmet, or the like. The VR head mounted display device 100 is typically provided with two display devices, namely a first display device 110 and a first display device 120. The display device of VR head mounted display device 100 may display images to the human eye. In the embodiment shown in fig. 1, the first display device 110 and the second display device 120 are enclosed inside the VR headset, so the arrows in fig. 1 for indicating the first display device 110 and the second display device 120 are indicated with dashed lines.

In some embodiments, VR head mounted display device 100 is native to the functionality of image generation, processing, etc., i.e., VR head mounted display device 100 does not require processing device 200 in fig. 1, such VR head mounted display device 100 may be referred to as a VR all-in-one machine.

It will be appreciated that more devices may also be included in VR head mounted display device 100, see in particular fig. 2.

For example, please refer to fig. 2, which is a schematic diagram illustrating a structure of a head-mounted display device 100 according to an embodiment of the present application. The head mounted display device 100 may be a VR head mounted display device, an AR head mounted display device, an MR head mounted display device, or the like. Taking VR head mounted display device as an example, as shown in fig. 2, VR head mounted display device 100 may include a processor 110, a memory 120, a sensor module 130 (e.g., for acquiring a gesture of a user, etc.), a microphone 140, a key 150, an input/output interface 160, a communication module 170, a camera 180, a battery 190, an optical display module 1100, an eye tracking module 1200, and the like.

The processor 110, which is typically used to control the overall operation of the VR head mounted display device 100, may include one or more processing units, such as: the processor 110 may include an application processor (application processor, AP), a modem processor, a graphics processor (graphics processing unit, GPU), an image signal processor (image signal processor, ISP), a video processing unit (video processing unit, VPU) controller, memory, a video codec, a digital signal processor (digital signal processor, DSP), a baseband processor, and/or a neural network processor (neural-network processing unit, NPU), etc. Wherein the different processing units may be separate devices or may be integrated in one or more processors.

A memory may also be provided in the processor 110 for storing instructions and data. In some embodiments, the memory in the processor 110 is a cache memory. The memory may hold instructions or data that the processor 110 has just used or recycled. If the processor 110 needs to reuse the instruction or data, it can be called directly from the memory. Repeated accesses are avoided and the latency of the processor 110 is reduced, thereby improving the efficiency of the system.

In some embodiments of the present description, the processor 110 may be used to control the optical power of the VR head mounted display device 100. Illustratively, the processor 110 may be configured to control the optical power of the optical display module 1100 to implement the function of adjusting the optical power of the head-mounted display device 100. For example, the processor 110 may adjust the relative positions of the optical devices (such as lenses) in the optical display module 1100, so that the optical power of the optical display module 1100 is adjusted, and further, the position of the corresponding virtual image surface of the optical display module 1100 when imaging the human eye can be adjusted. Thereby achieving the effect of controlling the optical power of the head-mounted display device 100.

In some embodiments, the processor 110 may include one or more interfaces. The interfaces may include an integrated circuit (inter-integrated circuit, I2C) interface, a universal asynchronous receiver transmitter (universal asynchronous receiver/transmitter, UART) interface, a mobile industry processor interface (mobile industry processor interface, MIPI), a general-purpose input/output (GPIO) interface, a subscriber identity module (subscriber identity module, SIM) interface, and/or a universal serial bus (universal serial bus, USB) interface, a serial peripheral interface (serial peripheral interface, SPI) interface, and the like.

The I2C interface is a bi-directional synchronous serial bus comprising a serial data line (SDA) and a serial clock line (derail clock line, SCL). In some embodiments, the processor 110 may contain multiple sets of I2C buses.

The UART interface is a universal serial data bus for asynchronous communications. The bus may be a bi-directional communication bus. It converts the data to be transmitted between serial communication and parallel communication. In some embodiments, a UART interface is typically used to connect the processor 110 with the communication module 170. For example: the processor 110 communicates with a bluetooth module in the communication module 170 through a UART interface to implement a bluetooth function.

The MIPI interface may be used to connect the processor 110 to peripheral devices such as a display device in the optical display module 1100, the camera 180, and the like.

The GPIO interface may be configured by software. The GPIO interface may be configured as a control signal or as a data signal. In some embodiments, a GPIO interface may be used to connect the processor 110 with the camera 180, display devices in the optical display module 1100, the communication module 170, the sensor module 130, the microphone 140, and the like. The GPIO interface may also be configured as an I2C interface, an I2S interface, a UART interface, an MIPI interface, etc. In some embodiments, the camera 180 may acquire an image including a real object, and the processor 110 may fuse the image acquired by the camera with the virtual object, and realistically fuse the resultant image through the optical display module 1100. In some embodiments, camera 180 may also capture images including the human eye. The processor 110 performs eye movement tracking through the image.

The USB interface is an interface conforming to the USB standard specification, and can be specifically a Mini USB interface, a Micro USB interface, a USB Type C interface and the like. The USB interface may be used to connect a charger to charge the VR headset 100, or may be used to transfer data between the VR headset 100 and a peripheral device. And can also be used for connecting with a headset, and playing audio through the headset. The interface may also be used to connect other electronic devices, such as cell phones and the like. The USB interface may be USB3.0, which is used for compatible high-speed display interface (DP) signal transmission, and may transmit video and audio high-speed data.

It should be understood that the interfacing relationship between the modules illustrated in the embodiments of the present application is only illustrative, and is not meant to limit the structure of the head-mounted display device 100. In other embodiments of the present disclosure, the head-mounted display device 100 may also use different interfacing manners, or a combination of multiple interfacing manners, in the above embodiments.

In addition, VR headset 100 may include wireless communication functionality, for example, VR headset 100 may receive images from other electronic devices (e.g., VR hosts) for display, or VR headset 100 may obtain data directly from a site such as a base station. The communication module 170 may include a wireless communication module and a mobile communication module. The wireless communication function may be implemented by an antenna (not shown), a mobile communication module (not shown), a modem processor (not shown), a baseband processor (not shown), and the like. The antenna is used for transmitting and receiving electromagnetic wave signals. The VR head mounted display device 100 may include multiple antennas therein, each of which may be used to cover a single or multiple communication bands. Different antennas may also be multiplexed to improve the utilization of the antennas. For example: the antenna 1 may be multiplexed into a diversity antenna of a wireless local area network. In other embodiments, the antenna may be used in conjunction with a tuning switch.

The mobile communication module may provide a solution for wireless communication including second generation (2 th generation, 2G) networks/third generation (3th generation,3G) networks/fourth generation (4th generation,4G) networks/fifth generation (5th generation,5G) networks/sixth generation (6th generation,6G) networks, etc., as applied to VR head mounted display device 100. The mobile communication module may include at least one filter, switch, power amplifier, low noise amplifier (low noise amplifier, LNA), etc. The mobile communication module can receive electromagnetic waves by the antenna, filter, amplify and the like the received electromagnetic waves, and transmit the electromagnetic waves to the modem processor for demodulation. The mobile communication module can amplify the signal modulated by the modulation and demodulation processor and convert the signal into electromagnetic waves to radiate through the antenna. In some embodiments, at least some of the functional modules of the mobile communication module may be disposed in the processor 110. In some embodiments, at least some of the functional modules of the mobile communication module may be provided in the same device as at least some of the modules of the processor 110.

The modem processor may include a modulator and a demodulator. The modulator is used for modulating the low-frequency baseband signal to be transmitted into a medium-high frequency signal. The demodulator is used for demodulating the received electromagnetic wave signal into a low-frequency baseband signal. The demodulator then transmits the demodulated low frequency baseband signal to the baseband processor for processing. The low frequency baseband signal is processed by the baseband processor and then transferred to the application processor. The application processor outputs sound signals through an audio device (not limited to speakers, etc.), or displays images or videos through a display device in the optical display module 1100. In some embodiments, the modem processor may be a stand-alone device. In other embodiments, the modem processor may be provided in the same device as the mobile communication module or other functional module, independent of the processor 110.

The wireless communication module may provide solutions for wireless communication including wireless local area network (wireless local area networks, WLAN) (e.g., wireless fidelity (wireless fidelity, wi-Fi) network), bluetooth (BT), global navigation satellite system (global navigation satellite system, GNSS), frequency modulation (frequency modulation, FM), near field wireless communication technology (near field communication, NFC), infrared technology (IR), etc., as applied to the VR head mounted display device 100. The wireless communication module may be one or more devices that integrate at least one communication processing module. The wireless communication module receives electromagnetic waves via an antenna, modulates the electromagnetic wave signals, filters the electromagnetic wave signals, and transmits the processed signals to the processor 110. The wireless communication module may also receive a signal to be transmitted from the processor 110, frequency modulate it, amplify it, and convert it to electromagnetic waves for radiation through the antenna.

In some embodiments, the antenna and mobile communication module of VR head mounted display device 100 are coupled such that VR head mounted display device 100 may communicate with a network and other devices through wireless communication techniques. The wireless communication techniques may include the Global System for Mobile communications (global system for mobile communications, GSM), general packet radio service (general packet radio service, GPRS), code division multiple access (code division multiple access, CDMA), wideband code division multiple access (wideband code division multiple access, WCDMA), time division code division multiple access (time-division code division multiple access, TD-SCDMA), long term evolution (long term evolution, LTE), 5G,6G,BT, GNSS, WLAN, NFC, FM, and/or IR techniques, among others. The GNSS may include a global satellite positioning system (global positioning system, GPS), a global navigation satellite system (global navigation satellite system, GLONASS), a beidou satellite navigation system (beidou navigation satellite system, BDS), a quasi zenith satellite system (quasi-zenith satellite system, QZSS) and/or a satellite based augmentation system (satellite based augmentation systems, SBAS).

VR head mounted display device 100 implements display functions through a GPU, optical display module 1100, and an application processor, among others. The GPU is a microprocessor for image processing, and is connected to the optical display module 1100 and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. Processor 110 may include one or more GPUs that execute program instructions to generate or change display information.

Memory 120 may be used to store computer-executable program code that includes instructions. The processor 110 executes instructions stored in the memory 120 to thereby perform various functional applications and data processing of the VR head mounted display device 100. The memory 120 may include a stored program area and a stored data area. The storage program area may store an application program (such as a sound playing function, an image playing function, etc.) required for at least one function of the operating system, etc. The storage data area may store data created during use of the head mounted display device 100 (e.g., audio data, phonebook, etc.), and so on. In addition, the memory 120 may include a high-speed random access memory, and may also include a nonvolatile memory, such as at least one magnetic disk storage device, a flash memory device, a universal flash memory (universal flash storage, UFS), and the like.

VR head mounted display device 100 may implement audio functionality through an audio module, speakers, microphone 140, an earphone interface, an application processor, and so forth. Such as music playing, recording, etc. The audio module is used for converting digital audio information into analog audio signals for output and also used for converting analog audio input into digital audio signals. The audio module may also be used to encode and decode audio signals. In some embodiments, the audio module may be disposed in the processor 110, or a portion of the functional modules of the audio module may be disposed in the processor 110. Speakers, also known as "horns," are used to convert audio electrical signals into sound signals. The head-mounted display device 100 may listen to music through a speaker or to hands-free conversation.

Microphone 140, also known as a "microphone," is used to convert sound signals into electrical signals. The VR headset 100 may be provided with at least one microphone 140. In other embodiments, VR head mounted display device 100 may be provided with two microphones 140 that may enable noise reduction in addition to capturing sound signals. In other embodiments, the VR head mounted display device 100 may also be provided with three, four, or more microphones 140 to enable collection of sound signals, noise reduction, identification of sound sources, directional recording functions, etc.

The earphone interface is used for connecting a wired earphone. The earphone interface may be a USB interface or a 3.5 millimeter (mm) open mobile head mounted display device platform (open mobile terminal platform, OMTP) standard interface, a american cellular telecommunications industry association (cellular telecommunications industry association of the USA, CTIA) standard interface.

In some embodiments, VR headset 100 may include one or more keys 150 that may control the VR headset to provide a user with functionality to interact with VR headset 100. The keys 150 may be in the form of buttons, switches, dials, and touch or near touch sensing devices (e.g., touch sensors). Specifically, for example, the user may turn on the optical display module 1100 of the VR headset 100 by pressing a button. The keys 150 include a power on key, a volume key, etc. The keys 150 may be mechanical keys. Or may be a touch key. The head mounted display device 100 may receive key inputs, generating key signal inputs related to user settings and function controls of the head mounted display device 100.

In some embodiments, VR head mounted display device 100 may include an input-output interface 160, and input-output interface 160 may connect other means to VR head mounted display device 100 through suitable components. The components may include, for example, audio/video jacks, data connectors, and the like.

The optical display module 1100 is used for presenting images to a user under the control of the processor 110. The optical display module 1100 may convert the real pixel image display into the virtual image display of the near-eye projection through one or several optical devices such as a reflector, a transmission mirror or an optical waveguide, so as to implement virtual interaction experience, or implement interaction experience combining the virtual and the reality. For example, the optical display module 1100 receives the image data information sent by the processor 110 and presents a corresponding image to the user.

In some embodiments, VR head mounted display device 100 may further include an eye tracking module 1200, eye tracking module 1200 for tracking movement of the human eye to determine the gaze point of the human eye. For example, the pupil position can be located by an image processing technology, and the pupil center coordinates can be obtained, so that the gaze point of the person can be calculated. In some embodiments, the eye tracking system may determine the gaze point position of the user (or determine the gaze direction of the user) by using a video eye method, a photodiode response method, or a pupillary cornea reflection method, so as to implement eye tracking of the user.

In some embodiments, pupil keratometry is used to determine the direction of the user's line of sight. The eye tracking system may include one or more near-infrared Light Emitting Diodes (LEDs) and one or more near-infrared cameras. The near infrared LED and near infrared camera are not shown in the figures. In various examples, the near infrared LED may be disposed around optics to provide full illumination to the human eye. In some embodiments, the center wavelength of the near infrared LED may be 850nm or 940nm. The eye tracking system can acquire the sight line direction of the user by the following method: the near infrared LED illuminates human eyes, the near infrared camera shoots an eyeball image, and then the optical axis direction of the eyeball is determined according to the reflecting point position of the near infrared LED on the cornea and the center of the pupil in the eyeball image, so that the sight direction of a user is obtained.

It should be noted that, in some embodiments of the present disclosure, eye tracking systems corresponding to each of the eyes of the user may be provided for eye tracking of the eyes synchronously or asynchronously. In other embodiments of the present disclosure, an eye tracking system may be disposed only near a single eye of a user, and the eye tracking system may be used to obtain a line of sight direction of a corresponding eye, and determine the line of sight direction or the point of gaze position of the other eye of the user according to a relationship between the points of gaze of the two eyes (e.g. the positions of the points of gaze of the two eyes are generally similar or identical when the user views an object through the two eyes), in combination with a distance between the two eyes of the user.

It is to be understood that the illustrated structure of the embodiments of the present application does not constitute a specific limitation on the VR head mounted display device 100. In other embodiments of the present disclosure, VR head mounted display device 100 may include more or fewer components, or certain components may be combined, certain components may be separated, or different component arrangements, and embodiments of the present disclosure are not limited.

Fig. 3 is a software block diagram of VR head mounted display device 100 of an embodiment of the application.

As shown in fig. 3, the software structure of VR head mounted display device 100 may be a hierarchical architecture, e.g., the software may be divided into several layers, each with distinct roles and branches. The layers communicate with each other through a software interface. In some embodiments, the layers are divided into five layers, from top to bottom, an application layer 210, an application framework layer (FWK) 220, an Android run time (Android run) 230 and a system library 240, a kernel layer 250, and a hardware layer 260.

The application layer 210 may include a series of application packages, among other things. Illustratively, as shown in FIG. 3, the application layer includes gallery 211 applications, game 212 applications, and so on.

The application framework layer 220 provides an application programming interface (application programming interface, API) and programming framework for application programs of the application layer. The application framework layer may include some predefined functions. As shown in FIG. 3, the application framework layer may include a resource manager 221, a view system 222, and the like. For example, the view system 222 includes visual controls, such as controls to display text, controls to display pictures, and the like. View system 222 may be used to build applications. The display interface may be composed of one or more views. For example, a display interface including a message notification icon may include a view displaying text and a view displaying a picture. The resource manager 221 provides various resources, such as localization strings, icons, pictures, layout files, video files, and the like, to the application program.

Android runtimes 230 include core libraries and virtual machines. Android run time 230 is responsible for scheduling and management of the Android system. The core library consists of two parts: one part is a function which needs to be called by java language, and the other part is a core library of android. The application layer and the application framework layer run in a virtual machine. The virtual machine executes java files of the application program layer and the application program framework layer as binary files. The virtual machine is used for executing the functions of object life cycle management, stack management, thread management, security and exception management, garbage collection and the like.

The system library 240 may include a plurality of functional modules. For example: a surface manager (surface manager) 241, a media library (media libraries) 242, a three-dimensional graphics processing library (e.g., openGL ES) 243,2D graphics engine 244 (e.g., SGL), etc. The surface manager 241 is used to manage the display subsystem and provides fusion of 2D and 3D layers for multiple applications. Media libraries support a variety of commonly used audio, video format playback and recording, still image files, and the like. Media library 242 may support a variety of audio and video encoding formats such as MPEG4, h.264, MP3, AAC, AMR, JPG, PNG, etc. The three-dimensional graphic processing library 243 is used for realizing three-dimensional graphic drawing, image rendering, composition, layer processing, and the like. The 2D graphics engine 244 is a drawing engine for 2D drawing.

Kernel layer 250 is a layer between hardware and software. The kernel layer 250 includes at least a display driver 251, a camera driver 252, an audio driver 253, a sensor driver 254, and the like.

The hardware layer may include the first display device 110, the second display device 120, and various types of sensor modules, such as an acceleration sensor 130, a gravity sensor 140, a touch sensor 150, and the like.

In some techniques, as shown in fig. 4, VR system includes VR head mounted display device 100 and positioning device 300. The pointing device 300 is used to enable the VR headset 100 to interact with a virtual reality scene. For example, different control buttons are provided in the positioning device 300, and different controls in the virtual scene are selected by touching the different control buttons in the positioning device 300 by a user to realize different functions. Alternatively, the positioning device 300 is configured to transmit a positioning signal to the VR headset 100, so that the VR headset 100 performs a corresponding position movement or flip in the virtual scene, and so on. The pointing device 300 may be a handle, or may be a wristband, or ring, or other form of device. The application is not limited in this regard. In the embodiment of the present application, the positioning device 300 may be used as a handle for illustration. VR head mounted display device 100 and pointing device 300 in a VR system are all powered by batteries. For example, it may be powered by dry cell batteries or by wired charged lithium batteries. However, the use of dry batteries requires frequent battery replacement, the use of wired charging requires frequent replacement of the connection lines, and the charging requires the use of the device to be stopped, and contact charging also presents safety issues.

In view of the foregoing, an embodiment of the present application provides an electromagnetic positioning system, including: the first device comprises a first wireless charging module, a first positioning module and a first coil; the first wireless charging module and the first positioning module are electrically connected with the first coil; the second device comprises a second positioning module and a second coil, and the second positioning module is electrically connected with the second coil. The first positioning module is used for transmitting positioning signals through the first coil and the second device. And the second positioning module is used for transmitting positioning signals with the first equipment through the second coil. The first wireless charging module is used for receiving a charging signal through the first coil. In this way, in the electromagnetic positioning system, the first device comprises the first positioning module and the first coil, and the second device comprises the second coil and the second positioning module, so that positioning signals can be transmitted between the first device and the second device, and positioning between the first device and the second device is realized. And the first device also comprises a first wireless charging module, and the first wireless charging module is electrically connected with the first coil, so that the first device can receive a charging signal. In the electromagnetic positioning system, the first equipment can not only transmit positioning signals, but also charge in a wireless charging mode, so that the convenience of charging of the first equipment is improved, and further user experience is improved. The following is a detailed description.

Referring to fig. 5, a schematic structural diagram of an electromagnetic positioning system according to an embodiment of the present application is provided. As shown in fig. 5, the electromagnetic positioning system includes: a first device 51 and a second device 52.

The first device 51 includes a first wireless charging module 511, a first positioning module 512, and a first coil 513. The first wireless charging module 511 and the first positioning module 512 are electrically connected to the first coil 513.

The second device 52 includes a second positioning module 521 and a second coil 522, and the second positioning module 521 is electrically connected to the second coil 522.

The first positioning module 512 is configured to transmit positioning signals with the second device 52 through the first coil 513.

The second positioning module 521 is configured to transmit positioning signals with the first device 51 through the second coil 522.

The first wireless charging module 511 is configured to receive a charging signal through the first coil 513.

It will be appreciated that in the embodiments of the present application, the electrical connection between two modules may be a direct connection between two modules or an indirect connection between two modules. For example, the first wireless charging module 511 is electrically connected to the first coil 513, and the first wireless charging module 511 may be directly connected to the first coil 513, or may be indirectly connected to the first coil 513 through a conductive element, which is not limited in the present application.

In the embodiment of the present application, the electromagnetic positioning system includes a first device 51 and a second device 52. The first device 51 includes a first positioning module 512, a first wireless charging module 511, and a first coil 513. The first positioning module 512 and the first wireless charging module 511 are electrically connected to the first coil 513. The second device 52 includes a second positioning module 521 and a second coil 522. Wherein the second positioning module 521 is electrically connected with the second coil 522. The first positioning module 512 in the first device 51 may transmit a positioning signal to the second device 52 through the first coil 513. The second positioning module 521 in the second device 52 may transmit a positioning signal to the first device 51 via the second coil 522. In this way, the first device 51 or the second device 52 may perform corresponding positioning through the positioning signal, and further interact with the virtual reality scene. In addition, in the embodiment of the present application, the first device 51 further includes a first wireless charging module 511, where the first wireless charging module 511 is electrically connected to the first coil 513, and the first wireless charging module 511 may receive a charging signal through the first coil 513, so that the first device 51 realizes wireless charging. That is, in the embodiment of the present application, the first device 51 may realize electromagnetic positioning through the first coil 513, and may also realize wireless charging through the first coil 513, thereby improving the charging convenience of the first device 51.

In the embodiment of the present application, in the electromagnetic positioning system, the positioning signal is transmitted between the first device 51 and the second device 52, which may be that the first device 51 transmits the positioning signal to the second device 52, the second device 52 receives the positioning signal, or that the second device 52 transmits the positioning signal to the first device, and the first device 51 receives the positioning signal transmitted by the second device 52, which is specifically as follows.

As a possible implementation, the first positioning module 512 is specifically configured to transmit the positioning signal to the second device 52 through the first coil 513. The second positioning module 521 is specifically configured to receive a positioning signal through the second coil 522.

That is, when the first device 51 transmits a positioning signal to the second device 52 and the second device 52 receives the positioning signal, the first positioning module 512 in the first device 51 may transmit the positioning signal through the first coil 513. The second positioning module 521 in the second device 52 receives the positioning signal via the second coil 522. The second device 52 may perform positioning processing according to the positioning signal after receiving the positioning signal, so as to obtain the relevant pose of translation and rotation of the first device 51, that is, obtain the 6DoF (Degree of Freedom ) pose of the first device 51.

It should be appreciated that the first coil 513 and the second coil 522 may be coils wound in the same manner. The first coil 513 and the second coil 522 may be single-axis coils or multi-axis coils. As shown in fig. 6, the first coil 513 and the second coil 522 may be uniaxial square coils or uniaxial spherical coils. The present application is not limited to a specific winding method of the first coil 513 and the second coil 522, and may be a spherical coil wound in an orthogonal manner, a square coil wound in an orthogonal manner, or a multiaxial coil wound in a non-orthogonal manner.

In the embodiment of the present application, when the first positioning module 512 of the first device 51 transmits the positioning signal to the second device 52 through the first coil 513, the first positioning module 512 may transmit the alternating current signal to the first coil 513. At this time, the first coil 513 generates a varying magnetic field according to the alternating current signal. That is, the first positioning module 512 sends varying current signals of different frequencies into at least some of the axial coils of the first coil 513 such that at least some of the axial coils of the first coil 513 each produce a varying magnetic field. The second coil 522 of the second device 52 may sense a varying magnetic field, and thus may generate an induced electromotive force. The 6DoF pose of the first device 51 is calculated based on the relation between the induced electromotive force and the 6DoF pose, and positioning is achieved. When the first coil 513 in the first device 51 is a multi-axis coil, the induced electromotive force generated on each axis of the second coil 522 in the second device 52 is a mixed induced electromotive force, and the second device 52 may divide the mixed induced electromotive force, for example, perform FFT (Fast Fourier Transform ) to obtain the induced electromotive force generated on each axis of the second coil 522 for each axis of the first coil. At this time, a plurality of induced electromotive forces can be obtained for each axis coil of the second coil 522. The second device 52 can calculate the 6DoF pose of the first device 51 by combining the plurality of divided induced electromotive forces according to the relationship between the induced electromotive force and the 6DoF pose, and realize positioning.

It should be noted that, the second device 52 may also perform the positioning calculation of the 6DoF pose of the first device 51 by using the induced electromotive force through other positioning algorithms, which is not limited in the present application.

Alternatively, as a possible implementation manner, the second device 52 may also transmit a positioning signal to the first device 51, where the first device 51 is configured to receive the positioning signal, and may position the 6DoF pose of the second device 52 according to the received positioning signal.

That is, the second positioning module 521 is specifically configured to transmit a positioning signal to the first device 51 through the second coil 522.

The first positioning module 512 is specifically configured to receive a positioning signal through the first coil 513.

In the embodiment of the present application, the positioning signal is transmitted between the first device 51 and the second device 52, where the first device 51 transmits the positioning signal to the second device 52, and the second device 52 receives the positioning signal as described in the above embodiment. It is also possible that the second device 52 transmits a positioning signal to the first device 51 and that the first device 51 receives the positioning signal. At this time, the second positioning module 521 in the second device 52 transmits a positioning signal through the second coil 522. The first positioning module 512 within the first device 51 receives the positioning signal via the first coil 513. The second positioning module 521 in the second device 52 may transmit the positioning signal through the second coil 522, and reference the first positioning module 512 in the first device 51 may transmit the positioning signal through the first coil 513, which is not described herein. Similarly, how the first positioning module 512 of the first device 51 receives the positioning signal through the first coil 513 may refer to the second positioning module 521 in the second device 52 to receive the positioning signal through the second coil 522, which is not described herein.

Further, the first device 51 and the second device 52 may transmit a positioning signal, so as to implement positioning calculation of the 6DoF pose between the first device 51 and the second device 52. Meanwhile, the first device 51 further includes a first wireless charging module 511, where the first wireless charging module 511 is electrically connected to the first coil 513, and the first wireless charging module 511 may receive a charging signal through the first coil 513 to implement wireless charging of the first device 51. That is, the first coil 513 can be multiplexed in the first device 51 for wireless charging. When the first device 51 needs to perform wireless charging, a communication signal related to charging may be sent to the transmitting end of the charging signal, where the transmitting end of the charging signal sends the charging signal to the first device 51 through the transmitting coil. The first wireless charging module 511 of the first device 51 may receive the charging signal through the first coil 513 and convert the charging signal into a direct current signal to charge the first device 51.

It should be noted that, referring to fig. 7a and fig. 7b, a schematic diagram of a wireless charging process is shown. As shown in fig. 7a, the charging signal transmitting end includes a second wireless charging module, where the second wireless charging module includes a first wireless charging chip, and the first wireless charging chip is used for performing communication and control of wireless charging. The charging signal transmitting end further comprises a transmitting coil electrically connected with the first wireless charging chip. In this way, the first wireless charging chip transmits a charging signal through the transmitting coil. The charging signal receiving end comprises a receiving coil and a wireless charging module. The wireless charging module can comprise a rectifying module and a second wireless charging chip, wherein the rectifying module is used for converting induction current generated by the receiving coil into a direct current signal; the second wireless charging chip is used for performing wireless charging communication and control. The wireless charging process is performed between the transmitting end of the charging signal and the receiving end of the charging signal, and the following communication is needed.

The receiving end of the charging signal and the transmitting end of the charging signal can detect and authenticate the charging protocol through the PING signal. After passing the authentication, when the voltage of the receiving end of the charging signal reaches a preset minimum threshold value, the receiving end of the charging signal can send a charging related communication signal to the transmitting end of the charging signal, so that the charging signal transmitting end continuously sends the charging signal to the receiving end of the charging signal, and the receiving end of the charging signal is subjected to wireless charging. The receiving end of the charging signal can send an adjustment instruction to the transmitting end of the charging signal based on the change of the load or the required power, so that the transmitting end of the charging signal can adjust the charging signal according to the adjustment instruction of the receiving end of the charging signal.

As a possible implementation manner, the wireless charging module of the receiving end of the charging signal may further include a resonance module and a voltage stabilizing module. The resonance module is arranged between the receiving coil and the rectification module and is used for transmitting the induction current generated by the receiving coil to the rectification module. The voltage stabilizing module is arranged between the rectifying module and the second wireless charging chip and is used for converting the direct current signal output by the rectifying module into a direct current signal required by the second wireless charging chip and transmitting the direct current signal to the second wireless charging chip.

It should be noted that the resonant module may include a single resonant capacitor, and in this case, the single resonant capacitor may be connected in parallel with the receiving coil or connected in series with the receiving coil. The resonant module may further comprise a double resonant capacitor, as shown in fig. 7 b. One of the double resonant capacitors is connected in series with the receiving coil, and the other resonant capacitor is connected in parallel with the receiving coil. Therefore, the induction current generated by the receiving coil can be more accurately sent to the rectifying module to charge the receiving end of the charging signal.

Fig. 7b shows a specific circuit structure of each module in the receiving end of the charging signal. One end of the receiving coil Ls is connected with one end of a first resonant capacitor C1, the other end of the first resonant capacitor C1 is connected with one end of a second resonant capacitor C2, and the other end of the second resonant capacitor C2 is connected with the other end of the receiving coil Ls; the first resonance resistor Rc is connected with the switch K1 in series, one end of the first resonance resistor Rc is connected with the first end of the switch K1, the other end of the first resonance resistor Rc is connected with the other end of the first resonance capacitor C1, and the second end of the switch K1 is connected with the other end of the receiving coil Ls; the rectifying module comprises a first diode D1 and a second diode D2 which are connected in series, and a third diode D3 and a fourth diode D4 which are connected in series. The first diode D1 and the second diode D2 are connected in parallel with the third diode D3 and the fourth diode D4. One end of the first diode D1 is connected with one end of the second diode D2, and the other end of the first diode D1 is connected with one end of the voltage stabilizing module. The other end of the second diode D2 is connected with the other end of the voltage stabilizing module. Similarly, one end of the third diode D3 is connected with one end of the fourth diode D4, the other end of the third diode D3 is connected with one end of the voltage stabilizing module, and the other end of the fourth diode D4 is connected with the other end of the voltage stabilizing module. The other end of the first resonant capacitor C1 is connected to one end of the first diode D1 and one end of the second diode D2, and the other end of the receiving coil Ls is connected to one end of the third diode D3 and one end of the fourth diode D4. The voltage stabilizing module comprises a voltage stabilizing resistor R and a fifth diode D5. One end of the voltage stabilizing resistor R is connected with the other end of the first diode D1 and the other end of the third diode D3, and the other end of the voltage stabilizing resistor R is connected with one end of the fifth diode D5 and the second charging chip; the other end of the fifth diode D5 is connected to the other end of the second diode D2, the other end of the fourth diode D4, and the second charging chip. The charging chip is used for transmitting the received direct current electric signal to a load for charging.

When the first device 51 performs wireless charging, the wireless charging may be performed by electromagnetic induction or by electromagnetic resonance, which is not limited by the present application.

The electromagnetic positioning system is an VR system, and the VR system includes a VR head-mounted display device and a positioning device. In the embodiments of the present application, VR headset display devices are used as VR glasses, and positioning devices are used as handles. Assuming that the first device 51 is a handle and the second device 52 is VR glasses, as shown in fig. 8 a. Of course, the first device 51 may be VR glasses, and the second device 52 may be a handle, which is not limited in the present application. In this example, the first device 51 may be used as a handle, and the second device 52 may be used as VR glasses. At this time, the handle includes a first positioning module, a first coil and a first wireless charging module. The VR glasses comprise a second positioning module, a second coil and a control module. The first coil of the handle may be referred to as the transmit coil and the second coil in the VR glasses may be referred to as the receive coil. In this example, the transmitting coil in the handle and the receiving coil in the VR glasses may be 3-axis orthogonal square wound coils, as shown in fig. 8 b. After the handle and the VR glasses are started, the handle and the VR glasses need to be positioned first. At this point, the positioning module within the handle may send varying currents of different frequencies to at least some of the coils of the transmit coil such that at least some of the coils generate varying magnetic fields. The receiving coil in the VR glasses can sense the changing magnetic field and generate the induced electromotive force, each axis of the receiving coil of the VR glasses can generate the induced electromotive force, and the induced electromotive force generated by each axis is the mixed induced electromotive force, so that 3 mixed induced electromotive forces are obtained. The control module in the VR glasses respectively carries out FFT frequency division processing on the 3 mixed induced electromotive forces to obtain 9 frequency induced electromotive forces. The control module in the VR glasses can calculate the 6DoF pose of the handle through the combination of the 9 frequency induced electromotive forces according to the relation between the 6DoF pose and the induced electromotive forces. The relation between the induced electromotive force and the 6DoF pose is as follows:

E＝N ₂ S ₂ ωB; wherein B represents a magnetic field generated by a transmitting coil, H ₀ Represents the normal vector, mu, of each axis coil _r μ ₀ M _T Representing the relative constants of the material, the number of turns, the area and the like of the transmitting coil, N ₂ Indicating the number of turns of the receiving coil S ₂ The area of the receiving coil, ω represents the frequency of the induced electromotive force, R represents the degree of freedom in rotation, P represents the degree of freedom in translation, and E representsInduced electromotive force, B' _x Representing the generated magnetic field on the first axis, i representing the coil normal of the first axis; b'. _y Representing the magnetic field generated on the second axis, j representing the coil normal of the second axis; b'. _z Representing the magnetic field generated on the third axis, k representing the normal vector of the coil on the third axis.

When the handle needs to be charged, a transmitting coil in the handle can be multiplexed to receive the charging signal. The handle can send a communication signal related to charging to the transmitting end of the charging signal; the wireless charger can send the charging signal to the handle through the transmitting coil of the charging signal after receiving the communication signal related to charging. At this time, the transmitting coil of the wireless charger generates a varying magnetic field. The transmitting coil of the handle can induce the changing magnetic field to generate an induced current. The first wireless charging module in the handle acquires the induction current generated by the transmitting coil, converts the induction current into a direct current signal, and outputs the direct current signal so as to charge the battery in the handle.

It should be understood that when the first device 51 receives the charging signal to perform wireless charging, a transmitting end of the charging signal is required to be corresponding to the transmitting end of the charging signal, and the transmitting end of the charging signal may be the second device 52, where a second wireless charging module is disposed in the second device to transmit the charging signal through the second coil. Of course, the transmitting end of the charging signal may also be a third device other than the second device 52, for example, may be a wireless charger, where the electromagnetic positioning system further includes a third device for transmitting the charging signal. The following detailed description is directed to various situations.

As a possible implementation, as shown in fig. 9, the second device 52 further includes a second wireless charging module 523, where the second wireless charging module 523 is electrically connected to the second coil 522.

Wherein the second wireless charging module 523 is configured to transmit a charging signal to the first device through the second coil 522.

The first wireless charging module 511 is specifically configured to receive, through the first coil 513, a charging signal transmitted by the second device 52.

In the embodiment of the present application, the second device 52 includes a second wireless charging module 523, and the second wireless charging module 523 is electrically connected to the second coil 522. The second device 52 may send a charging signal to the second coil 522 through the second wireless charging module 523, the second coil 522 transmitting the charging signal. At this time, the first coil 513 of the first device 51 may receive the charging signal transmitted by the second coil 522, and further transmit the charging signal to the first wireless charging module 511, where the first wireless charging module 511 converts the charging signal into a dc signal to charge an energy storage device, such as a battery, in the first device 51. That is, the first device 51 receives the charging signal through the first coil 513, realizing wireless charging. The second device 52 may multiplex the second coil 522 for transmitting a charging signal for wirelessly charging the first device 51. At this time, the second device 52 is a transmitting end of the charging signal, and wirelessly charges the first device 51. In this way, in the electromagnetic positioning system, the first device 51 and the second device 52 both have the electromagnetic positioning function and the wireless charging function.

As one possible implementation, the electromagnetic positioning function and the wireless charging function of the first device 51 and the second device 52 may be functions that are currently implemented by the first device 51 and the second device 52 under control of a user. For example, a switch for electromagnetic positioning function and wireless charging function may be provided. When the electromagnetic positioning function is needed, the user can turn on the switch of electromagnetic positioning and turn off the switch of wireless charging function, so that the first device 51 and the second device 52 realize the electromagnetic positioning function. When the wireless charging function is needed, the user can turn on the switch of the wireless charging function and turn off the switch of the electromagnetic positioning, so that the second device 52 performs wireless charging for the first device 51.

In the above manner, the switching of the electromagnetic positioning function and the wireless charging function of the first device 51 and the second device 52 can be controlled by the user. However, in the above-described embodiment, the first device 51 and the second device 52 cannot be wirelessly charged when performing electromagnetic positioning. When carrying out wireless charging, wireless electromagnetic positioning that carries out can't satisfy the demand that the user is charging while using. In order to satisfy the requirement that the first device 51 and the second device 52 implement the electromagnetic positioning function and simultaneously implement the wireless charging function, as a possible implementation manner, the first device 51 and the second device 52 may automatically switch the electromagnetic positioning function and the wireless charging function. In this way, after the first device 51 and the second device 52 are turned on, the electromagnetic positioning function and the wireless charging function can be automatically switched, so as to meet the charging requirement of the user.

When the first device 51 and the second device 52 automatically switch the electromagnetic positioning function and the wireless charging function, the positioning signal is not always transmitted but periodically transmitted. The positioning signal transmitting time period and the idle time period are included in one period. At this time, the first device 51 and the second device 52 transmit positioning signals in a positioning signal transmitting period in one cycle, so as to implement electromagnetic positioning, and transmit charging signals in an idle period so as to implement wireless charging. For example, with the time T as one period, in the period T, T1 is a positioning signal transmission period, and the idle period is T2, as shown in (1) in fig. 10. Alternatively, in the period T, T1 is an idle period, and T2 is a positioning signal transmission period, as shown in (2) of fig. 10. Of course, other duty cycle signal transmission times and idle periods are also possible, as the application is not limited in this regard.

Since each working period includes a positioning signal transmitting time period and an idle time period, the first device 51 and the second device 52 can realize the electromagnetic positioning function and the automatic switching of the wireless charging function of the first device 51 and the second device 52 by realizing the electromagnetic positioning function in the positioning signal transmitting time period and the wireless charging function in the idle time period.

The following description will take, as an example, a duty cycle shown in (1) of fig. 10. A first positioning module 512 at the first device 51, in particular for transmitting a positioning signal to the second device 52 via the first coil 513; the second positioning module 521 of the second device 52 is specifically configured to, when receiving the positioning signal through the second coil 522, if the current time is within the positioning signal transmitting time period t1 of the current period, transmit the positioning signal to the second device 52 through the first coil 513 by the first positioning module 512 of the first device 51. At this time, the second positioning module 521 of the second device 52 may receive the positioning signal through the second coil 522. The second positioning device 52 may perform calculation of the 6DoF pose of the first device 51 according to the positioning signal, so as to implement positioning of the first device 51. When the current time enters the idle period t2, the first positioning module 512 of the first device 51 stops transmitting the positioning signal to the second device 52 through the first coil 513. After the second device 52 detects that the first device 51 stops transmitting the positioning signal, it may determine that the first coil 513 of the first device 51 and the second coil 522 of the second device 52 are currently in an idle state. At this time, the second wireless charging module 523 of the second device 52 may transmit the charging signal through the second coil 522. The first wireless charging module 511 of the first device 51 receives the charging signal through the first coil 513 and converts the charging signal into a direct current signal to charge the first device 51. At this time, it may be realized that the first device 51 transmits a positioning signal to the second device 52 so that the second device 52 determines the 6DoF pose of the first device 51, while the second device 52 transmits a charging signal to the first device 51 so that the second device 52 wirelessly charges the first device 51.

As a possible implementation, the duration of transmitting the charging signal by the second device 52 when transmitting the charging signal to the first device 51 may be preset. For example, the setting may be performed according to the duration of the idle period of the duty cycle, and the duration of transmitting the charging signal may be set to be smaller than the duration of the idle period of the duty cycle in advance. At this time, the second device 52 may transmit the charging signal for the idle period of the duty cycle according to the transmission period of the charging signal set in advance.

Alternatively, as a possible implementation, the first device 51 sends an instruction to turn off the charging to the second device 52 when the positioning signal transmission time is reached. At this time, the second device 52 stops transmitting the charging signal to the first device 51 through the second coil 522 upon receiving the instruction to turn off the charging.

That is, since the first device 51 performs the periodic transmission of the positioning signal, the first device 51 can determine when to perform the transmission of the positioning signal and when to stop the transmission of the positioning signal. During the time period when the positioning signal is not transmitted, the second device 52 may transmit a charging signal to the first device 51 to charge the first device 51. When the first device 51 needs to transmit the positioning signal, the second device 52 needs to be informed to stop transmitting the charging signal. At this time, the first device 51 may transmit an instruction to turn off the charging to the second device 52, and after receiving the instruction, the second device 52 stops transmitting the charging signal. The first device 51 may transmit a positioning signal to the second device 52 through the first coil 513. In this way, the first device 51 can control the switching between the charging mode and the positioning mode, so that the first device 51 and the second device 52 can realize the positioning function and the wireless charging function simultaneously in the use process.

Illustratively, the electromagnetic positioning system is a VR system. In this example, the first device 51 transmits the positioning signal to the second device 52, and the second device 52 transmits the charging signal to the first device is described as an example. Assuming the first device 51 is a handle, the second device 52 is VR glasses. At this time, the handle includes a first positioning module, a first coil and a first wireless charging module. The VR glasses comprise a second positioning module, a second coil, a second wireless charging module and a control module. The first coil of the handle may be referred to as the transmit coil and the second coil in the VR glasses as the receive coil, as shown in fig. 8 c. After the handle and VR glasses are started, the handle may determine its current duty cycle as shown in fig. 10 (1). The current time is within the transmission time period of the positioning signal, and the handle needs to transmit the positioning signal to the VR glasses. At this point, a first positioning module within the handle may send a varying current to the transmit coil, causing the transmit coil to generate a varying magnetic field. The receive coil in the VR glasses can sense the varying magnetic field and generate an induced electromotive force. The second positioning module of VR glasses acquires induced electromotive force, sends the induced electromotive force to the control module in the VR glasses, and the control module in the VR glasses can carry out FFT frequency division processing to the induced electromotive force, obtains the induced electromotive force of a plurality of frequencies. The control module in the VR glasses can calculate the 6DoF pose of the handle through the combination of the induced electromotive forces with a plurality of frequencies according to the relation between the 6DoF pose and the induced electromotive forces.

And in the current working period, stopping transmitting the positioning signal by the first positioning module of the handle when the positioning signal transmitting time length reaches the preset time length. At this time, an idle period of the current duty cycle is entered. The VR glasses detect that the locating signal stops the transmission, and the second wireless module that charges of VR glasses is through receiving coil to handle transmission charging signal. A first wireless charging module in the handle receives a charging signal through the transmitting coil. That is, the second wireless charging module of the VR glasses sends a varying current signal to the receiving coil. The receiving coil generates a varying magnetic field according to the varying current signal. At this time, the transmitting coil of the handle may induce the varying magnetic field, generating an induced current. The first wireless charging module in the handle acquires the induction current generated by the transmitting coil, converts the induction current into a direct current signal, and outputs the direct current signal so as to charge the battery in the handle.

Of course, in the above example, the first device 51 may also be VR glasses, and the second device 52 is a handle. At this time, the VR glasses transmit positioning signals to the handles, which perform the 6DoF pose of the VR glasses. And the handle transmits charging signals to the VR glasses, and the handle wirelessly charges the VR glasses. Reference may be made specifically to the above-mentioned first device 51 being a handle, and the second device 52 being an example of VR glasses, which are not described herein.

Alternatively, when the second positioning module 521 of the second device 52 is specifically configured to transmit the positioning signal to the first device 51 through the second coil 522, and the first positioning module 512 of the first device 51 is specifically configured to receive the positioning signal through the first coil 513, if the current time is within the positioning signal transmission time period t1 of the current period, the second positioning module 521 of the second device 52 transmits the positioning signal to the first device 51 through the second coil 522. At this time, the first positioning module 512 of the second device 52 may receive the positioning signal through the first coil 513. The first positioning device 51 may perform calculation of the 6DoF pose of the second device 52 according to the positioning signal, so as to implement positioning of the second device 52. When the current time enters the idle period t2, the second positioning module 521 of the second device 52 stops transmitting the positioning signal to the first device 51 through the second coil 522. At this time, the second wireless charging module 523 of the second device 52 may transmit the charging signal through the second coil 522. The first wireless charging module 511 of the first device 51 receives the charging signal through the first coil 513 and converts the charging signal into a direct current signal to charge the first device 51. At this time, it may be realized that the first device 51 transmits a positioning signal to the second device 52 so that the second device 52 determines the 6DoF pose of the first device 51, while the second device 52 transmits a charging signal to the first device 51 so that the second device 52 wirelessly charges the first device 51.

Alternatively, as a possible implementation, the second device 52 may stop transmitting the charging signal through the second coil 522 and the second positioning module 521 transmits the positioning signal through the second coil 522 when detecting that the current time enters the positioning signal transmission period t1 according to the duty cycle.

That is, since the second device 52 performs the periodic transmission of the positioning signal, the second device 52 can determine when to perform the transmission of the positioning signal and when to stop the transmission of the positioning signal. The second wireless charging module 523 of the second device 52 may transmit a charging signal to the first device 51 through the second coil 522 to charge the first device 51 during a period in which the positioning signal is not transmitted. Upon entering the time period for positioning signal transmission, the second wireless charging module 523 of the second device 52 stops transmitting the charging signal, and the second wireless positioning module 521 of the second device 52 transmits the positioning signal to the first device 51 through the second coil 522. In this way, the second device 52 can control the switching between the charging mode and the positioning mode, so that the first device 51 and the second device 52 can realize the positioning function and the wireless charging function simultaneously in the use process.

Illustratively, the electromagnetic positioning system is a VR system. In this example, the second device 52 transmits the positioning signal to the first device 51, and the second device 52 transmits the charging signal to the first device is explained as an example. Assuming the first device 51 is a handle, the second device 52 is VR glasses. At this time, the handle includes a first positioning module, a first coil, a first wireless charging module and a control module. The VR glasses comprise a second positioning module, a second coil and a second wireless charging module. After the handle and VR glasses are activated, the VR glasses can determine their current duty cycle as shown in fig. 10 (1). The current time is within the transmission time period of the positioning signal, and the VR glasses need to transmit the positioning signal to the handle. At this point, a second positioning module within the VR glasses may send a varying current to the second coil such that the second coil generates a varying magnetic field. A first coil in the handle may sense the changing magnetic field and generate an induced electromotive force. The first positioning module of the handle acquires the induced electromotive force, the induced electromotive force is sent to the control module in the handle, and the control module in the handle can carry out FFT frequency division processing on the induced electromotive force to obtain the induced electromotive force with a plurality of frequencies. The control module in the handle can calculate the 6DoF pose of the VR glasses according to the relationship between the 6DoF pose and the induced electromotive force through the combination of the induced electromotive forces with multiple frequencies, and the specific examples can be parameters, which are not described herein.

And in the current working period, stopping transmitting the positioning signal by the second positioning module of the VR glasses when the positioning signal transmitting time reaches the preset time. At this time, an idle period of the current duty cycle is entered. The second wireless module that charges of VR glasses is through the second coil to handle transmission charging signal. A first wireless charging module in the handle receives a charging signal through the first coil. That is, the second wireless charging module of the VR glasses sends a varying current signal to the second coil. The second coil generates a varying magnetic field in response to the varying current signal. At this time, the first coil of the handle may induce the varying magnetic field, generating an induced current. The first wireless charging module in the handle acquires the induction current generated by the first coil, converts the induction current into a direct current signal, and outputs the direct current signal so as to charge the battery in the handle.

Alternatively, in the above example, the first device 51 is VR glasses and the second device 52 is a handle, as shown in fig. 8 d. At this time, the handle transmits a positioning signal to the VR glasses, which perform 6DoF pose positioning of the handle. And the handle transmits charging signals to the VR glasses to charge the VR glasses. Reference may be made specifically to the example in which the first device 51 is a handle, the second device 52 is VR glasses, the VR glasses transmit positioning signals to the handle, and the VR glasses transmit charging signals to the handle, which is not described herein.

As one possible implementation, the electromagnetic positioning system comprises at least two second devices 52. The first device 51 further comprises a first control module 514, the first control module 514 being connected to the first positioning module 512, as shown in fig. 11.

The first control module 514 is configured to obtain a distance between the first device 51 and each second device 52, determine a target second device 52 from at least two second devices 52 according to the distance between the first device 51 and each second device 52, and send a charging instruction to the target second device 52.

Wherein the target second device 52 is a second device 52 of the at least two second devices 52 having a distance to the first device 51 within a preset distance threshold.

The first wireless charging module 511 is specifically configured to receive, through the first coil 513, a charging signal transmitted by the target second device 52.

In the embodiment of the present application, when the electromagnetic positioning system includes a plurality of second devices 52, the first device 51 may transmit positioning signals with the plurality of second devices 52, and the plurality of second devices 52 may transmit charging signals to the first device 51. Since the charging signal is an electromagnetic signal, the electromagnetic signal decays with increasing distance. Therefore, in order to increase the use rate of the charging signal and reduce the energy waste, the target second device 52 having a relatively large distance from the first device 51 may be selected to wirelessly charge the first device 51. At this time, the first control module 514 is provided in the first device 51. The first control module 514 obtains the distance between the first device 51 and the second device 52, and determines the second device 52 with the distance from the first device 51 smaller than the preset distance threshold value as the target second device 52 according to the distance between the first device 51 and the second device 52. At this time, the first control module 514 may send a charging instruction to the target second device. After receiving the charging instruction, the target second setting 52 transmits a charging signal.

As a possible implementation manner, when the first control module 514 sends a charging instruction to the target second device 52, the charging instruction may be sent to the target second device 52 within a preset distance threshold by changing the voltage amplitude of the first coil 513, so that the target second device 52 senses the change of the voltage amplitude, and may decode the charging instruction and further transmit a charging signal.

At this time, the first wireless charging module 511 is specifically configured to receive, through the first coil 513, a charging signal transmitted by the target second device 52, and perform wireless charging.

As a possible implementation, when the first positioning module 512 is specifically configured to receive the positioning signal through the first coil 513, the first control module 514 is specifically configured to obtain the positioning signal of each of the at least two second devices 52, and calculate the distance between the first device 51 and each of the second devices 52 according to the positioning signal of each of the second devices 52.

In the embodiment of the present application, when the first positioning module 512 receives the positioning signals transmitted by the second device 52 through the first coil 513, for each received positioning signal, the first control module 514 may calculate the distance between the second device 52 transmitting the positioning signal and the first device 51 according to the received positioning signal.

Alternatively, when the first device 51 transmits the positioning signal to the second device 52, the second device 52 may calculate the distance between the first device 51 and the second device 52 and then transmit the distance to the first device 51.

At this time, each second device 52 of the at least two second devices 52 further includes a second control module 524, and the second control module 524 is connected to the second positioning module 521.

When the second positioning module 521 is specifically configured to receive a positioning signal through the second coil 522, the second control module 524 is configured to obtain the positioning signal transmitted by the first device 51, and calculate a distance between the second device 52 where the second control module 524 is located and the first device 51 according to the positioning signal transmitted by the first device 51; the distance between the second device 52, where the second control module 524 is located, and the first device 51 is sent to the first device 51.

The first control module 514 is specifically configured to receive the distance between the first device 51 and the second device 52 sent by the second device.

That is, when the first device 51 transmits the positioning signal to the second device 52, the first device 51 cannot calculate the distance from the second device 52 based on the positioning signal. Thus, the distance may be calculated by the second device 52. At this time, the second device 52 includes a second control module 524. The second control module 524 may calculate, after acquiring the positioning signal transmitted by the first device 51, a distance between the second device 52 where the second control module 524 is located and the first device 51 according to the positioning signal, and send the distance to the first device 51.

The first control module 514 is specifically configured to receive the distance between the first device 51 and the second device 52 sent by the second device 52, and further obtain the distance between the first device 51 and each second device 52.

As one possible implementation, a VR head mounted display device and a positioning device are included in a VR system. The positioning device may be other electronic devices with a second positioning module and a second coil besides the handle. When the VR system is applied in an indoor scenario, the positioning device may be a home appliance device with a second positioning module and a second coil, a notebook computer, or other indoor electronic devices. At this time, the VR head-mounted display device may be set as the first device 51, the positioning device as the second device 52, and the second device 52 transmits the positioning signal and the charging signal to the first device 51. In this way, the VR head-mounted display device may receive the positioning signal sent by the at least one positioning device, so that the VR head-mounted display device calculates the 6DoF pose of the VR head-mounted display device in the room according to the received at least one positioning signal, and thus the immersion of the user may be improved. And, at least one positioning device may transmit a charging signal to the VR headset for wirelessly charging the VR headset.

Illustratively, VR systems are applied in indoor scenarios. As shown in fig. 12, VR head mounted display devices and positioning devices are included in VR systems. The positioning equipment comprises a refrigerator, a television and a notebook computer. VR headset display devices are illustrated with VR glasses as an example. In this example, the first device 51 is VR glasses, and the second device 52 includes three types of refrigerator, television, and notebook computer. It is assumed that in this example, the positioning signal transmission period is described by taking the duty cycle shown in (1) of fig. 10 as an example. And in the transmitting time period of the positioning signal, a second positioning module in the refrigerator, the television and the notebook computer transmits the positioning signal to the VR glasses through a second coil. At this time, the second positioning module in the refrigerator, the television or the notebook computer can send a variable current to the second coil, so that the second coil generates a variable magnetic field. A first coil in the VR glasses can sense a varying magnetic field and generate an induced electromotive force. The first positioning module of VR glasses acquires the induced electromotive force, sends the induced electromotive force to the first control module in the VR glasses, and the first control module in the VR glasses can carry out FFT frequency division processing on the induced electromotive force to obtain the induced electromotive force of a plurality of frequencies. The first control module in the VR glasses can calculate the current indoor 6DoF pose according to the relationship between the 6DoF pose and the induced electromotive force through the combination of the induced electromotive forces with multiple frequencies, and the specific reference may be made to the above examples, which are not described herein.

When the VR glasses calculate the 6DoF pose of the current room, the distance between the VR glasses and each second device can be calculated at the same time, namely the distance between the VR glasses and the refrigerator, the television and the notebook computer is calculated. And taking the television and the notebook computer, of which the distances with the VR glasses are within a preset distance threshold, as target second equipment according to the distances between the VR glasses and the refrigerator, the television and the notebook computer.

And in the idle time period of the current working period, the second positioning module of the refrigerator, the television and the notebook computer stops transmitting the positioning signal. At this time, after the VR glasses detect that the refrigerator, the television and the notebook computer stop transmitting the positioning signals, the VR glasses can transmit the communication signals related to charging to the television and the notebook computer to the target second device. After receiving the communication signals related to charging, the television and the notebook computer can control a second wireless charging module in the television and the notebook computer to transmit charging signals to the VR glasses through a second coil. A first wireless charging module in the VR glasses receives a charging signal through the first coil. Namely, the second wireless charging module of the television and the notebook computer sends a changed current signal to the second coil. The second coil generates a varying magnetic field in response to the varying current signal. At this time, the first coil of the VR glasses may induce the varying magnetic field, generating an induced current. The first wireless charging module in the VR glasses acquires the induction current generated by the first coil, converts the induction current into a direct current signal, and outputs the direct current signal so as to charge the battery in the VR glasses.

Thus, the indoor electronic equipment transmits the positioning signals for the VR head-mounted display equipment, so that the immersion of the user can be improved. And through indoor electronic equipment for VR wear display device for carrying out wireless charging, can improve VR wear display device's charging efficiency.

As a possible implementation manner, the second device 52 may not have the second wireless charging module, that is, the second device 52 is an existing electromagnetic positioning device. At this time, the second device 52 has only a function of transmitting a positioning signal with the first device 51, and does not have a wireless charging function. At this time, in order to ensure that the first device 51 can receive the charging signal, the electromagnetic positioning system, as shown in fig. 13, further includes: a third device 53.

The third device 53 includes a third wireless charging module 531 and a third coil 532. The third wireless charging module 531 is electrically connected to the third coil 532.

The third wireless charging module 531 is configured to transmit a charging signal to the first device 51 through the third coil 532.

The first wireless charging module 511 is specifically configured to receive, through the first coil 513, a charging signal transmitted by the third device 53.

That is, in the embodiment of the present application, the positioning signal is transmitted between the first device 51 and the second device 52. The first device 51 receives the charging signal transmitted from the third device 53, and performs wireless charging. In the embodiment of the present application, after the first device 51 is started, the first device may be automatically switched between the positioning mode and the charging mode. The first device 51 may transmit the positioning signal through the first coil 513 during the transmission phase of the positioning signal of the current duty cycle. At this time, the second device 52 receives the positioning signal through the second coil 522, and performs 6DoF pose positioning of the first device 51 based on the positioning signal. During the idle period of the current duty cycle, the first device 51 may send a charging related communication signal to the third device 53, and after the third device 53 receives the charging related communication signal, the third device 53 sends a charging signal to the first device 51 through the third coil 532 to perform wireless charging for the first device 51. And when the idle period of the current working period is finished, sending a charging closing instruction to the third device 53, and after the third device 53 receives the charging closing instruction, stopping sending a charging signal.

As a possible implementation manner, the third device 53 may be a wireless charging device, or the third device 52 may be an electronic device having a third wireless charging module and a third coil, for example, may be a home appliance or a notebook computer having a third wireless charging module and a third coil.

In this way, in the electromagnetic positioning system, the first device 51 can transmit the positioning signal with the second device 52 through the first coil 513, so as to implement the electromagnetic positioning function. In addition, the first device 51 can also receive the charging signal transmitted by the third device 53 through the first coil 513, so as to realize a wireless charging function, increase the use convenience of the first device 51, and improve the user experience.

Referring to fig. 14, a schematic structural diagram of an electromagnetic positioning device according to an embodiment of the present application is provided. As shown in fig. 14, the electromagnetic positioning apparatus includes: the wireless charging device comprises a positioning module 131, a control module 132, a wireless charging module 133, a coil 134 and a switching module 135. The positioning module 131 is connected to a first end of the switch module 135, the wireless charging module 133 is connected to a second end of the switch module 135, and a third end of the switch module 135 is connected to the coil 134.

The control module 132 is connected to the control end of the switch module 135, the wireless charging module 133 and the positioning module 131.

The control module 132 is configured to control the second terminal and the third terminal of the switch module 135 to be turned on when the current operation mode is the charging mode; alternatively, when the current operation mode is the positioning mode, the first terminal of the control switch module 135 is connected to the third terminal.

The wireless charging module 133 is configured to transmit a charging signal through the coil 134 or receive the charging signal through the coil 134 when the second end and the third end of the switching module 135 are turned on.

The positioning module 131 is configured to transmit a positioning signal through the coil 134 or receive the positioning signal through the coil 134 when the first end of the switch module 135 is connected to the third end.

In the embodiment of the present application, the electromagnetic positioning device includes a positioning module 131, a control module 132, a wireless charging module 133, a coil 134 and a switch module 135. The control module 132 is connected to a control end of the switch module 135, a first end of the switch module 135 is connected to the positioning module 131, a second end of the switch module 135 is connected to the wireless charging module 133, and a third end of the switch module 135 is connected to the coil 134. In this way, the control module 132 controls the third terminal of the switch module 135 to be connected to the first terminal or the second terminal according to the current operation mode of the electromagnetic positioning device. That is, when the current operation mode of the electromagnetic positioning device is the positioning mode, the third end of the control switch module 135 is conducted with the first end, and then the passage between the positioning module 131 and the coil 134 is controlled to be conducted, as shown in fig. 15 a. In this way, when the third end of the switch module 135 is connected to the first end, the positioning module 131 transmits a positioning signal or receives a positioning signal through the coil 134, so that the electromagnetic positioning device implements an electromagnetic positioning function.

When the current operation mode of the electromagnetic positioning device is the charging mode, the third terminal and the second terminal of the switch module 135 are controlled to be conducted, so as to control the conduction of the path between the wireless charging module 133 and the coil 134, as shown in fig. 15 b. In this way, when the third end of the switch module 135 is turned on with the first end, the wireless charging module 133 may transmit a charging signal with the coil 134 or receive a charging signal, so as to implement a wireless charging function of the electromagnetic positioning device.

Thus, in the embodiment of the present application, the wireless charging module 133 and the positioning module 131 in the electromagnetic positioning device can implement the electromagnetic positioning function and the wireless charging function through the common coil 134, so as to improve the charging convenience of the electromagnetic positioning device.

As a possible implementation manner, the electromagnetic positioning device may be a transmitting end of the positioning signal, that is, the electromagnetic positioning device transmits the positioning signal to other devices. At this time, the control module 132 is further configured to obtain a preset first signal when the current working mode is the positioning mode, and send the preset first signal to the positioning module 131.

The positioning module 131 is specifically configured to convert the preset first signal into a positioning signal, and transmit the positioning signal through the coil 134 when the first end and the third end of the switch module 135 are turned on.

In the embodiment of the application, the electromagnetic positioning device can be a transmitting end of the positioning signal. At this time, the control module 132 is configured to obtain a preset first signal when the positioning signal is required to be transmitted. Because the first signal acquired by the control module 132 may not be directly transmitted through the coil 134, the control module 132 may send the preset first signal to the positioning module 131, and the positioning module 131 converts the received preset first signal into a positioning signal that can be transmitted by the coil 134, and then transmits the positioning signal to the coil 134 to be transmitted.

The first signal acquired by the control module 132 may be a digital signal. The coil 134 cannot recognize the digital signal, so the control module 132 needs to transmit the first signal to the positioning module 131, the positioning module 131 converts the first signal into an analog signal to obtain a positioning signal, and the positioning signal is transmitted to the coil 134, and the coil transmits the positioning signal. For example, the positioning signal may be an alternating signal, and the alternating signal is transmitted to the coil 134 at this time, so that the coil 134 generates an alternating magnetic field, that is, emits an alternating magnetic signal.

As a possible implementation, the electromagnetic positioning device is periodically transmitting when transmitting the positioning signal. At this time, the emission duty ratio of the positioning signal and the duration of one working period are preset in the electromagnetic positioning device. The electromagnetic positioning device can determine the transmission duration and the idle duration of the positioning signal in one working period according to the transmission duty ratio of the positioning signal and the duration of the working period. In order to realize the function of positioning while charging of the electromagnetic positioning device, the transmission of the charging signal can be performed within an idle time period in the working period, and at this time, the idle time period can be called as a charging time period. Namely, one working period is divided into a positioning signal transmitting period and a charging period. Based on this, the control module 132 may determine the current operating mode based on the current time and the current duty cycle. That is, the control module 132 is also configured to determine the current duty cycle. When the current time is within the positioning signal transmitting time period, determining that the current working mode is a positioning mode; and when the current time is within the charging time period, determining that the current working mode is a charging mode.

The current working period comprises a positioning signal transmitting time period and a charging time period;

that is, the control module 132 determines the current duty cycle, i.e., determines the positioning signal transmission period and the charging period in the current duty cycle. When the current time is within the positioning signal transmission period, then the control module 132 may determine that the current operating mode is a positioning mode. At this time, the control module 132 may control the third terminal of the switching module 135 to be in conduction with the first terminal. And the control module 132 may acquire the preset first signal. The preset first signal is transmitted to the positioning module 131. The positioning module 131 converts the preset first signal into a positioning signal, and transmits the positioning signal to the coil 134 to be transmitted through the coil 134.

The control module 132 may determine that the current operating mode is a charging mode when the current time is within the charging period. At this time, the control module 132 may control the third terminal of the switching module 135 to be in conduction with the second terminal. At this time, the wireless charging module 133 may transmit a charging signal through the coil 134.

As a possible implementation, when the electromagnetic positioning device is started, the default current operation mode is a positioning mode. That is, after the electromagnetic device is started, the control module 132 determines that the current working mode is a positioning mode, controls the third end of the switch module 135 to be connected with the first end, obtains a preset first signal, transmits the preset first signal to the positioning module 131, and the positioning module 131 converts the preset first signal into a positioning signal and transmits the positioning signal through the coil 134. And when the charging time period of the current working cycle is reached, the control module 132 controls the third end of the switch module 135 to be disconnected from the first end, and controls the third end of the switch module 135 to be conducted with the second end, so that the channel between the wireless charging module 133 and the coil 134 is conducted, and the electromagnetic positioning device receives the charging signal through the coil 134 or transmits the charging signal through the coil 134.

As a possible implementation manner, when the electromagnetic positioning device transmits the positioning signal to the other device, as shown in fig. 16a and 16b, the positioning module 131 includes: the digital-to-analog converter 1311 and the first amplifier 1312. The input end of the digital-to-analog converter 1311 is connected to the control module 132, and the output end of the digital-to-analog converter 1311 is connected to the input end of the first amplifier 1312. The output of the first amplifier 1312 is connected to a first terminal of the switching module 135.

In the embodiment of the present application, the control module 132 obtains a preset first signal in a transmission time period of the positioning signal of the current working cycle, and transmits the preset first signal to the digital-to-analog converter 1311. Since the signal output by the control module 132 is a digital signal, after the first signal is transmitted to the digital-to-analog converter 1311, the digital-to-analog converter 1311 converts the first signal of the digital signal into an analog signal, and the analog signal is transmitted to the first amplifier 1312, and the positioning signal is obtained after the amplification process of the first amplifier 1312. The positioning signal is transmitted to the coil 134 and emitted by the coil 134.

It should be appreciated that the first signal may be a pre-set signal for electromagnetic positioning. For example, the preset first signal may be a sinusoidal signal with a certain frequency and amplitude, and may be other signals, which is not limited in the present application.

As a possible implementation manner, the first amplifier 1312, as shown in fig. 18a and 18b, includes: the amplifier A1 and the amplifier A2, the second capacitor C3, the first resistor R1, the second resistor R2, the third capacitor C4, the third resistor R3 and the fourth resistor R4. The first input end of the amplifier A1 and the first input end of the amplifier A2 are connected with the output end of the digital-to-analog converter. The second input end of the amplifier A1 is connected with one end of the second resistor R2, one end of the first resistor R1 is connected with one end of the second resistor R2, and the other end of the first resistor R1 is grounded. One end of the second capacitor C3 is connected with the first input end of the amplifier A1, and the other end of the second capacitor C3 is grounded. The other end of the second resistor R2 is connected to the output terminal of the amplifier A1. The output of the amplifier A1 is connected to a first terminal of the switching module 135. The second input end of the amplifier A2 is connected with one end of the third resistor R3, one end of the fourth resistor R4 is connected with one end of the third resistor R3, and the other end of the fourth resistor R4 is grounded. One end of the third capacitor C4 is connected to the first input of the amplifier A2. The other end of the third capacitor C4 is grounded. The other end of the third resistor R3 is connected to the output of the amplifier A2. The output of the amplifier A2 is connected to a first terminal of the switching module 135.

Alternatively, as a possible implementation manner, in the embodiment of the present application, the electromagnetic positioning device is not limited to be the transmitting end of the positioning signal. But also a receiving end of the positioning signal. At this time, the electromagnetic positioning device does not transmit the positioning signal, but needs to receive the positioning signal.

That is, the coil 134 is configured to receive the positioning signal, and transmit the positioning signal to the positioning module 131 when the first end and the third end of the switch module 135 are turned on.

The positioning module 131 is specifically configured to convert the determined signal into a second signal, and send the second signal to the control module 132.

The control module 132 is further configured to perform positioning processing according to the second signal, and position the transmitting end of the positioning signal.

In the embodiment of the application, the electromagnetic positioning device is used for receiving positioning signals transmitted by other devices, namely the electromagnetic device is a receiving end of the positioning signals and is not a transmitting end of the positioning signals. At this time, the coil 134 of the electromagnetic positioning device may receive the positioning signal transmitted from the transmitting end of the positioning signal. After receiving the positioning signal, the coil 134 may transmit the positioning signal to the positioning module 131 when the first end of the switch module 135 is connected to the third end. Since the positioning signal transmitted by the coil 134 cannot be directly identified by the control module 132, the positioning module 131 needs to convert the positioning signal into a signal that can be identified by the control module 132 after receiving the positioning signal, that is, a second signal. The converted second signal is transmitted to the control module 132. After receiving the second signal, the control module 132 may locate the transmitting end of the locating signal according to the second signal.

As a possible implementation manner, the control module 132 may perform 6DoF pose positioning on the transmitting end of the positioning signal according to the second signal.

As a possible implementation, the control module 132 is further configured to determine that the current operation mode is the positioning mode in response to the start-up operation.

Since the control module 132 of the electromagnetic positioning device controls the third terminal of the switch module 135 to be connected to the first terminal when the current working mode is the positioning mode, the coil 134 can transmit the positioning signal received by the coil to the positioning module 131. Accordingly, the control module 132 of the electromagnetic positioning device needs to determine the current operating mode first. The electromagnetic positioning device can be preset to enter the positioning mode by default after being started. At this time, in response to the start-up operation, the control module 132 may determine that the current operation mode is the positioning mode.

As a possible implementation manner, the control module 132 is further configured to switch the current operation mode to the charging mode if the second signal is detected to be transmitted when the second signal is received if the current operation mode is the positioning mode. Or when the duration of the second signal which is not received exceeds the first preset time threshold, switching the current working mode into the charging mode.

Because the positioning signal is periodically transmitted, the electromagnetic positioning device can transmit the charging signal when the transmitting end of the positioning signal does not transmit the positioning signal. Therefore, the control module 132 may switch the current operation mode to the charging mode when the transmitting end of the positioning signal does not transmit the positioning signal. That is, the control module 132 receives the positioning signal when the current operation mode is the positioning mode, and when detecting that the positioning signal is transmitted, it can determine that the positioning signal is transmitted in the current operation period is completed, and at this time, it can switch the current operation mode from the positioning mode to the charging mode. That is, the control module 132 controls the third end of the switch module 135 to be disconnected from the first end, and controls the third end of the switch module 135 to be connected to the second end, at this time, the path between the wireless charging module 133 and the coil 134 is connected, and the wireless charging module 133 may receive the charging signal or transmit the charging signal through the coil.

Or when the current working mode of the electromagnetic positioning equipment is the positioning mode and the positioning signal is not received, and when the duration of the electromagnetic positioning equipment which does not receive the positioning signal exceeds a first preset time threshold, the electromagnetic positioning equipment indicates that the transmitting end of the positioning signal does not transmit the positioning signal, and the current working mode can be switched to the charging mode. After receiving the positioning signal, the coil 134 needs to send the positioning signal to the positioning module 131, and the positioning module 131 converts the positioning signal into a second signal and sends the second signal to the control module 132. Therefore, when the duration that the coil 134 of the electromagnetic positioning device does not receive the positioning signal exceeds the first preset time threshold, the duration that the control module 132 does not receive the second signal also exceeds the first preset time threshold, and the control module 132 may switch the current operation mode from the positioning mode to the charging mode. That is, the control module 132 controls the third end of the switch module 135 to be disconnected from the first end, and controls the third end of the switch module 135 to be connected to the second end, at this time, the path between the wireless charging module 133 and the coil 134 is connected, and the wireless charging module 133 may receive the charging signal or transmit the charging signal through the coil.

Or when the current working mode of the electromagnetic positioning device is a charging mode, the charging mode is also required to be switched to a positioning mode so as to receive positioning signals and perform positioning. At this time, when the current working mode is the charging mode, the electromagnetic positioning device may switch the current working mode to the positioning mode when the working time of the charging mode reaches the second preset time threshold. Or when the charging signal is generated between the transmitting end of the positioning signal and the electromagnetic positioning equipment, at the moment, the transmitting end of the positioning signal transmits the positioning signal to the electromagnetic positioning equipment in the positioning signal transmitting time period, and the charging signal is transmitted between the electromagnetic positioning equipment and the positioning equipment in the charging time period. At this time, the transmitting end of the positioning signal can control the switching of the working modes of the electromagnetic positioning signal. When the transmitting end of the positioning signal needs to switch the electromagnetic positioning equipment from the positioning mode to the charging mode, the electromagnetic positioning equipment can be controlled to switch the current working mode to the charging mode by stopping transmitting the positioning signal to the electromagnetic positioning equipment. When the transmitting end of the positioning signal needs to switch the electromagnetic positioning device from the charging mode to the positioning mode, a charging closing instruction can be sent to the electromagnetic positioning device. At the moment, after receiving a charging closing instruction, the electromagnetic positioning equipment switches the current working mode from a charging mode to a positioning mode. That is, the control module 132 controls the third end and the second end of the switch module 135 to be disconnected, and controls the third end and the first end of the switch module 135 to be connected, at this time, the electromagnetic positioning device may receive the positioning signal with the coil 134 and transmit the positioning signal to the positioning module 131, and the positioning module may convert the positioning signal into the second signal and send the second signal to the control module 132. The control module 132 locates the transmitting end of the locating signal according to the received second signal.

It should be noted that the first preset time threshold is a time threshold set in advance for determining whether to switch the current operation mode to the charging mode. When the duration of the control module 132 that does not receive the second signal reaches the first preset time threshold, the current working mode is switched to the charging mode, otherwise, the current working mode is not switched. The first preset time threshold may be set by a user according to an actual requirement, which is not limited by the present application.

The second preset time threshold is a time threshold preset for judging whether to switch the current working mode to the positioning mode. When the control module 132 detects that the charging duration reaches the second preset time threshold, the current working mode is switched to the positioning mode, otherwise, the current working mode is not switched. The second preset time threshold may be set by the user according to the actual requirement, which is not limited by the present application.

As a possible implementation, as shown in fig. 16c and 16d, the positioning module 131 includes a filter 1313, an analog-to-digital converter 1314, and a second amplifier 1315.

The input end of the filter 1313 is connected to the first end of the switch module 135, the output end of the filter 1313 is connected to the input end of the second amplifier 1315, the output end of the second amplifier 1315 is connected to the input end of the analog-to-digital converter 1314, and the output of the analog-to-digital converter 1314 is connected to the control module 132.

In an embodiment of the application, the positioning module 131 includes a filter 1313, an analog-to-digital converter 1314 and a second amplifier 1315. The filter 1313 is connected to the first end of the switch module 135, and when the third end of the switch module 135 is connected to the first end, the positioning signal received by the coil 134 is transmitted to the filter 1313 through the switch module 135. After the filter 1313 receives the positioning signal, the positioning signal is filtered to reduce noise. An output of the filter 1313 is connected to an input of the second amplifier 1315, the filter 1313 transmitting the filtered positioning signal to the second amplifier 1315. The second amplifier 1315 amplifies the positioning signal. The output end of the second amplifier 1315 is connected to the input end of the analog-to-digital converter 1314, the second amplifier 1315 sends the amplified positioning signal to the analog-to-digital converter 1314, and the analog-to-digital converter 1314 converts the positioning signal from an analog signal to a digital signal to obtain a second signal. The output of the analog-to-digital converter 1314 is connected to the control module 132, and the analog-to-digital converter 1314 may transmit the second signal to the control module 132. The control module 132 may correspondingly position the transmitting end of the positioning signal according to the second signal.

As a possible implementation manner, the electromagnetic positioning device in the embodiment of the application can realize a wireless charging function in addition to a positioning function. When the positioning function is realized, the electromagnetic positioning device can be a transmitting end of the positioning signal or a receiving end of the positioning signal. When the electromagnetic positioning device is used as a transmitting end of the positioning signal, the positioning module 131 includes a digital-to-analog converter 1311 and a first amplifier 1312, as shown in fig. 16a and 16 b. When the electromagnetic positioning device is used as a receiving end of the positioning signal, the positioning module 131 includes a filter 1313, a second amplifier 1315 and an analog-to-digital converter 1314, as shown in fig. 16c and 16 d. When the electromagnetic positioning device realizes the wireless charging function, the electromagnetic positioning device can be used as a receiving end of a charging signal. At this time, the coil 134 is configured to receive the charging signal, and transmit the charging signal to the wireless charging module 133 when the second end and the third end of the switch module 135 are turned on. The wireless charging module 133 is specifically configured to convert the charging signal into a dc signal and output the dc signal.

The electromagnetic positioning device can be used as a receiving end of the charging signal, namely, the electromagnetic positioning device can be subjected to wireless charging by other wireless charging devices. At this time, the coil 134 may receive a charging signal when the current operation mode of the electromagnetic positioning apparatus is a charging mode. The control module 132 controls the second end of the switch module 135 to be connected to the third end, i.e. controls the conduction of the path between the wireless charging module 133 and the coil 134. Thus, after receiving the charging signal, the coil 134 can directly transmit the charging signal to the wireless charging module 133, and the wireless charging module can convert the charging signal into a direct current signal and output the direct current signal so as to supply power to other devices in the electromagnetic positioning device and charge a battery in the electromagnetic positioning device.

Because electromagnetic positioning equipment can realize the locate function and can realize the function of charging again, consequently, electromagnetic positioning equipment contains two kinds of mode: charging mode and positioning mode. The electromagnetic positioning device has different working modes and different functions. Namely, when the current working mode of the electromagnetic positioning device is a charging mode, the wireless charging function is realized. When the current working mode of the electromagnetic positioning equipment is a positioning mode, the electromagnetic positioning equipment realizes the positioning function. The control module 132 may determine whether the current working mode of the electromagnetic positioning device is a positioning mode or a charging mode, and the specific determination method may refer to the determination method when the electromagnetic positioning device is a positioning signal transmitting end or a positioning signal receiving end, which is not described herein.

As one possible implementation, the wireless charging module 133 includes: the rectification module 1331, the first charge control module 1332 and the resonant capacitor module 1333 are shown in fig. 16a and 16 c.

One end of the resonant capacitor module 1333 is connected to the second end of the switch module 135, the other end of the resonant capacitor module 1333 is connected to the input end of the rectifying module 1331, the output end of the rectifying module 1331 is connected to the first charging control module 1332, and the first charging control module 1332 is connected to the control module 132.

In this way, when the current operation mode is the charging mode, the control module 132 controls the third terminal and the second terminal of the switch module 135 to be turned on, and the path between the coil 134 and the wireless charging module 133 is turned on. After receiving the charging signal, the coil 134 transmits the charging signal to the rectification module 1331, and the rectification module 1331 converts the charging signal into a direct current signal and outputs the direct current signal to other devices of the electromagnetic positioning device so as to supply power to the electromagnetic positioning device.

As a possible implementation manner, as shown in fig. 17a and 17b, the wireless charging module 133 further includes: voltage stabilizing module 1334. The voltage stabilizing module 1334 is disposed between the output end of the rectifying module 1331 and the first charging control module 1332, and is configured to perform corresponding voltage stabilizing processing on the dc electrical signal output by the rectifying module 1331, and output a value to the first charging control module 1332.

Further, the resonant capacitor module 1333 includes a resonant capacitor, and may include only one first resonant capacitor C1 therein, so as to form a resonant circuit with the coil 134, thereby improving the signal strength of the charging signal. In order to better increase the signal strength of the charging signal, the resonant capacitor module 1333 includes two resonant capacitors, namely a first resonant capacitor C1 and a second resonant capacitor C2.

As shown in fig. 18a and 18C, the resonant capacitor module 1333 includes a first resonant capacitor C1, a second resonant capacitor C2, and a first resonant resistor Rc. The second end of the switch module 134 is connected to one end of the first resonant capacitor C1, the other end of the first resonant capacitor C1 is connected to one end of the second resonant capacitor C2, and the other end of the second resonant capacitor C2 is connected to the second end of the switch module 134; the first resonance resistor Rc is connected with the switch K1 in series, one end of the first resonance resistor Rc is connected with the first end of the switch K1, the other end of the first resonance resistor Rc is connected with the other end of the first resonance capacitor C1, and the second end of the switch K1 is connected with the other end of the second resonance capacitor C2.

The rectification module 1331 includes a first diode D1 and a second diode D2 connected in series, and a third diode D3 and a fourth diode D4 connected in series. The first diode D1 and the second diode D2 are connected in parallel with the third diode D3 and the fourth diode D4. One end of the first diode D1 is connected to one end of the second diode D2, and the other end of the first diode D1 is connected to one end of the voltage stabilizing module 1334. The other end of the second diode D2 is connected to the other end of the voltage stabilizing module 1334. Similarly, one end of the third diode D3 is connected to one end of the fourth diode D4, the other end of the third diode D3 is connected to one end of the voltage stabilizing module 1334, and the other end of the fourth diode D4 is connected to the other end of the voltage stabilizing module 1334. The other end of the first resonance capacitor C1 is connected with one end of the first diode D1 and one end of the second diode D2, and the other end of the second resonance capacitor C2 is connected with one end of the third diode D3 and one end of the fourth diode D4.

The voltage stabilizing module 1334 includes a voltage stabilizing resistor R5 and a fifth diode D5. One end of the voltage stabilizing resistor R is connected with the other end of the first diode D1 and the other end of the third diode D3, and the other end of the voltage stabilizing resistor R is connected with one end of the fifth diode D5 and the second charging chip; the other end of the fifth diode D5 is connected to the other end of the second diode D2, the other end of the fourth diode D4, and the second charging chip.

As a possible implementation manner, the control module 132 is further configured to obtain a distance between the electromagnetic positioning device and the transmitting end of the charging signal, and determine the target transmitting end of the charging signal according to the distance between the transmitting end of the charging signal.

The target transmitting end of the charging signal is a transmitting end, wherein the distance between the transmitting end of the charging signal and the electromagnetic positioning equipment is within a preset distance threshold value.

The coil 134 is specifically configured to receive the charging signal transmitted by the target transmitting end.

In the embodiment of the application, the electromagnetic positioning device is a receiving end of the charging signal, and there may be a plurality of transmitting ends of the charging signal. Because the charging signal can decay with the increase of the distance, when the distance between the transmitting end of the charging signal and the electromagnetic positioning device exceeds a certain distance threshold value, the charging signal is weaker. In order to improve the charging efficiency of the electromagnetic positioning device, the electromagnetic positioning device can be charged only by using the transmitting end of the charging signal with a stronger charging signal, which is closer to the electromagnetic positioning device. At this time, the control module 132 needs to obtain the distance between the transmitting end of the charging signal and the electromagnetic positioning device. The control module 132 may calculate the distance between the electromagnetic positioning device and the transmitting end of the charging signal by itself, or other devices may send the distance between the electromagnetic positioning device and the transmitting end of the charging signal to the control module 132. After obtaining the distance between the electromagnetic positioning device and the transmitting end of the charging signal, the control module 132 may determine the transmitting end of the positioning signal, where the distance between the electromagnetic positioning device and the transmitting end of the charging signal is within a preset distance threshold, as the target transmitting end.

At this time, the control module 132 may perform communication related to the charging parameter only to the transmitting end of the target charging signal in the charging mode. At this time, the target transmitting end of the charging signal may transmit the charging signal after receiving the communication related to the charging parameter. The coil 134 may receive a charging signal transmitted from a target transmitting end of the charging signal. Namely, wireless charging is performed for the electromagnetic positioning signal only through the target transmitting end of the charging signal.

As a possible implementation manner, when the transmitting end of the charging signal transmits the positioning signal to the electromagnetic positioning device, the control module 132 is specifically configured to obtain the positioning signal of the transmitting end of the charging signal, and calculate the distance between the electromagnetic positioning device and the transmitting end of the charging signal according to the positioning signal of the transmitting end of the charging signal.

That is, the transmitting end of the charging signal may transmit the positioning signal to the electromagnetic positioning device in addition to transmitting the charging signal to the electromagnetic positioning device, and at this time, the control module 132 may receive the positioning signal transmitted by the transmitting end of the charging signal in the positioning mode, so as to calculate the distance between the transmitting end and the electromagnetic positioning device according to the positioning signal.

Or, when the electromagnetic positioning device transmits the positioning signal to the transmitting end of the charging signal, the control module 132 is specifically configured to receive the distance information between the electromagnetic positioning device and the transmitting end of the charging signal, where the distance information is sent by the transmitting end of the charging signal.

That is, the transmitting end of the charging signal may be a receiving end of the positioning signal, and the electromagnetic positioning device is a transmitting end of the positioning signal, besides the transmitting end of the charging signal. Namely, the electromagnetic positioning device transmits a positioning signal to the transmitting end of the charging signal. At this time, the transmitting end of the charging signal receives the positioning signal, and after receiving the positioning signal, the distance between the transmitting end of the charging signal and the electromagnetic positioning device can be calculated according to the positioning signal, so that the information of the calculated distance between the transmitting end of the charging signal and the electromagnetic positioning device is sent to the electromagnetic positioning device. The control module 132 of the electromagnetic positioning device may receive the distance information between the electromagnetic positioning device and the charging signal transmitting end, which is sent by the charging signal transmitting end, so as to obtain the distance between the electromagnetic positioning device and the charging signal transmitting end, which is sent by the charging signal transmitting end.

It should be noted that, when the electromagnetic positioning device is used as the receiving end of the charging signal, the electromagnetic positioning device may be the first device in the electromagnetic positioning system. At this time, the electromagnetic positioning device is a receiving end of the charging signal when the wireless charging function is realized. When the positioning function is realized, the positioning signal transmitting terminal can be used, and the positioning signal receiving terminal can be used. And when the second equipment is a transmitting end of the positioning signal, the electromagnetic positioning equipment is a receiving end of the positioning signal. When the second device is a receiving end of the positioning signal, the electromagnetic positioning device is a transmitting end of the positioning signal.

As a possible implementation manner, in the above embodiment, the electromagnetic positioning device is used as a receiving end of the charging signal. In the embodiment of the application, the electromagnetic positioning device can also be used as a transmitting end of the charging signal to transmit the charging signal to other devices so as to wirelessly charge the other devices.

At this time, the control module 132 is configured to send a trigger signal to the wireless charging control module 133 when the second end and the third end of the switch module 135 are turned on.

The wireless charging module 133 is specifically configured to transmit a charging signal through the coil 134 in response to the trigger signal.

In the embodiment of the present application, when the electromagnetic positioning device transmits the charging signal, the control module 132 may be turned on to the second end and the third end of the control switch module 135 when the current working mode is the charging mode, and at this time, the paths between the remaining coils 134 of the wireless charging module 133 are turned on. At this time, the control module 132 may send a trigger signal to the wireless charging module 133 for triggering the wireless charging module 133 to transmit a charging signal to the coil 134. After receiving the trigger signal, the wireless charging module 133 transmits a charging signal to the coil 134.

As one possible implementation, as shown in fig. 15b, the wireless charging module 133 includes: the second charge control module 1335 and the first capacitor 1336. One end of the first capacitor 1336 is connected to the second end of the switch module 135, the other end of the first capacitor 1336 is connected to the second charging control module 1335, and the second charging control module 1335 is connected to the control module 132.

As a possible implementation manner, when the electromagnetic positioning device receives the positioning signal transmitted by the receiving end of the charging signal, the control module 132 is further configured to obtain the positioning signal of the receiving end of the charging signal, and calculate the distance between the electromagnetic positioning device and the receiving end of the charging signal according to the positioning signal of the receiving end of the charging signal; and sending the distance information between the electromagnetic positioning equipment and the receiving end of the charging signal to the receiving end of the charging signal.

That is, the electromagnetic positioning device is a transmitting end of the charging signal, and a distance between a receiving end of the charging signal and the electromagnetic positioning device is long, at this time, the receiving end of the charging signal can be wirelessly charged without passing through the electromagnetic positioning device. It is also possible that the distance between the electromagnetic positioning device and the receiving end of the charging signal is relatively large, and the electromagnetic positioning device is required to wirelessly charge the earphone receiving end of the charging signal. When the electromagnetic positioning device receives the positioning signal of the charging signal, the electromagnetic positioning device can calculate the distance between the electromagnetic positioning device and the receiving end of the charging signal according to the positioning signal, and then send the distance to the receiving end of the charging signal, so that the electromagnetic positioning device can judge whether the electromagnetic positioning device performs wireless charging on the electromagnetic positioning device according to the distance between the electromagnetic positioning device and the receiving end of the charging signal.

At this time, when the electromagnetic positioning device receives the positioning signal transmitted by the receiving end of the charging signal, and when the working mode of the electromagnetic positioning device is the positioning mode, the coil 134 may receive the positioning signal and send the positioning signal to the positioning module 131, and after the positioning module 131 converts the positioning signal into the second signal, send the second signal to the control module 132. The control module 132 may receive the second signal, calculate a distance between the receiving end of the charging signal and the electromagnetic positioning device according to the second signal, and send information of the calculated distance between the electromagnetic positioning device and the receiving end of the charging signal to the receiving end of the charging signal. In this way, after the receiving end of the charging signal is connected to the distance between the electromagnetic positioning device and the receiving end of the charging signal, the distance can be compared with a preset distance threshold, and when the distance is smaller than the preset distance threshold, the receiving end of the charging signal can determine that the electromagnetic positioning device is the target transmitting end of the charging signal and can perform relevant communication of charging parameters with the control module 132 of the electromagnetic positioning device, so that the electromagnetic positioning device transmits the charging signal.

It should be noted that, when the electromagnetic positioning device is used as the transmitting end of the charging signal, the electromagnetic positioning device may be the second device or the second device in the electromagnetic positioning system. At this time, when the electromagnetic positioning device realizes the wireless charging function, the electromagnetic positioning device is a transmitting end of a charging signal. When the positioning function is realized, the positioning signal transmitting terminal can be used, and the positioning signal receiving terminal can be used. And when the first equipment is a transmitting end of the positioning signal, the electromagnetic positioning equipment is a receiving end of the positioning signal. When the first device is a receiving end of the positioning signal, the electromagnetic positioning device is a transmitting end of the positioning signal.

That is, when the electromagnetic positioning apparatus in the embodiment of the present application is applied to the electromagnetic positioning system in the above-described embodiment, the electromagnetic positioning apparatus may be the first apparatus of the electromagnetic positioning system in the above-described embodiment when the electromagnetic positioning apparatus realizes the wireless charging function as the receiving end of the charging signal. When the electromagnetic positioning device implements a wireless charging function as a transmitting end of the charging signal, the electromagnetic positioning device may be the second device of the electromagnetic positioning system in the above embodiment.

As a possible implementation, as shown in fig. 19a, 19b, 19c, and 19d, the switch module 135 includes a first switch 1351 and a second switch 1352.

A first end of the first switch 1351 is connected to one end of the positioning module 131, and a first end of the second switch 1352 is connected to the other end of the positioning module 131; a second end of the first switch 1351 is connected to one end of the wireless charging module 133, a second end of the second switch 1352 is connected to the other end of the wireless charging module 133, a third end of the first switch 1351 is connected to one end of the coil 134, and a third end of the second switch 1352 is connected to the other end of the coil 134; the control terminals of the first switch 1351 and the second switch 1352 are connected to the control module 132.

In the embodiment of the present application, the two ends of the coil 134 are respectively provided with a switch for connecting with the positioning module 131 and the wireless charging module 133, that is, a first switch 1351 is provided at one end of the coil 134, wherein a third end of the first switch 1351 is connected with one end of the coil 134. A first end of the first switch 1351 is connected to the positioning module 131, and a second end of the first switch 1351 is connected to the wireless charging module 133. A second switch 1352 is provided at the other end of the coil 134, wherein a third end of the second switch 1352 is connected to the other end of the coil 134. The first end of the second switch 1352 is connected to the positioning module 131, and the second end of the second switch is connected to the wireless charging module 133. The control terminals of the first switch 1351 and the second switch 1352 are connected to the control module 132. The control module 132 controls the third terminals of the first switch 1351 and the second switch 1352 to be turned on with the first terminal at the same time, or controls the third terminals of the first switch 1351 and the second switch 1352 to be turned on with the second terminal at the same time.

It should be understood that when the electromagnetic positioning device implements the positioning function, it may be a positioning signal transmitting end or a positioning signal receiving end. When the electromagnetic positioning device is a transmitting end of the positioning signal, the positioning module 131 includes a digital-to-analog converter 1311 and a first amplifier 1312. At this time, the first end of the first switch 1351 and the first end of the second switch 1352 are both connected to the output end of the first amplifier 1312, as shown in fig. 19a and 19 b.

Alternatively, when the electromagnetic positioning device is a receiving end of the positioning signal, the positioning module 131 includes a filter 1313, an analog-to-digital converter 1314, and a second amplifier 1315. At this time, the first terminal of the first switch 1351 and the first terminal of the second switch 1352 are both connected to the input terminal of the filter 1313, as shown in fig. 19c and 19 d.

Similarly, when the electromagnetic positioning device realizes the wireless charging function, the electromagnetic positioning device may be a charging signal transmitting end or a charging signal receiving end. When the electromagnetic positioning device is a receiving end of the charging signal, the wireless charging function 133 includes a rectification module 1331, a first charging control module 1332 and a resonant capacitor module 1333. At this time, the second end of the first switch 1351 and the second end of the second switch 1352 are both connected to one end of the resonant capacitor module 1333.

When the resonant capacitor module 1333 includes the first resonant capacitor C1 and the second resonant capacitor C2, the second end of the first switch 1351 is connected to one end of the first resonant capacitor C1. The second end of the second switch is connected to the other end of the second resonance capacitor C2, as shown in fig. 19a and 19C.

Alternatively, when the electromagnetic positioning device is a transmitting end of the charging signal, the wireless charging module 133 includes a second charging control module 1335 and a first capacitor 1336. At this time, the second terminal of the first switch 1351 is connected to one terminal of the first capacitor 1336, and the second terminal of the second switch 1352 is connected to the second charging module 1335, as shown in fig. 18 b.

As a possible implementation manner, the electromagnetic positioning device further includes: and a third switch 136.

The first end of the third switch 136 is connected to the enabling end of the positioning module 131, the second end of the third switch 136 is connected to the enabling end of the wireless charging module 133, and the third end and the control end of the third switch 136 are connected to the control module 132.

The control module 132 is further configured to control the second end of the third switch 136 to be connected to the third end when the current working mode is the charging mode, and the control module 132 sends an enabling signal to the wireless charging module 133; or when the current working mode is the positioning mode, the first end of the third switch 136 is controlled to be conducted with the third end, and the control module 132 sends an enabling signal to the positioning module 131.

In the embodiment of the application, in order to reduce power consumption, the control module 132 may control the transmission of the enable signals of the wireless charging module 133 and the positioning module 131. At this time, a third switch 136 is provided between the control module 132 and the wireless charging module 133 and the positioning module 131. The first end of the third switch 136 is connected to the positioning module 131, the second end of the third switch 136 is connected to the wireless charging module 133, and the third end and the control end of the third switch 136 are both connected to the control module 132. When the electromagnetic positioning device realizes the positioning function, the control module 132 controls the first end and the third end of the third switch 136 to be conducted, and sends an enabling signal to the positioning module 131 through the third switch 136 so as to enable the positioning module 131 to be started. Or, when the electromagnetic positioning device realizes the charging function, the control module 132 controls the second end and the third end of the third switch 136 to be turned on, and sends an enabling signal to the wireless charging module 133 through the third switch 136, so that the wireless charging module 133 is started.

It should be understood that the electromagnetic positioning device may be a positioning signal transmitting end or a positioning signal receiving end when the electromagnetic positioning device implements the positioning function. When the electromagnetic positioning device is a transmitting end of the positioning signal, the positioning module 131 includes a digital-to-analog converter 1311 and a first amplifier 1312. At this time, the first end of the third switch 136 is connected to the digital-to-analog converter 1311, as shown in fig. 19a and 19 b.

Alternatively, when the electromagnetic positioning device is a receiving end of the positioning signal, the positioning module 131 includes a filter 1313, an analog-to-digital converter 1314, and a second amplifier 1315. At this time, the first end of the third switch 136 is connected to the analog-to-digital converter 1314, as shown in fig. 18 c.

Similarly, when the electromagnetic positioning device realizes the wireless charging function, the electromagnetic positioning device may be a charging signal transmitting end or a charging signal receiving end. When the electromagnetic positioning device is a receiving end of the charging signal, the wireless charging function 133 includes a rectification module 1331, a first charging control module 1332 and a resonant capacitor module 1333. At this time, the second terminal of the third switch 136 is connected to the first charging control module 1332, as shown in fig. 19a and 19 c.

Alternatively, when the electromagnetic positioning device is a transmitting end of the charging signal, the wireless charging module 133 includes a second charging control module 1335 and a first capacitor 1336. At this time, the second end of the third switch 136 is connected to the second charge control module 1335, as shown in fig. 19b and 19 d.

It should be noted that the electromagnetic positioning device may be a positioning device in an AR or VR system, or may be a VR head-mounted display device, or may be another device, which is not limited in this aspect of the present application.

It will be apparent to those skilled in the art that the techniques of this embodiment may be implemented in software plus the necessary general purpose hardware platform. Based on such understanding, the technical solution in this embodiment may be essentially embodied in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the methods described in the embodiments or some portions of the embodiments.

The same or similar parts between the various embodiments in this specification are referred to each other. In particular, for the device embodiment and the terminal embodiment, since they are substantially similar to the method embodiment, the description is relatively simple, and reference should be made to the description in the method embodiment for relevant points.

Claims

1. An electromagnetic positioning system, comprising:

the first device comprises a first wireless charging module, a first positioning module and a first coil; the first wireless charging module and the first positioning module are electrically connected with the first coil;

2. The electromagnetic positioning system of claim 1, wherein the electromagnetic positioning system comprises a plurality of electromagnetic positioning devices,

the first positioning module is specifically configured to transmit a positioning signal to the second device through the first coil;

3. The electromagnetic positioning system of claim 1, wherein the electromagnetic positioning system comprises a plurality of electromagnetic positioning devices,

the second positioning module is specifically configured to transmit a positioning signal to the first device through the second coil;

4. An electromagnetic positioning system as set forth in any of claims 1-3, characterized in that,

The second device further comprises a second wireless charging module electrically connected with the second coil;

5. The electromagnetic positioning system of claim 4, wherein the electromagnetic positioning system comprises at least two second devices; the first device further comprises a first control module, and the first control module is connected with the first positioning module;

the first control module is used for acquiring the distance between the first equipment and each second equipment, determining a target second equipment in the at least two second equipment according to the distance between the first equipment and each second equipment, and sending a charging instruction to the target second equipment; the target second device is a second device, of which the distance between the second device and the first device is within a preset distance threshold, of at least two second devices;

6. The electromagnetic positioning system of claim 5, wherein the electromagnetic positioning system comprises a plurality of electromagnetic positioning devices,

when the first positioning module is specifically configured to receive a positioning signal through the first coil, the first control module is specifically configured to obtain a positioning signal of each second device in the at least two second devices, and calculate a distance between the first device and each second device according to the positioning signal of each second device.

7. The electromagnetic positioning system of claim 6, wherein each of the at least two second devices further comprises a second control module, the second control module being coupled to the second positioning module;

8. An electromagnetic positioning system as set forth in any one of claims 1-3, further comprising: the third device comprises a third wireless charging module and a third coil; the third wireless charging module is electrically connected with the third coil;

9. An electromagnetic positioning apparatus, comprising: the wireless charging device comprises a positioning module, a control module, a wireless charging module, a coil and a switch module; wherein,,

10. An electromagnetic positioning apparatus as claimed in claim 9, wherein,

the control module is further used for acquiring a preset first signal when the current working mode is a positioning mode and sending the preset first signal to the positioning module;

11. The electromagnetic positioning apparatus of claim 10, wherein the electromagnetic positioning apparatus comprises a plurality of electromagnetic positioning devices,

the control module is also used for determining the current working period; the current working period comprises a positioning signal transmitting time period and a charging time period;

12. The electromagnetic positioning apparatus of claim 10, wherein the electromagnetic positioning apparatus comprises a plurality of electromagnetic positioning devices,

the positioning module comprises a digital-to-analog converter and a first amplifier; the input end of the digital-to-analog converter is connected with the control module, and the output end of the digital-to-analog converter is connected with the input end of the first amplifier; the output end of the first amplifier is connected with the first end of the switch module.

13. An electromagnetic positioning apparatus as claimed in claim 9, wherein,

the coil is used for receiving a positioning signal and transmitting the positioning signal to the positioning module when the first end and the third end of the switch module are conducted;

14. The electromagnetic positioning apparatus of claim 13, wherein the electromagnetic positioning apparatus comprises a plurality of electromagnetic positioning devices,

the control module is further used for responding to the starting operation and determining that the current working mode is a positioning mode.

15. The electromagnetic positioning apparatus of claim 14, wherein the electromagnetic positioning apparatus comprises a plurality of electromagnetic positioning devices,

the control module is further configured to switch the current working mode to a charging mode if the current working mode is a positioning mode and if the second signal is detected to be transmitted when the second signal is received; or when the duration of the second signal which is not received exceeds a first preset time threshold, switching the current working mode into a charging mode;

16. The electromagnetic positioning apparatus of claim 13, wherein the electromagnetic positioning apparatus comprises a plurality of electromagnetic positioning devices,

the positioning module comprises a filter, an analog-to-digital converter and a second amplifier;

17. Electromagnetic positioning device according to any of the claims 9-16, characterized in that,

the coil is used for receiving a charging signal, and transmitting the charging signal to the wireless charging module when the second end and the third end of the switch module are conducted;

18. The electromagnetic positioning apparatus of claim 17, wherein the electromagnetic positioning apparatus comprises a plurality of electromagnetic positioning devices,

the wireless charging module includes: the device comprises a rectification module, a first charging control module and a resonance capacitor module;

19. Electromagnetic positioning device according to claim 17 or 18, characterized in that,

the control module is further used for obtaining the distance between the electromagnetic positioning device and the transmitting end of the charging signal, and determining the target transmitting end of the charging signal according to the distance between the transmitting end of the charging signal; the target transmitting end of the charging signal is a transmitting end of which the distance between the transmitting end of the charging signal and the electromagnetic positioning equipment is within a preset distance threshold;

20. The electromagnetic positioning apparatus of claim 19, wherein the electromagnetic positioning apparatus comprises a plurality of electromagnetic positioning devices,

when the transmitting end of the charging signal transmits a positioning signal to the electromagnetic positioning device, the control module is specifically configured to obtain a positioning signal of the transmitting end of the charging signal, and calculate a distance between the electromagnetic positioning device and the transmitting end of the charging signal according to the positioning signal of the transmitting end of the charging signal.

21. The electromagnetic positioning apparatus of claim 19, wherein the electromagnetic positioning apparatus comprises a plurality of electromagnetic positioning devices,

when the electromagnetic positioning device transmits a positioning signal to the transmitting end of the charging signal, the control module is specifically configured to receive distance information between the electromagnetic positioning device and the transmitting end of the charging signal, where the distance information is sent by the transmitting end of the charging signal.

22. Electromagnetic positioning device according to any of the claims 9-16, characterized in that,

the control module is used for sending the trigger signal to the wireless charging control module when the second end and the third end of the switch module are conducted;

23. The electromagnetic positioning apparatus of claim 22, wherein the electromagnetic positioning apparatus comprises a plurality of electromagnetic positioning devices,

the wireless charging control module includes: the second charge control module and the first capacitor; one end of the first capacitor is connected with the second end of the switch module, the other end of the first capacitor is connected with the second charging control module, and the second charging control module is connected with the control module.

24. The electromagnetic positioning apparatus of claim 22, wherein the electromagnetic positioning apparatus comprises a plurality of electromagnetic positioning devices,

when the electromagnetic positioning device receives the positioning signal transmitted by the receiving end of the charging signal, the control module is further used for acquiring the positioning signal of the receiving end of the charging signal, and calculating the distance between the electromagnetic positioning device and the receiving end of the charging signal according to the positioning signal of the receiving end of the charging signal;

25. The electromagnetic positioning apparatus of any of claims 9-24, wherein the switch module comprises a first switch and a second switch;

26. The electromagnetic positioning apparatus as set forth in claim 25, further comprising: a third switch;