WO2022016498A1

WO2022016498A1 - Charging method and charging device

Info

Publication number: WO2022016498A1
Application number: PCT/CN2020/104074
Authority: WO
Inventors: 李琳; 刘浩东; 朱辰
Original assignee: 华为技术有限公司
Priority date: 2020-07-24
Filing date: 2020-07-24
Publication date: 2022-01-27
Also published as: CN114270660B; CN114270660A

Abstract

Embodiments of the present application provide a charging method and a charging device. The charging method comprises: a device to be charged determines, according to the principle of ultrasonic positioning, a relative position between the device to be charged and a charging device on the basis of ultrasonic waves having different frequencies from the charging device, i.e., determines the relative position between a receiving coil in the device to be charged and a transmitting coil in the charging device; and when the receiving coil and the transmitting coil are not aligned with each other, gives a reminder to adjust the position of the device to be charged or the charging device to align the receiving coil with the transmitting coil, so as to achieve the purpose of charging the device to be charged with high charging efficiency.

Description

充电方法和充电设备Charging method and charging device

技术领域technical field

本申请涉及无线充电技术，尤其涉及一种充电方法和充电设备。The present application relates to wireless charging technology, and in particular, to a charging method and a charging device.

背景技术Background technique

无线充电技术已广泛应用于各技术领域，如无线充电技术可以应用于电动汽车的充电，还可以应用于手机、手表等终端设备的充电。无线充电技术依据法拉第电磁感应原理为待充电设备进行充电。其中，充电设备中可以设置初级线圈，待充电设备中可以设置次级线圈。当初级线圈上有电流通过时，初级线圈会产生磁场，该磁场与附近的次级线圈产生感应电压，进而可以产生感应电流，以为待充电设备充电。然而，充电设备的初级线圈与待充电设备的次级线圈是否能够对齐将明显影响充电效率。Wireless charging technology has been widely used in various technical fields. For example, wireless charging technology can be applied to the charging of electric vehicles, and can also be applied to the charging of terminal devices such as mobile phones and watches. The wireless charging technology charges the device to be charged based on the Faraday electromagnetic induction principle. Among them, a primary coil can be set in the charging device, and a secondary coil can be set in the device to be charged. When a current passes through the primary coil, the primary coil will generate a magnetic field, which generates an induced voltage with the nearby secondary coil, which in turn can generate an induced current to charge the device to be charged. However, whether the primary coil of the charging device can be aligned with the secondary coil of the device to be charged will significantly affect the charging efficiency.

现有技术中，可以在充电设备上设置机械固定组件，只有在待充电设备固定在该机械固定组件上时，充电设备才能为待充电设备进行充电。其中，当待充电设备固定在该机械固定组件上时，充电设备的初级线圈与待充电设备的次级线圈对齐，进而能够保证以最大的充电效率为待充电设备充电。In the prior art, a mechanical fixing component may be provided on the charging device, and the charging device can charge the device to be charged only when the device to be charged is fixed on the mechanical fixing component. Wherein, when the device to be charged is fixed on the mechanical fixing component, the primary coil of the charging device is aligned with the secondary coil of the device to be charged, thereby ensuring that the device to be charged is charged with maximum charging efficiency.

但由于待充电设备的尺寸、形状等参数不同，因此现有技术中需要适配于待充电设备的尺寸和形状等参数设置机械固定组件，普适性差。However, due to the different parameters such as the size and shape of the device to be charged, the prior art requires a mechanical fixing component adapted to the parameters such as the size and shape of the device to be charged, which has poor universality.

发明内容SUMMARY OF THE INVENTION

本申请实施例提供一种充电方法和充电设备，能够实现以良好充电效率为待充电设备充电，且适用性高。The embodiments of the present application provide a charging method and a charging device, which can charge the device to be charged with good charging efficiency and have high applicability.

第一方面，本申请实施例提供一种充电方法，该方法可以应用于待充电设备、也可以应用于待充电设备中的芯片，下面以应用于待充电设备为例对该方法进行描述。该方法中，在充电设备为待充电设备充电时，充电设备可以发射至少两路超声波。相应的，待充电设备可以接收来自充电设备的至少两路超声波，其中，所述至少两路超声波中的任两路超声波的频率不同。本申请实施例中，待充电设备可以根据所述至少两路超声波，获取待充电设备与所述充电设备的相对位置，其中，所述相对位置用于表征所述待充电设备中用于无线充电的接收线圈和所述充电设备中用于所述无线充电的发送线圈的对齐程度。示例性的，若接收线圈和发送线圈的对齐程度越齐，则待充电设备的充电效率越高。In a first aspect, an embodiment of the present application provides a charging method, which can be applied to a device to be charged or a chip in the device to be charged. The method is described below by taking the application to the device to be charged as an example. In this method, when the charging device is charging the device to be charged, the charging device can transmit at least two ultrasonic waves. Correspondingly, the device to be charged can receive at least two ultrasonic waves from the charging device, wherein the frequencies of any two ultrasonic waves in the at least two ultrasonic waves are different. In the embodiment of the present application, the device to be charged may obtain the relative position of the device to be charged and the charging device according to the at least two ultrasonic waves, wherein the relative position is used to represent the device to be charged used for wireless charging The degree of alignment of the receiving coil of the charging device and the transmitting coil used for the wireless charging in the charging device. Exemplarily, if the alignment of the receiving coil and the transmitting coil is more uniform, the charging efficiency of the device to be charged is higher.

应理解，本申请实施例中充电设备上不同频率的超声波的发射位置可以不同，因此在待充电设备接收到至少两路超声波后，可以根据超声波定位原理，获取待充电设备与所述充电设备上不同频率的超声波的发射位置之间的距离。示例性的，本申请实施例中可以预先设置不同的发射位置发射的超声波的频率，而充电设备上的发射位置是预定义的。因此，在待充电设备接收到至少两路超声波后，可以根据不同频率的超声波，获取与充电设备上固定的发射位置之间的距离，进而获取待充电设备与所述充电设备的相对位置。待充电设备在获取待充电设备与所述充电设备的相对位置后，根据所述相对位置输出提示信息。其中，所述提示信息用于指示调整所述待充电设备或所述充电设备的位置。应理解，本申请实施例中，若相对位置指示接收线圈和发送线圈未对齐，则可以输出该提示信息，以提醒调整待充电设备或所述充电设备的位置，使得接收线圈和发送线圈对齐，进而可以达到以良好充电效率为待充电设备进行充电的目的。It should be understood that in the embodiment of the present application, the transmission positions of ultrasonic waves of different frequencies on the charging device may be different. Therefore, after the device to be charged receives at least two ultrasonic waves, the device to be charged and the charging device can be obtained according to the principle of ultrasonic positioning. The distance between the emission locations of ultrasonic waves of different frequencies. Exemplarily, in this embodiment of the present application, the frequencies of the ultrasonic waves emitted by different emission positions may be preset, and the emission positions on the charging device are predefined. Therefore, after the device to be charged receives at least two ultrasonic waves, the distance from the fixed transmission position on the charging device can be obtained according to the ultrasonic waves of different frequencies, and then the relative position of the device to be charged and the charging device can be obtained. After acquiring the relative position of the device to be charged and the charging device, the device to be charged outputs prompt information according to the relative position. The prompt information is used to instruct to adjust the position of the device to be charged or the charging device. It should be understood that, in the embodiment of the present application, if the relative position indicates that the receiving coil and the transmitting coil are not aligned, the prompt information can be output to remind to adjust the position of the device to be charged or the charging device, so that the receiving coil and the transmitting coil are aligned, Further, the purpose of charging the device to be charged with good charging efficiency can be achieved.

本申请实施例中，待充电设备输出提示信息的方式可以为：在图像用户界面上显示所述提示信息。其中，该提示信息可以包括调整方向和调整距离。相对应的，则待充电设备可以在图像用户界面上显示调整方向和调整距离。示例性的，待充电设备可以在图像用户界面上以箭头的方式显示调整方向和调整距离。或者，待充电设备可以以语音的方式播放调整方向和调整距离，如“朝向正北方向移动20mm”。In the embodiment of the present application, the manner of outputting the prompt information by the device to be charged may be: displaying the prompt information on the image user interface. Wherein, the prompt information may include adjustment direction and adjustment distance. Correspondingly, the device to be charged can display the adjustment direction and the adjustment distance on the image user interface. Exemplarily, the device to be charged may display the adjustment direction and the adjustment distance in the form of arrows on the graphical user interface. Alternatively, the device to be charged can play the adjustment direction and adjustment distance in a voice manner, such as "move 20mm towards the true north direction".

上述讲述的获取待充电设备和充电设备的相对位置，是通过获取待充电设备和充电设备上的不同频率的超声波的发射位置之间的距离获取的。其中，若采用待充电设备上的一个位置，获取与充电设备上的不同频率的超声波的发射位置之间的距离，虽然能够获取待充电设备和充电设备的相对位置，但存在获取的相对位置的准确性低的问题。因此本申请实施例中可以通过在待充电设备中设置至少两个用于接收超声波的位置，以能够实现准确确定充电设备和待充电设备的相对位置。The acquisition of the relative positions of the device to be charged and the charging device described above is obtained by acquiring the distances between the device to be charged and the emission positions of ultrasonic waves of different frequencies on the charging device. Among them, if a position on the device to be charged is used to obtain the distance from the emission position of ultrasonic waves of different frequencies on the charging device, although the relative positions of the device to be charged and the charging device can be obtained, there is a low accuracy problem. Therefore, in the embodiment of the present application, at least two positions for receiving ultrasonic waves can be set in the device to be charged, so that the relative positions of the charging device and the device to be charged can be accurately determined.

在该种方式中，待充电设备可以根据所述至少两路超声波，获取所述待充电设备的至少两个部分与所述充电设备上所述至少两路超声波中每路超声波的发射位置之间的距，进而根据所述待充电设备的至少两个部分与所述每路超声波的发射位置之间的距离，获取所述充电设备与所述待充电设备的相对位置。其中，本申请实施例中通过待充电设备中设置的至少两个用于接收超声波的位置，能够达到准确定位待充电设备的位置的目的，进而能够提高获取充电设备和待充电设备的相对位置的准确性。In this way, the device to be charged can obtain the distance between at least two parts of the device to be charged and the emission position of each ultrasonic wave in the at least two ultrasonic channels on the charging device according to the at least two ultrasonic channels and then obtain the relative position of the charging device and the device to be charged according to the distance between at least two parts of the device to be charged and the transmitting position of each ultrasonic wave. Among them, in the embodiment of the present application, the purpose of accurately locating the position of the device to be charged can be achieved by using at least two positions for receiving ultrasonic waves set in the device to be charged, thereby improving the ability to obtain the relative positions of the device to be charged and the device to be charged. accuracy.

第二方面，本申请实施例提供一种电子设备，该电子设备可以为执行上述第一方面的充电方法的待充电设备。该电子设备可以包括：检测单元，用于检测超声波，以接收来自充电设备的至少两路超声波，至少两路超声波中的任两路超声波的频率不同。处理单元，用于根据至少两路超声波，获取待充电设备与充电设备的相对位置，相对位置用于表征待充电设备中用于无线充电的接收线圈和充电设备中用于无线充电的发送线圈的对齐程度。输出单元，用于根据相对位置输出提示信息，提示信息用于指示调整待充电设备或充电设备的位置。In a second aspect, an embodiment of the present application provides an electronic device, which may be a device to be charged that performs the charging method of the first aspect. The electronic device may include: a detection unit for detecting ultrasonic waves to receive at least two ultrasonic waves from the charging device, and any two ultrasonic waves in the at least two ultrasonic waves have different frequencies. The processing unit is used to obtain the relative position of the device to be charged and the charging device according to at least two ultrasonic waves, and the relative position is used to characterize the difference between the receiving coil used for wireless charging in the device to be charged and the transmitting coil used for wireless charging in the charging device. degree of alignment. The output unit is used for outputting prompt information according to the relative position, and the prompt information is used for instructing to adjust the position of the device to be charged or the charging device.

在一种可能的实现方式中，处理单元，具体用于根据至少两路超声波，获取待充电设备的至少两个部分与充电设备上至少两路超声波中每路超声波的发射位置之间的距离，且根据待充电设备的至少两个部分与每路超声波的发射位置之间的距离，获取充电设备与待充电设备的相对位置。In a possible implementation manner, the processing unit is specifically configured to obtain the distance between at least two parts of the device to be charged and the emission position of each ultrasonic wave in the at least two ultrasonic waves on the charging device according to the at least two ultrasonic waves, And according to the distance between at least two parts of the device to be charged and the transmitting position of each ultrasonic wave, the relative positions of the charging device and the device to be charged are acquired.

在一种可能的实现方式中，提示信息包括：调整方向和调整距离。In a possible implementation manner, the prompt information includes: adjusting the direction and adjusting the distance.

在一种可能的实现方式中，输出单元，具体用于在图像用户界面上显示提示信息。In a possible implementation manner, the output unit is specifically configured to display prompt information on an image user interface.

本申请实施例提供的电子设备，其实现原理和技术效果与上述实施例中的待充电设备类似，在此不再赘述。The implementation principle and technical effect of the electronic device provided by the embodiment of the present application are similar to the device to be charged in the foregoing embodiment, and details are not described herein again.

第三方面，本申请实施例提供一种充电设备，该充电设备可以包括：无线充电单元、超声波生成单元和至少两个超声波发射单元。其中，所述无线充电单元，用于为待充电设备进行无线充电；所述超声波生成单元，用于生成至少一个超声波；所述超声波发射单元，用于基于所述至少一个超声波发射至少两路超声波，所述至少两路超声波中任两路超声波的频率不同。本申请实施例中，超声波生成单元可以为超声换能器，超声波发射单元可以为导声孔。In a third aspect, an embodiment of the present application provides a charging device, and the charging device may include: a wireless charging unit, an ultrasonic wave generating unit, and at least two ultrasonic wave transmitting units. Wherein, the wireless charging unit is used to wirelessly charge the device to be charged; the ultrasonic generation unit is used to generate at least one ultrasonic wave; the ultrasonic transmission unit is used to transmit at least two ultrasonic waves based on the at least one ultrasonic wave , the frequencies of any two ultrasonic waves in the at least two ultrasonic waves are different. In the embodiment of the present application, the ultrasonic generating unit may be an ultrasonic transducer, and the ultrasonic transmitting unit may be a sound guide hole.

在一种可能的实现方式中，导声孔可以和超声换能器一一对应，每个超声换能器可以生成频率不同的超声波，进而通过对应的导声孔发射。In a possible implementation manner, the sound guide holes may be in one-to-one correspondence with the ultrasonic transducers, and each ultrasonic transducer may generate ultrasonic waves with different frequencies, which are then emitted through the corresponding sound guide holes.

在一种可能的实现方式中，所述超声波发射单元包括：超结构通道、第一发射单元和第二发射单元；所述第一发射单元，用于发射所述至少一个超声波中的一路超声波；所述超结构通道，用于将所述一路超声波变频为频率不同另一路超声波；所述第二发射单元，用于发射所述另一路超声波。In a possible implementation manner, the ultrasonic transmitting unit includes: a superstructure channel, a first transmitting unit and a second transmitting unit; the first transmitting unit is configured to transmit one ultrasonic wave in the at least one ultrasonic wave; The superstructure channel is used for converting the frequency of the one ultrasonic wave into another ultrasonic wave with a different frequency; the second transmitting unit is used for transmitting the other ultrasonic wave.

其中，在该种方式中，超结构通道用于连通导声孔，超声换能器设置可以设置在第一导声孔和超结构通道之间。超声换能器生成的一路超声波可以直接通过第一导声孔发射，也可以通过超结构通道变频后通过第二导声孔发射。应理解，第一导声孔和第二导声孔包含在充电设备上的导声孔中。Wherein, in this manner, the superstructure channel is used to communicate with the sound guide hole, and the ultrasonic transducer can be arranged between the first sound guide hole and the superstructure channel. The ultrasonic wave generated by the ultrasonic transducer can be transmitted directly through the first sound guide hole, or can be transmitted through the second sound guide hole after frequency conversion through the superstructure channel. It should be understood that the first sound guide hole and the second sound guide hole are included in the sound guide hole on the charging device.

或者，在该种方式中，超结构通道用于连通导声孔，超声换能器可以设置在超结构通道中，且超声换能器距离第一导声孔和第二导声孔的距离不同。超结构通道可以将超声换能器生成的一路超声波变频为频率不同的两路超声波，进而分别通过第一导声孔和第二导声孔发射。Alternatively, in this way, the superstructure channel is used to communicate the sound guide hole, the ultrasonic transducer can be arranged in the superstructure channel, and the distance between the ultrasonic transducer and the first sound guide hole and the second sound guide hole is different . The superstructure channel can convert one ultrasonic wave generated by the ultrasonic transducer into two ultrasonic waves with different frequencies, and then transmit them through the first sound guide hole and the second sound guide hole respectively.

第四方面，本申请实施例提供一种电子设备，该电子设备可以为上述的待充电设备。所述电子设备包括：处理器、存储器；其中，存储器用于存储计算机可执行程序代码，程序代码包括指令；当处理器执行指令时，指令使所述电子设备执行如第一方面中的方法。In a fourth aspect, an embodiment of the present application provides an electronic device, where the electronic device may be the above-mentioned device to be charged. The electronic device includes: a processor and a memory; wherein the memory is used to store computer-executable program codes, and the program codes include instructions; when the processor executes the instructions, the instructions cause the electronic device to perform the method in the first aspect.

第五方面，本申请实施例提供一种芯片，所述芯片上存储有计算机程序，在所述计算机程序被所述芯片执行时，实现如第一方面所提供的方法。In a fifth aspect, an embodiment of the present application provides a chip, where a computer program is stored on the chip, and when the computer program is executed by the chip, the method provided in the first aspect is implemented.

第六方面，本申请实施例提供一种包含指令的计算机程序产品，当其在计算机上运行时，使得计算机执行上述第一方面中的方法。In a sixth aspect, embodiments of the present application provide a computer program product containing instructions, which, when executed on a computer, cause the computer to execute the method in the first aspect.

第七方面，本申请实施例提供一种计算机可读存储介质，所述计算机可读存储介质中存储有指令，当其在计算机上运行时，使得计算机执行上述第一方面中的方法。In a seventh aspect, an embodiment of the present application provides a computer-readable storage medium, where instructions are stored in the computer-readable storage medium, when the computer-readable storage medium runs on a computer, the computer executes the method in the first aspect.

第八方面，本申请实施例提供一种充电***，包括如上述第三方面所述的充电设备和上述第二方面所述的电子设备，即待充电设备。In an eighth aspect, an embodiment of the present application provides a charging system, including the charging device described in the third aspect and the electronic device described in the second aspect, that is, the device to be charged.

本申请实施例提供一种充电方法和充电设备，该充电方法包括：待充电设备根据超声波定位的原理，依据来自充电设备的频率不同的超声波，确定待充电设备与充电设备的相对位置，也就是待充电设备中接收线圈的与充电设备中的发送线圈的相对位置，进而在接收线圈和发送线圈未对齐时，提醒调整待充电设备或充电设备的位置，进而使得接收线圈和发送线圈对齐，以达到以良好充电效率为待充电设备进行充电的目的。The embodiment of the present application provides a charging method and a charging device. The charging method includes: determining the relative position of the device to be charged and the charging device according to the principle of ultrasonic positioning and ultrasonic waves with different frequencies from the charging device, that is, the device to be charged is determined. The relative position of the receiving coil in the device to be charged and the transmitting coil in the charging device, and then when the receiving coil and the transmitting coil are not aligned, remind to adjust the position of the device to be charged or the charging device, so as to align the receiving coil and the transmitting coil. To achieve the purpose of charging the device to be charged with good charging efficiency.

附图说明Description of drawings

图1为本申请实施例提供的充电方法适用的场景示意图；FIG. 1 is a schematic diagram of a scene to which the charging method provided by the embodiment of the present application is applicable;

图2为一种充电设备的示意图；2 is a schematic diagram of a charging device;

图3为另一种充电设备的示意图；3 is a schematic diagram of another charging device;

图4为本申请实施例提供的一种充电设备的结构示意图；FIG. 4 is a schematic structural diagram of a charging device according to an embodiment of the present application;

图5为本申请实施例提供的另一种充电设备的结构示意图；FIG. 5 is a schematic structural diagram of another charging device provided by an embodiment of the present application;

图6为本申请实施例提供的另一种充电设备的结构示意图；FIG. 6 is a schematic structural diagram of another charging device provided by an embodiment of the present application;

图7为本申请实施例提供的另一种充电设备的结构示意图；FIG. 7 is a schematic structural diagram of another charging device provided by an embodiment of the present application;

图8为本申请实施例提供的另一种充电设备的结构示意图；FIG. 8 is a schematic structural diagram of another charging device provided by an embodiment of the present application;

图9为本申请实施例提供的充电方法的一实施例的流程示意图；FIG. 9 is a schematic flowchart of an embodiment of a charging method provided by an embodiment of the present application;

图10为本申请实施例提供的待充电设备和充电设备的相对位置的示意图一；FIG. 10 is a schematic diagram 1 of the relative positions of the device to be charged and the charging device according to an embodiment of the application;

图11为待充电设备的一种界面示意图；11 is a schematic diagram of an interface of a device to be charged;

图12为本申请实施例提供的待充电设备和充电设备的相对位置的示意图二；FIG. 12 is a second schematic diagram of the relative positions of the device to be charged and the charging device according to an embodiment of the present application;

图13为本申请实施例提供的充电方法的另一实施例的流程示意图；FIG. 13 is a schematic flowchart of another embodiment of the charging method provided by the embodiment of the present application;

图14为本申请实施例提供的待充电设备和充电设备的相对位置的示意图三；FIG. 14 is a schematic diagram 3 of the relative positions of the device to be charged and the charging device according to an embodiment of the present application;

图15为本申请实施例提供的待充电设备和充电设备的相对位置的示意图四；FIG. 15 is a fourth schematic diagram of the relative positions of the device to be charged and the charging device according to an embodiment of the present application;

图16为本申请实施例提供的电子设备的一种结构示意图；FIG. 16 is a schematic structural diagram of an electronic device provided by an embodiment of the present application;

图17为本申请实施例提供的电子设备的另一种结构示意图。FIG. 17 is another schematic structural diagram of an electronic device provided by an embodiment of the present application.

具体实施方式detailed description

图1为本申请实施例提供的充电方法适用的场景示意图。图1所示的场景中包括充电设备10和待充电设备20，图1中以待充电设备为手机为例进行说明。充电设备10中设置有初级线圈11，如图1中的虚线所示。待充电设备20中设置有次级线圈21，如图1中的点划线所示。图1中以初级线圈11和次级线圈21均为圆形，且以次级线圈21的半径小于初级线圈11的半径为例。应理解，下述实施例中可以将初级线圈11称为发送线圈，可以将次级线圈21称为接收线圈。下述示例中的初级线圈11均以虚线表示，次级线圈21均以点划线表示。FIG. 1 is a schematic diagram of a scene to which the charging method provided by the embodiment of the present application is applicable. The scene shown in FIG. 1 includes a charging device 10 and a device to be charged 20 . In FIG. 1 , the device to be charged is a mobile phone as an example for description. A primary coil 11 is provided in the charging device 10 , as shown by the dotted line in FIG. 1 . A secondary coil 21 is provided in the device 20 to be charged, as shown by the dotted line in FIG. 1 . In FIG. 1 , the primary coil 11 and the secondary coil 21 are both circular, and the radius of the secondary coil 21 is smaller than that of the primary coil 11 as an example. It should be understood that, in the following embodiments, the primary coil 11 may be referred to as a transmitting coil, and the secondary coil 21 may be referred to as a receiving coil. In the following examples, the primary coils 11 are shown by dotted lines, and the secondary coils 21 are shown by dashed-dotted lines.

充电设备10依据法拉第电磁感应原理为待充电设备20进行充电。目前的无线充电技术中，当次级线圈21的中心位置在初级线圈11所在的平面的投影，位于初级线圈11的中心位置的预设距离范围内时，充电设备10可以为待充电设备20进行充电。但是，次级线圈21的中心位置在初级线圈11所在的平面的投影与初级线圈11的中心位置的距离越远，待充电设备20的充电效率越低。当次级线圈21的中心位置在初级线圈11所在的平面的投影位于初级线圈11的中心位置的距离范围外时，充电设备10不能对待充电设备20进行充电。示例性的，该距离范围可以为12mm。The charging device 10 charges the device to be charged 20 according to the Faraday electromagnetic induction principle. In the current wireless charging technology, when the center position of the secondary coil 21 is projected on the plane where the primary coil 11 is located, and is within a preset distance range of the center position of the primary coil 11 , the charging device 10 can perform charging for the device to be charged 20 . Charge. However, the farther the distance between the projection of the center position of the secondary coil 21 on the plane where the primary coil 11 is located and the center position of the primary coil 11 is, the lower the charging efficiency of the device to be charged 20 is. When the projection of the center position of the secondary coil 21 on the plane where the primary coil 11 is located is outside the distance range of the center position of the primary coil 11 , the charging apparatus 10 cannot charge the to-be-charged apparatus 20 . Exemplarily, the distance range may be 12mm.

根据法拉第电磁感应原理可知，在初级线圈11中的电流一定时，若初级线圈11和次级线圈21对齐，则待充电设备20产生的感应电流最大。也就是说，在初级线圈11和次级线圈21对齐时，待充电设备20的充电效率最高。应理解，充电设备10中的初级线圈11和待充电设备20中的次级线圈21的对齐，可以指的是充电设备10中的初级线圈11的中心位置和待充电设备20中的次级线圈21的中心位置对齐，即次级线圈21的中心位置在初级线圈11所在的平面的投影与初级线圈11的中心位置重叠或距离位于预设范围内。示例性的，当初级线圈11和次级线圈21为规则的形状时，如初级线圈11为圆形，次级线圈21为正方形时，初级线圈11的中心位置可以为圆形的圆心，次级线圈21的中心位置可以为正方形的两个对角线的交点。初级线圈11和次级线圈21的对齐可以指的是正方形的两个对角线的交点在初级线圈11所在的平面的投影与圆形的圆心重叠。或者，充电设备10中的初级线圈11和待充电设备20中的次级线圈21的对齐，可以指的是初级线圈11的中心位置在次级线圈21所在的平面的投影，位于次级线圈21的中心位置的预设范围内。或者，充电设备10中的初级线圈11和待充电设备20中的次级线圈21的对齐，可以指的是次级线圈21的中心位置在初级线圈11所在的平面的投影，位于初级线圈11的中心位置的预设范围内。应理解，此处的预设范围小于上述所述的距离范围，该预设范围如可以为2mm。应理解，本申请实施例中的初级线圈11的中心位置，可以是初级线圈11的物理中心位置，如圆形的圆心或者正方形的两个对角线的交点。或者，本申请实施例中的初级线圈11的中心位置和次级线圈21的中心位置也可以为预定义的。According to Faraday's principle of electromagnetic induction, when the current in the primary coil 11 is constant, if the primary coil 11 and the secondary coil 21 are aligned, the induced current generated by the device to be charged 20 is the largest. That is, when the primary coil 11 and the secondary coil 21 are aligned, the charging efficiency of the device to be charged 20 is the highest. It should be understood that the alignment of the primary coil 11 in the charging device 10 and the secondary coil 21 in the device to be charged 20 may refer to the central position of the primary coil 11 in the charging device 10 and the secondary coil in the device to be charged 20 The center position of the secondary coil 21 is aligned, that is, the projection of the center position of the secondary coil 21 on the plane where the primary coil 11 is located overlaps with the center position of the primary coil 11 or the distance is within a preset range. Exemplarily, when the primary coil 11 and the secondary coil 21 are regular shapes, for example, when the primary coil 11 is circular and the secondary coil 21 is square, the center of the primary coil 11 may be the center of the circle, and the secondary The center position of the coil 21 may be the intersection of the two diagonals of the square. The alignment of the primary coil 11 and the secondary coil 21 may mean that the projection of the intersection of the two diagonals of the square on the plane where the primary coil 11 is located overlaps the center of the circle. Alternatively, the alignment of the primary coil 11 in the charging device 10 and the secondary coil 21 in the device to be charged 20 may refer to the projection of the center position of the primary coil 11 on the plane where the secondary coil 21 is located, located in the secondary coil 21 within the preset range of the center position. Alternatively, the alignment of the primary coil 11 in the charging device 10 and the secondary coil 21 in the device to be charged 20 may refer to the projection of the center position of the secondary coil 21 on the plane where the primary coil 11 is located, which is located on the side of the primary coil 11 . within the preset range of the center position. It should be understood that the preset range here is smaller than the above-mentioned distance range, and the preset range may be, for example, 2 mm. It should be understood that the center position of the primary coil 11 in the embodiment of the present application may be the physical center position of the primary coil 11 , such as the center of a circle or the intersection of two diagonal lines of a square. Alternatively, the center position of the primary coil 11 and the center position of the secondary coil 21 in the embodiment of the present application may also be predefined.

综上可知，充电设备10中的初级线圈11与待充电设备20中的次级线圈21是否能够对齐能够明显影响待充电设备20的充电效率，为了能够以最大的充电效率为待充电设备20进行充电，需要使得充电设备10中的初级线圈11与待充电设备20中的次级线圈21对齐。To sum up, it can be seen that whether the primary coil 11 in the charging device 10 and the secondary coil 21 in the device to be charged 20 can be aligned can significantly affect the charging efficiency of the device to be charged 20 . For charging, it is necessary to align the primary coil 11 in the charging device 10 with the secondary coil 21 in the device to be charged 20 .

图2为一种充电设备的示意图。如图2所示，该充电设备中包括两个初级线圈，该两个初级线圈可以设置在一个房间内的不同位置。在待充电设备的电量不足时，待充电设备会向充电设备发送消息。该消息指示待充电设备需要充电，且该消息中包括待充电设备的当前位置(如在该房间中的位置)。充电设备接收到该消息后，根据待充电设备的当前位置，控制距离待充电设备较近的初级线圈为待充电设备进行充电。在该种方式中，充电设备能够在两个初级线圈中选择具有较大的充电效率的初级线圈为待充电设备进行充电，但是该充电效率并非为最大的充电效率。FIG. 2 is a schematic diagram of a charging device. As shown in FIG. 2 , the charging device includes two primary coils, and the two primary coils can be arranged at different positions in a room. When the power of the device to be charged is insufficient, the device to be charged will send a message to the charging device. The message indicates that the device to be charged needs to be charged, and the message includes the current location of the device to be charged (eg, the location in the room). After receiving the message, the charging device controls the primary coil that is closer to the device to be charged to charge the device to be charged according to the current position of the device to be charged. In this manner, the charging device can select the primary coil with the larger charging efficiency among the two primary coils to charge the device to be charged, but the charging efficiency is not the maximum charging efficiency.

图3为另一种充电设备的示意图。如图3所示，充电设备中设置有多个初级线圈。在待充电设备放置在充电设备上时，充电设备可以根据待充电设备的位置，确定充电设备中与待充电设备的次级线圈耦合度最高的初级线圈，进而激活该初级线圈为待充电设备进行充电。其中，在待充电设备放置在充电设备上时，充电设备可以依次向每个初级线圈输入相同的脉冲激励信号，使得初级线圈回路发生自谐振，并在初级线圈的周围产生磁场。待充电设备的接收线圈感应到磁场后在接收线圈的回路上产生自谐振，在接收线圈上产生感应电压。在几个震荡周期后，发射线圈的回路的能量衰减，而接收线圈的能量增强，接收线圈反客为主，以与上述相同的方式在发射线圈上产生感应电压。充电设备通过检测每个初级线圈的感应电压，进而确定与次级线圈耦合度最高的初级线圈。该方式与上述图2中的充电方式相类似，充电设备能够在多个初级线圈中选择具有较大的充电效率的初级线圈为待充电设备进行充电，但是该充电效率并非为最大的充电效率。FIG. 3 is a schematic diagram of another charging device. As shown in FIG. 3 , a plurality of primary coils are provided in the charging device. When the device to be charged is placed on the charging device, the charging device can determine the primary coil in the charging device with the highest coupling degree with the secondary coil of the device to be charged according to the position of the device to be charged, and then activate the primary coil for the device to be charged. Charge. Wherein, when the device to be charged is placed on the charging device, the charging device can sequentially input the same pulse excitation signal to each primary coil, so that the primary coil loop self-resonates and a magnetic field is generated around the primary coil. After the receiving coil of the device to be charged induces a magnetic field, self-resonance is generated on the loop of the receiving coil, and an induced voltage is generated on the receiving coil. After a few oscillation cycles, the energy of the loop of the transmitting coil attenuates, while the energy of the receiving coil increases, and the receiving coil is mainly reactive, generating an induced voltage on the transmitting coil in the same manner as above. The charging device determines the primary coil with the highest coupling degree with the secondary coil by detecting the induced voltage of each primary coil. This method is similar to the charging method in FIG. 2 above. The charging device can select a primary coil with a larger charging efficiency among multiple primary coils to charge the device to be charged, but the charging efficiency is not the maximum charging efficiency.

为了解决上述技术问题，本申请实施例提供了一种充电设备和充电方法，充电设备可以发射不同频率的超声波，待充电设备可以根据接收到的超声波，采用超声波定位的方式确定充电设备中的初级线圈和待充电设备中的次级线圈的相对位置，进而根据该相对位置提醒用户调整待充电设备的位置，以使得充电设备中的初级线圈和待充电设备中的次级线圈对齐，进而使得能够以最大的充电效率为待充电设备进行充电。In order to solve the above technical problems, the embodiments of the present application provide a charging device and a charging method. The charging device can transmit ultrasonic waves of different frequencies, and the device to be charged can determine the primary level in the charging device by ultrasonic positioning according to the received ultrasonic waves. The relative position of the coil and the secondary coil in the device to be charged, and then remind the user to adjust the position of the device to be charged according to the relative position, so that the primary coil in the charging device and the secondary coil in the device to be charged are aligned, thereby enabling Charge the device to be charged with maximum charging efficiency.

应理解，本申请实施例中的待充电设备可以为能够执行无线充电的电子设备，该电子设备可以为终端设备、电动汽车、机器人等设备。其中，终端设备也可以称为终端Terminal、用户设备(user equipment，UE)、移动台(mobile station，MS)、移动终端(mobile terminal，MT)等。终端设备可以是手机(mobile phone)、平板电脑(pad)、带无线收发功能的电脑、个人数字助理(personal digital assistant，PDA)、具有无线通信功能的手持设备、计算机或其它处理设备、可穿戴设备(手表、运动手环、运动脚环等)、虚拟现实(virtual reality，VR)终端设备、增强现实(augmented reality，AR)终端设备、智慧家庭(smart home)中的无线终端、5G网络中的终端设备或者未来演进的公用陆地移动通信网络(public land mobile network，PLMN)中的终端设备等，本申请实施例对此并不限定。It should be understood that the device to be charged in this embodiment of the present application may be an electronic device capable of performing wireless charging, and the electronic device may be a terminal device, an electric vehicle, a robot, or other devices. The terminal device may also be referred to as a terminal terminal, a user equipment (UE), a mobile station (mobile station, MS), a mobile terminal (mobile terminal, MT), and the like. The terminal equipment can be a mobile phone (mobile phone), a tablet computer (pad), a computer with wireless transceiver function, a personal digital assistant (PDA), a handheld device with wireless communication function, a computer or other processing equipment, a wearable Equipment (watches, sports bracelets, sports anklets, etc.), virtual reality (VR) terminal equipment, augmented reality (AR) terminal equipment, wireless terminals in smart home (smart home), 5G network terminal equipment or terminal equipment in a future evolved public land mobile network (public land mobile network, PLMN), etc., which are not limited in the embodiments of the present application.

下面首先对本申请实施例提供的充电设备的结构进行说明。图4为本申请实施例提供的一种充电设备的结构示意图。如图4所示，本申请实施例提供的充电设备可以包括：无线充电单元、超声波生成单元和至少两个超声波发射单元。The following first describes the structure of the charging device provided by the embodiment of the present application. FIG. 4 is a schematic structural diagram of a charging device according to an embodiment of the present application. As shown in FIG. 4 , the charging device provided by the embodiment of the present application may include: a wireless charging unit, an ultrasonic wave generating unit, and at least two ultrasonic wave transmitting units.

本申请实施例中的无线充电单元，用于为待充电设备进行无线充电。应理解，本申请实施例中的无线充电单元可以包括充电设备中用于无线充电的发送线圈、用于无线充电的控制器等。其中，用于无线充电的控制器可以在进行无线充电时实现检测充电电流和稳流等功能；发送线圈即初级线圈，用于通过流过该线圈的电流产生磁场，本申请实施例中对无线充电的控制器不作赘述。The wireless charging unit in the embodiment of the present application is used to wirelessly charge the device to be charged. It should be understood that the wireless charging unit in this embodiment of the present application may include a sending coil used for wireless charging, a controller used for wireless charging, and the like in the charging device. Among them, the controller used for wireless charging can realize functions such as detecting charging current and stabilizing current during wireless charging; the transmitting coil is the primary coil, which is used to generate a magnetic field through the current flowing through the coil. The charging controller will not be described in detail.

其中，超声波生成单元，用于生成至少一个超声波。至少一个超声波指的是至少一个频率的超声波。本申请实施例中的超声波生成单元可以为超声换能器，本申请实施例中对超声换能器的结构和类型不做限制。本申请实施例中的至少两个超声波发射单元，用于基于至少一个超声波发射至少两路超声波。可选的，超声波发射单元可以为充电设备上设置的导声孔。其中，至少两个超声波发射单元发射的至少两路超声波中任两路超声波的频率不同。Wherein, the ultrasonic generating unit is used to generate at least one ultrasonic wave. At least one ultrasonic wave refers to ultrasonic waves of at least one frequency. The ultrasonic generating unit in the embodiment of the present application may be an ultrasonic transducer, and the structure and type of the ultrasonic transducer are not limited in the embodiment of the present application. The at least two ultrasonic transmitting units in the embodiments of the present application are used to transmit at least two ultrasonic waves based on at least one ultrasonic wave. Optionally, the ultrasonic emitting unit may be a sound guide hole provided on the charging device. Wherein, the frequencies of any two ultrasonic waves in the at least two ultrasonic waves emitted by the at least two ultrasonic transmitting units are different.

应理解，至少两路超声波中任两路超声波的频率不同的一种实现方式可以为：超声波生成单元能够生成至少两个频率不同的超声波，至少两个超声波发射单元直接发射至少两个频率不同的超声波。或者，至少两路超声波中任两路超声波的频率不同的另一种实现方式可以为：超声波生成单元能够生成一个超声波，至少两个超声波发射单元能够将该超声波变频为至少两个频率不同的超声波进行发射。It should be understood that an implementation manner in which the frequencies of any two ultrasonic waves in the at least two ultrasonic waves are different may be: the ultrasonic generating unit can generate at least two ultrasonic waves with different frequencies, and the at least two ultrasonic transmitting units directly transmit at least two ultrasonic waves with different frequencies. Ultrasound. Alternatively, another implementation manner in which the frequencies of any two ultrasonic waves in the at least two ultrasonic waves are different may be as follows: the ultrasonic wave generating unit can generate one ultrasonic wave, and the at least two ultrasonic transmitting units can convert the ultrasonic wave into at least two ultrasonic waves with different frequencies. to launch.

本申请实施例中的超声波生成单元生成的超声波可以但不限于为单频脉冲超声波(continuous wave，CW)、调频连续超声波(frequency modulation continuous wave，FMCW)、线性调频超声波(linear Frequency modulation，LFM)、或恒包络零自相关序列(const amplitude zero auto-correlation)中的ZC(Zadoff-Chu)序列超声波。以超声波为ZC序列超声波为例，超声波生成单元生成ZC序列超声波后，可以对ZC序列超声波进行调制，得到调制后的超声波。如，本申请实施例中的调制后的ZC序列超声波对应的载波的中心频率可以为24kHz，带宽可以为3～10kHz。应理解，超声波对应的载波的带宽越宽，则通过该超声波测距得到的距离的准确性越高。The ultrasonic waves generated by the ultrasonic wave generating unit in the embodiments of the present application may be, but are not limited to, single-frequency pulse ultrasonic waves (continuous wave, CW), frequency modulation continuous wave (frequency modulation continuous wave, FMCW), linear frequency modulation ultrasonic waves (linear Frequency modulation, LFM) , or ZC (Zadoff-Chu) sequence ultrasound in constant envelope zero auto-correlation sequence (const amplitude zero auto-correlation). Taking the ultrasonic wave as the ZC series ultrasonic wave as an example, after the ultrasonic wave generating unit generates the ZC series ultrasonic wave, it can modulate the ZC series ultrasonic wave to obtain the modulated ultrasonic wave. For example, in the embodiment of the present application, the center frequency of the carrier wave corresponding to the modulated ZC sequence ultrasonic wave may be 24 kHz, and the bandwidth may be 3-10 kHz. It should be understood that the wider the bandwidth of the carrier wave corresponding to the ultrasonic wave, the higher the accuracy of the distance obtained through the ultrasonic ranging.

在上述图4的基础上，下面结合充电设备能够发射至少两个频率不同的超声波的实现方式，以及图5-图8对本申请实施例中充电设备的结构进行说明。应理解，图5-图8中以超声波发射单元导声孔进行说明。On the basis of the above FIG. 4 , the following describes the structure of the charging device in the embodiment of the present application in conjunction with the implementation manner in which the charging device can transmit at least two ultrasonic waves with different frequencies and FIGS. 5-8 . It should be understood that in FIGS. 5-8 , the sound guide holes of the ultrasonic transmitting unit are used for description.

对于第一种方式：超声波生成单元能够生成至少两个频率不同的超声波，超声波发射单元直接发射至少两个频率不同的超声波。图5为本申请实施例提供的另一种充电设备的结构示意图。如图5所示，充电设备上设置有至少两个导声孔，如导声孔1和导声孔2。导声孔可以为不穿透充电设备设置的孔，导声孔可以设置在充电设备的表面。在一种可能的实现方式中，若充电设备的上表面用于放置待充电设备，则导声孔可以设置在充电设备的侧表面，以避免待充电设备遮挡导声孔，影响导声孔发射超声波。应注意，图5中以两个导声孔呈180度对称分布，本申请实施例中还可以将两个导声孔成90度部分或呈其他角度分布。For the first way: the ultrasonic generating unit can generate at least two ultrasonic waves with different frequencies, and the ultrasonic transmitting unit directly transmits at least two ultrasonic waves with different frequencies. FIG. 5 is a schematic structural diagram of another charging device provided by an embodiment of the present application. As shown in FIG. 5 , the charging device is provided with at least two sound guide holes, such as sound guide hole 1 and sound guide hole 2 . The sound guide hole may be a hole provided not to penetrate the charging device, and the sound guide hole may be provided on the surface of the charging device. In a possible implementation, if the upper surface of the charging device is used to place the device to be charged, the sound guide hole can be arranged on the side surface of the charging device to avoid the device to be charged blocking the sound guide hole and affecting the emission of the sound guide hole Ultrasound. It should be noted that in FIG. 5 , the two sound guide holes are symmetrically distributed at 180 degrees, and in the embodiment of the present application, the two sound guide holes may also be distributed at 90 degrees or at other angles.

本申请实施例中，导声孔可以和超声换能器一一对应，如充电设备可以包括超声换能器1和超声换能器2。超声换能器可以设置在充电设备的内部，且超声换能器1生成的超声波可以通过导声孔1发射，超声换能器2生成的超声波可以通过导声孔2发射。可选的，超声换能器可以设置在对应的导声孔中，也能够实现超声换能器通过对应的导声孔发射超声波，如超声换能器1设置在导声孔1中，超声换能器2设置在导声孔2中。如图5所示的充电设备中，超声换能器1和超声换能器2可以生成频率不同的超声波，且导声孔1可以发射一路超声波，导声孔2可以发射一路超声波，该两路超声波的频率不同。In the embodiment of the present application, the sound guide holes may correspond to the ultrasonic transducers one-to-one. For example, the charging device may include an ultrasonic transducer 1 and an ultrasonic transducer 2 . The ultrasonic transducer may be disposed inside the charging device, and the ultrasonic waves generated by the ultrasonic transducer 1 may be emitted through the sound guide hole 1 , and the ultrasonic waves generated by the ultrasonic transducer 2 may be emitted through the sound guide hole 2 . Optionally, the ultrasonic transducer can be arranged in the corresponding sound guide hole, or it can be realized that the ultrasonic transducer emits ultrasonic waves through the corresponding sound guide hole. For example, the ultrasonic transducer 1 is arranged in the sound guide hole 1, and the ultrasonic transducer The energy generator 2 is arranged in the sound guide hole 2 . In the charging device shown in FIG. 5 , the ultrasonic transducer 1 and the ultrasonic transducer 2 can generate ultrasonic waves with different frequencies, and the sound guide hole 1 can transmit one ultrasonic wave, and the sound guide hole 2 can transmit one ultrasonic wave. The frequency of ultrasound is different.

对于第二种方式：超声波生成单元能够生成一个超声波，超声波发射单元能够将该超声波变频为至少两个频率不同的超声波进行发射。图6为本申请实施例提供的另一种充电设备的结构示意图。如图6所示，在上述图4的基础上，本申请实施例中的超声波发射单元可以包括：超结构通道、第一发射单元和第二发射单元。其中，第一发射单元，用于发射至少一个超声波中的一路超声波。超结构通道，用于将一路超声波变频为频率不同另一路超声波。第二发射单元，用于发射另一路超声波。通俗来讲，超声波生成单元生成的一路超声波可以通过第一发射单元发射，该一路超声波经超结构通道变频后通过第二发射单元发射。图6中以一个超声波发射单元为例进行说明。For the second method: the ultrasonic generating unit can generate one ultrasonic wave, and the ultrasonic transmitting unit can convert the ultrasonic wave into at least two ultrasonic waves with different frequencies for transmission. FIG. 6 is a schematic structural diagram of another charging device according to an embodiment of the present application. As shown in FIG. 6 , on the basis of the foregoing FIG. 4 , the ultrasonic transmitting unit in the embodiment of the present application may include: a superstructure channel, a first transmitting unit, and a second transmitting unit. Wherein, the first transmitting unit is used to transmit one ultrasonic wave in the at least one ultrasonic wave. The superstructure channel is used to convert one ultrasonic wave into another ultrasonic wave with different frequency. The second transmitting unit is used to transmit another ultrasonic wave. Generally speaking, one ultrasonic wave generated by the ultrasonic generating unit can be transmitted through the first transmitting unit, and the ultrasonic wave is transmitted through the second transmitting unit after frequency conversion through the superstructure channel. FIG. 6 takes an ultrasonic transmitting unit as an example for illustration.

应理解，本申请实施例中的超结构通道为由超结构材料形成的通道，超结构通道用于传输超声波生成单元生成的超声波。超结构通道变频超声波的原理为：超声波在超结构通道中传输时，由于超结构通道中的超结构材料可以对超声波进行滤波，进而实现对超声波的变频。另外，根据超结构通道的长度以及超声结构通道中截面的不同，使用相同超结构材料的超结构通道过滤掉的超声波的频率也不同，进而实现对超声波的变频。本申请实施例中对超结构通道的形状、尺寸、截面，以及导声孔的形状、尺寸不做限制。其中，超结构材料可以为橡胶、塑料等，本申请实施例中可以通过对超结构通道的材料、截面、长度以及弯曲程度改变来实现超结构通道对超声波的变频。It should be understood that the superstructure channel in the embodiments of the present application is a channel formed of a superstructure material, and the superstructure channel is used to transmit the ultrasonic waves generated by the ultrasonic wave generating unit. The principle of the frequency-converted ultrasonic wave in the superstructure channel is: when the ultrasonic wave is transmitted in the superstructure channel, the superstructure material in the superstructure channel can filter the ultrasonic wave, thereby realizing the frequency conversion of the ultrasonic wave. In addition, according to the length of the superstructure channel and the cross section of the ultrasonic structure channel, the frequency of the ultrasonic wave filtered by the superstructure channel using the same superstructure material is also different, so as to realize the frequency conversion of the ultrasonic wave. In the embodiments of the present application, the shape, size, and cross-section of the superstructure channel, and the shape and size of the sound guide hole are not limited. The superstructure material may be rubber, plastic, etc. In the embodiment of the present application, the frequency conversion of the superstructure channel to ultrasonic waves may be realized by changing the material, cross-section, length and bending degree of the superstructure channel.

该第二种方式中，图7为本申请实施例提供的另一种充电设备的结构示意图。如图7所示，第一发射单元可以为导声孔1，第二发射单元可以为导声孔2。超结构通道连通导声孔1和导声孔2，超声换能器设置可以设置在导声孔1和超结构通道之间。超声换能器生成的一路超声波可以直接通过导声孔1发射，也可以通过超结构通道变频后通过导声孔2发射。In the second manner, FIG. 7 is a schematic structural diagram of another charging device provided by an embodiment of the present application. As shown in FIG. 7 , the first transmitting unit may be the sound guide hole 1 , and the second transmitting unit may be the sound guide hole 2 . The superstructure channel communicates with the sound guide hole 1 and the sound guide hole 2, and the ultrasonic transducer can be arranged between the sound guide hole 1 and the superstructure channel. One ultrasonic wave generated by the ultrasonic transducer can be transmitted directly through the sound guide hole 1, or can be transmitted through the sound guide hole 2 after frequency conversion through the superstructure channel.

图8为本申请实施例提供的另一种充电设备的结构示意图。如图8所示，与图7中所示的结构不同的是，超声换能器可以设置在超结构通道中，且超声换能器距离导声孔1和导声孔2的距离不同。基于超结构通道的变频原理，因为超声换能器距离导声孔1和导声孔2的距离不同，超声换能器生成的超声波经由超结构通道的过滤掉的超声波的频率可以不同。因此，超结构通道可以将超声换能器生成的一路超声波变频为频率不同的两路超声波，进而分别通过导声孔1和导声孔2发射。FIG. 8 is a schematic structural diagram of another charging device according to an embodiment of the present application. As shown in FIG. 8 , different from the structure shown in FIG. 7 , the ultrasonic transducer can be arranged in the superstructure channel, and the distances between the ultrasonic transducer and the sound guide hole 1 and the sound guide hole 2 are different. Based on the frequency conversion principle of the superstructure channel, because the distances of the ultrasonic transducer from the sound guide hole 1 and the sound guide hole 2 are different, the frequency of the ultrasonic wave filtered by the ultrasonic transducer generated by the ultrasonic wave through the superstructure channel can be different. Therefore, the superstructure channel can convert one ultrasonic wave generated by the ultrasonic transducer into two ultrasonic waves with different frequencies, and then transmit them through the sound guide hole 1 and the sound guide hole 2 respectively.

本申请实施例中，充电设备可以实时发射超声波，如通过充电设备中的超声波生成单元和超声波发射单元，实时发射至少两路超声波。本申请实施例中为了减少充电设备的耗电量，可以在充电设备为待充电设备充电时，开始发射超声波。其中，若充电设备在为待充电设备充电时开始发射超声波，则充电设备需要检测是否开始为待充电设备充电。In the embodiment of the present application, the charging device can transmit ultrasonic waves in real time, for example, through the ultrasonic generating unit and the ultrasonic transmitting unit in the charging device, at least two ultrasonic waves are transmitted in real time. In the embodiment of the present application, in order to reduce the power consumption of the charging device, the ultrasonic wave may be started to be emitted when the charging device is charging the device to be charged. Wherein, if the charging device starts to emit ultrasonic waves when charging the device to be charged, the charging device needs to detect whether to start charging the device to be charged.

本申请实施例中，充电设备检测开始为待充电设备充电的一种可能的实现方式为：充电设备中可以设置有传感器，传感器能够感应到充电设备上是否放置有待充电设备。如传感器可以为重力传感器，充电设备的上表面用于放置待充电设备，当重力传感器感应到充电设备的上表面放置有待充电设备时，可以确定充电设备开始为待充电设备充电。或者，传感器为距离感应器，该距离感应器能够检测到充电设备的预设距离范围内是否存在待充电设备，若距离感应器感应到充电设备的预设距离范围内存在待充电设备，则可以确定充电设备开始为待充电设备充电。In the embodiment of the present application, a possible implementation manner for the charging device to detect and start charging the device to be charged is as follows: the charging device may be provided with a sensor, and the sensor can sense whether the device to be charged is placed on the charging device. For example, the sensor can be a gravity sensor, and the upper surface of the charging device is used to place the device to be charged. When the gravity sensor senses that the device to be charged is placed on the upper surface of the charging device, it can be determined that the charging device starts to charge the device to be charged. Alternatively, the sensor is a distance sensor, and the distance sensor can detect whether there is a device to be charged within the preset distance range of the charging device. If the distance sensor senses that there is a device to be charged within the preset distance range of the charging device, you can Make sure the charging device starts charging the device to be charged.

基于上述图4-图8对本申请实施例中的充电设备的结构的说明，下面结合具体地实施例对本申请实施例的充电方法进行详细说明，应理解，本申请实施例中的充电方法应用在待充电设备中或待充电设备中的芯片中。下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例不再赘述。图9为本申请实施例提供的充电方法的一实施例的流程示意图。如图9所示，本申请实施例提供的充电方法可以包括：S901，接收来自充电设备的至少两路超声波，至少两路超声波中的任两路超声波的频率不同。S902，根据至少两路超声波，获取待充电设备与充电设备的相对位置，相对位置用于表征待充电设备中用于无线充电的接收线圈和充电设备中用于无线充电的发送线圈的对齐程度。S903，根据相对位置输出提示信息，提示信息用于指示调整待充电设备或充电设备的位置。Based on the description of the structure of the charging device in the embodiment of the present application based on the above-mentioned FIGS. 4-8 , the charging method in the embodiment of the present application will be described in detail below with reference to specific embodiments. It should be understood that the charging method in the embodiment of the present application is applied to In the device to be charged or in the chip in the device to be charged. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. FIG. 9 is a schematic flowchart of an embodiment of a charging method provided by an embodiment of the present application. As shown in FIG. 9 , the charging method provided by the embodiment of the present application may include: S901 , receiving at least two ultrasonic waves from a charging device, and any two ultrasonic waves in the at least two ultrasonic waves have different frequencies. S902 , obtain the relative position of the device to be charged and the charging device according to at least two ultrasonic waves, and the relative position is used to represent the alignment degree of the receiving coil used for wireless charging in the device to be charged and the transmitting coil used for wireless charging in the charging device. S903: Output prompt information according to the relative position, where the prompt information is used to instruct to adjust the position of the device to be charged or the charging device.

上述S901中，基于上述实施例对充电设备的描述，充电设备可以发射至少两路超声波，且至少两路超声波中的任两路超声波的频率不同。相应的，待充电设备可以接收到至少两路超声波。其中，待充电设备中可以设置有接收超声波的单元，如待充电设备中的麦克风(microphone，MIC)，麦克风又可以称为传声器或话筒。In the above S901, based on the description of the charging device in the above embodiment, the charging device can transmit at least two ultrasonic waves, and any two ultrasonic waves in the at least two ultrasonic waves have different frequencies. Correspondingly, the device to be charged can receive at least two ultrasonic waves. The device to be charged may be provided with a unit for receiving ultrasonic waves, such as a microphone (microphone, MIC) in the device to be charged, and the microphone may also be called a microphone or a microphone.

本申请实施例中，待充电设备可以实时检测超声波，进而在充电设备发射超声波时接收到至少两路超声波。本申请实施例中为了节省待充电设备的耗电量，待充电设备可以在开始充电时，启动麦克风，以接收来自充电设备的至少两路超声波。示例性的，充电设备可以在开始发射超声波时，向待充电设备发送开始消息，该开始消息用于指示充电设备开始发射超声波。当待充电设备接收到该开始消息后，可以启动麦克风，以接收来自充电设备的至少两路超声波。或者，本申请实施例中，待充电设备也可以检测接收线圈中是否有充电电流产生，若检测到有充电电流，则可以启动麦克风，以接收来自充电设备的至少两路超声波。其中，待充电设备检测充电电流的方式可以参照上述充电设备检测充电电流的相关描述。In the embodiment of the present application, the device to be charged can detect ultrasonic waves in real time, and then receive at least two ultrasonic waves when the charging device transmits ultrasonic waves. In the embodiment of the present application, in order to save the power consumption of the device to be charged, the device to be charged may activate the microphone when starting to charge, so as to receive at least two ultrasonic waves from the charging device. Exemplarily, when the charging device starts to transmit ultrasonic waves, it may send a start message to the device to be charged, where the start message is used to instruct the charging device to start transmitting ultrasonic waves. After the device to be charged receives the start message, the microphone can be activated to receive at least two ultrasonic waves from the charging device. Alternatively, in the embodiment of the present application, the device to be charged can also detect whether a charging current is generated in the receiving coil, and if a charging current is detected, the microphone can be activated to receive at least two ultrasonic waves from the charging device. Wherein, for the manner of detecting the charging current by the device to be charged, reference may be made to the relevant description of the above-mentioned charging device detecting the charging current.

上述S902中，待充电设备可以根据至少两路超声波，获取待充电设备与充电设备的相对位置，该相对位置可以表示待充电设备中用于无线充电的接收线圈与充电设备中的用于无线充电的发送线圈的相对位置。其中，待充电设备与充电设备的相对位置用于表征接收线圈和发送线圈的对齐程度。其中，若相对位置表征的接收线圈和发送线圈之间的距离越远，则接收线圈和发送线圈的对齐程度越差。In the above S902, the device to be charged can obtain the relative position of the device to be charged and the charging device according to at least two ultrasonic waves, and the relative position can represent the receiving coil used for wireless charging in the device to be charged and the device used for wireless charging in the charging device. the relative position of the transmit coil. Among them, the relative position of the device to be charged and the charging device is used to represent the alignment degree of the receiving coil and the transmitting coil. Wherein, if the distance between the receiving coil and the transmitting coil represented by the relative position is farther, the alignment degree of the receiving coil and the transmitting coil is worse.

因为至少两路超声波中的任两路超声波的频率不同，依据上述充电设备的结构说明，充电设备上发射不同频率的超声波的超声波发射单元是不同的，因此待充电设备根据接收到的至少两路超声波后，可以依据超声波定位原理，获取待充电设备与发射每路超声波的超声波发射单元之间的距离。其中，以ZC序列超声波为例，ZC序列超声波具有很好的循环自相关特性。充电设备发射的ZC序列超声波和待充电设备接收到的ZC序列超声波，除了超声波完全重合的位置(如波形完全重合的位置)之外，其他不重合的位置处二者的相关系数为0。相关系数可以表征充电设备发射的ZC序列超声波和待充电设备接收到的ZC序列超声波的相似性，是二者之间相对于时间的一个函数，该相关系数也可以称为“滑动点积”。本申请实施例中，待充电设备可以根据充电设备发射的ZC序列超声波和待充电设备接收到的ZC序列超声波的相关系数，计算出从发射充电设备ZC序列超声波至待充电设备接收ZC序列超声波的时延。待充电设备可以根据该时延和超声波的传输速度，得到待充电设备与发射每路超声波的超声波发射单元之间的距离。Because the frequencies of any two of the at least two ultrasonic waves are different, according to the structural description of the charging device, the ultrasonic transmitting units that emit ultrasonic waves of different frequencies are different. Therefore, the device to be charged is based on the received at least two ultrasonic waves. After the ultrasonic wave, the distance between the device to be charged and the ultrasonic transmitting unit that transmits each ultrasonic wave can be obtained according to the principle of ultrasonic positioning. Among them, taking ZC sequence ultrasound as an example, ZC sequence ultrasound has good cyclic autocorrelation characteristics. The correlation coefficient between the ZC sequence ultrasonic waves transmitted by the charging device and the ZC sequence ultrasonic waves received by the device to be charged is 0 except for the position where the ultrasonic waves completely overlap (such as the position where the waveforms completely overlap). The correlation coefficient can characterize the similarity between the ZC sequence ultrasonic waves emitted by the charging device and the ZC sequence ultrasonic waves received by the device to be charged, and is a function of time between them. The correlation coefficient can also be called "sliding dot product". In the embodiment of the present application, the device to be charged can calculate the difference between the transmission of the ZC sequence ultrasonic waves of the charging device and the reception of the ZC sequence ultrasonic waves by the device to be charged according to the correlation coefficient between the ZC sequence ultrasonic waves transmitted by the charging device and the ZC sequence ultrasonic waves received by the charging device. time delay. The device to be charged can obtain the distance between the device to be charged and the ultrasonic transmitting unit that transmits each ultrasonic wave according to the time delay and the transmission speed of the ultrasonic wave.

应理解，本申请实施例中，充电设备发射的不同频率的超声波是预先设置的，待充电设备中可以存储有不同频率的超声波的波形等相关信息。待充电设备接收到超声波后，可以将接收到的每路超声波进行解调，以获取不同频率的超声波。进一步的，待充电设备可以将解调得到的每路超声波和对应的充电设备发射的超声波(即待充电设备中预先存储的超声波)进行互相关，进而得到每路超声波和对应的充电设备发射的超声波的每个位置处的相关系数，以得到最大相关系数。本申请实施例中，单位相关系数可以表征的时延为1/96000s，也就是说，单位相关系数表征的距离为343/96000＝0.35mm。待充电设备可以根据每路超声波和对应的充电设备发射的超声波互相关后的最大相关系数，以及单位相关系数表征的距离，得到待充电设备和发射每路超声波的超声波发射单元之间的距离。示例性的，如待充电设备解调得到的一路超声波和对应的充电设备发射的超声波的最大相关系数为2，则待充电设备与充电设备上该路超声波的发射位置之间的距离为0.7mm。It should be understood that, in the embodiment of the present application, ultrasonic waves of different frequencies emitted by the charging device are preset, and the device to be charged may store relevant information such as waveforms of ultrasonic waves of different frequencies. After the charging device receives the ultrasonic waves, it can demodulate each received ultrasonic wave to obtain ultrasonic waves of different frequencies. Further, the device to be charged can correlate each ultrasonic wave obtained by demodulation with the ultrasonic wave emitted by the corresponding charging device (that is, the ultrasonic wave pre-stored in the device to be charged), and then obtain each ultrasonic wave and the ultrasonic wave emitted by the corresponding charging device. The correlation coefficient at each location of the ultrasound to get the maximum correlation coefficient. In the embodiment of the present application, the time delay that can be represented by the unit correlation coefficient is 1/96000s, that is, the distance represented by the unit correlation coefficient is 343/96000=0.35 mm. The device to be charged can obtain the distance between the device to be charged and the ultrasonic transmitting unit that transmits each ultrasonic wave according to the maximum correlation coefficient after each ultrasonic wave and the ultrasonic wave emitted by the corresponding charging device, and the distance represented by the unit correlation coefficient. Exemplarily, if the maximum correlation coefficient of one ultrasonic wave obtained by demodulation of the device to be charged and the ultrasonic wave emitted by the corresponding charging device is 2, then the distance between the device to be charged and the transmitting position of the ultrasonic wave on the charging device is 0.7 mm. .

示例性的，如上述图5所示，导声孔1发射频率为A的超声波，导声孔2发射频率为B的超声波。当待充电设备接收到频率为A的超声波和频率为B的超声波后，可以根据上述的超声波定位原理，确定待充电设备与发射频率为A的超声波的导声孔1之间的距离，以及待充电设备与发射频率为B的超声波的导声孔2之间的距离。若待充电设备上MIC的位置为位置C，则在确定位置C与导声孔1之间的距离，以及位置C与导声孔2之间的距离后，可以确定待充电设备和充电设备之间的相对位置。图10为本申请实施例提供的待充电设备和充电设备的相对位置的示意图一。如图10所示，如接收线圈和发送线圈的对齐时待充电设备上的MIC位于实线所在的位置C，位置C与导声孔1之间的距离为a1，位置C与导声孔2之间的距离a2。而当前待充电设备上的MIC位于虚线所在的位置C'，此时位置C'与导声孔1之间的距离为a1'，位置C'与导声孔2之间的距离a2'，则可以根据a1'和a2'，以及a1和a2，可以确定充电设备中的发射线圈和待充电设备中的接收线圈之间的相对位置，即待充电设备和充电设备之间的相对位置。Exemplarily, as shown in FIG. 5 above, the sound guide hole 1 transmits an ultrasonic wave with a frequency of A, and the sound guide hole 2 transmits an ultrasonic wave with a frequency of B. When the device to be charged receives the ultrasonic wave with frequency A and the ultrasonic wave with frequency B, the distance between the device to be charged and the sound guide hole 1 transmitting the ultrasonic wave with frequency A can be determined according to the above-mentioned ultrasonic positioning principle, and the distance to be The distance between the charging device and the sound guide hole 2 that emits ultrasonic waves with frequency B. If the position of the MIC on the device to be charged is position C, after determining the distance between position C and sound guide hole 1, and the distance between position C and sound guide hole 2, the distance between the device to be charged and the charging device can be determined. relative position between. FIG. 10 is a schematic diagram 1 of the relative positions of the device to be charged and the charging device according to an embodiment of the present application. As shown in Figure 10, when the receiving coil and the transmitting coil are aligned, the MIC on the device to be charged is located at position C where the solid line is located, the distance between position C and sound guide hole 1 is a1, and the distance between position C and sound guide hole 2 the distance between a2. The MIC on the current device to be charged is located at the position C' where the dotted line is located. At this time, the distance between the position C' and the sound guide hole 1 is a1', and the distance between the position C' and the sound guide hole 2 is a2', then According to a1' and a2', as well as a1 and a2, the relative position between the transmitting coil in the charging device and the receiving coil in the device to be charged can be determined, that is, the relative position between the device to be charged and the charging device.

上述S903中，本申请实施例中，待充电设备可以根据相对位置输出提示信息。其中，提示信息用于指示调整待充电设备或充电设备的位置。应理解，本申请实施例中，当相对位置表征接收线圈和发送线圈未对齐时，待充电设备可以输出提示信息，进而提醒调整待充电设备或充电设备的位置，使得接收线圈和发送线圈对齐。In the above S903, in this embodiment of the present application, the device to be charged may output prompt information according to the relative position. The prompt information is used to instruct to adjust the position of the device to be charged or the charging device. It should be understood that, in the embodiment of the present application, when the relative position indicates that the receiving coil and the transmitting coil are not aligned, the device to be charged can output prompt information, and then remind to adjust the position of the device to be charged or the charging device, so that the receiving coil and the transmitting coil are aligned.

本申请实施例中，待充电设备输出提示信息的一种可能的实现方式为：待充电设备在图像用户界面上显示提示信息。图11为待充电设备的一种界面示意图。如图11所示，待充电设备上可以显示“请移动设备以进行对齐”的提示信息。其中，为了使得能够快速移动待充电设备使得接收线圈和发送线圈对齐，本申请实施例中的提示信息中还可以包括调整方向和调整距离。如上述图10所示，调整方向可以为位置C'朝向位置C的方向，调整距离可以为位置C'与位置C之间的距离。如图11所示，本申请实施例中待充电设备可以显示调整方向和调整距离。如待充电设备可以在图像用户界面上以箭头的方式显示调整方向和调整距离，以提醒用户沿着箭头的方式调整待充电设备的位置。其中，箭头的方向即为调整方向，箭头的起始位置至终止位置之间的距离为调整距离。可选地，该距离可以数字表示在界面上。In the embodiment of the present application, a possible implementation manner for the device to be charged to output the prompt information is: the device to be charged displays the prompt information on the image user interface. FIG. 11 is a schematic diagram of an interface of a device to be charged. As shown in Figure 11, a prompt message "Please move the device for alignment" may be displayed on the device to be charged. Wherein, in order to enable the device to be charged to be moved quickly so that the receiving coil and the transmitting coil are aligned, the prompt information in this embodiment of the present application may further include adjusting the direction and adjusting the distance. As shown in FIG. 10 , the adjustment direction may be the direction in which the position C′ faces the position C, and the adjustment distance may be the distance between the position C′ and the position C. As shown in FIG. As shown in FIG. 11 , the device to be charged in the embodiment of the present application can display the adjustment direction and the adjustment distance. For example, the device to be charged may display the adjustment direction and the adjustment distance in the form of arrows on the graphical user interface, so as to remind the user to adjust the position of the device to be charged along the way of the arrows. The direction of the arrow is the adjustment direction, and the distance from the start position to the end position of the arrow is the adjustment distance. Optionally, the distance can be represented numerically on the interface.

在一种可能的应用场景中，若待充电设备为电动汽车，则电动汽车输出提示信息的方式可以为：电动汽车将调整方向和调整距离发送给充电设备或者承载待充电设备的移动台，使得充电设备或者移动台根据调整方向和调整距离进行移动，进而使得电动汽车中的接收线圈和充电设备中的发送线圈对齐。In a possible application scenario, if the device to be charged is an electric vehicle, the manner in which the electric vehicle outputs prompt information may be: the electric vehicle sends the adjustment direction and the adjusted distance to the charging device or the mobile station carrying the device to be charged, so that the The charging device or the mobile station moves according to the adjustment direction and the adjustment distance, so that the receiving coil in the electric vehicle and the transmitting coil in the charging device are aligned.

应注意的是，本申请实施例中，当相对位置表征接收线圈和发送线圈对齐时，可以以最大充电效率为待充电设备充电。在该种情况下，待充电设备可以输出对齐信息。其中，待充电设备可以在手机的图像用户界面上显示对齐信息，如显示“正在以最大电流为您充电”。或者，待充电设备还可以输出音频信息，如“设备已对齐”。It should be noted that, in the embodiment of the present application, when the relative positions indicate that the receiving coil and the transmitting coil are aligned, the device to be charged can be charged with the maximum charging efficiency. In this case, the device to be charged can output alignment information. Among them, the device to be charged can display alignment information on the graphical user interface of the mobile phone, such as displaying "charging you at the maximum current". Alternatively, the device to be charged can also output audio information, such as "device is aligned."

本申请实施例提供的充电方法中，待充电设备可以根据超声波定位的原理，依据接收到的频率不同的超声波，确定待充电设备与充电设备的相对位置，也就是待充电设备中接收线圈的与充电设备中的发送线圈的相对位置，进而在接收线圈和发送线圈未对齐时，提醒调整待充电设备或充电设备的位置，进而使得接收线圈和发送线圈尽量对齐，以达到以良好充电效率为待充电设备进行充电的目的。In the charging method provided by the embodiment of the present application, the device to be charged can determine the relative position of the device to be charged and the charging device according to the principle of ultrasonic positioning and received ultrasonic waves with different frequencies, that is, the relative position of the receiving coil in the device to be charged and the charging device can be determined. The relative position of the sending coil in the charging device, and when the receiving coil and the sending coil are not aligned, remind to adjust the position of the device to be charged or the charging device, so as to align the receiving coil and the sending coil as much as possible to achieve good charging efficiency. The purpose of charging equipment for charging.

在上述实施例中，以待充电设备上用于接收超声波的位置(MIC的位置)是一个进行说明。图12为本申请实施例提供的待充电设备和充电设备的相对位置的示意图二。如图12所示，虽然采用一个MIC的位置能够获取充电设备和待充电设备的相对位置。但是，如待充电设备获取位置C与导声孔1、导声孔2之间的距离时，位置C存在如图12中所示A、B两种情况，因此采用待充电设备上的一个MIC的位置虽然能够获取待充电设备和充电设备的相对位置，但存在获取的相对位置的准确性低的问题。因此本申请实施例中通过在待充电设备中设置至少两个用于接收超声波的位置，如至少两个MIC，能够实现准确确定充电设备和待充电设备的相对位置。图13为本申请实施例提供的充电方法的另一实施例的流程示意图。如图13所示，本申请实施例提供的充电方法可以包括：S1301，接收来自充电设备的至少两路超声波，至少两路超声波中的任两路超声波的频率不同。S1302，根据至少两路超声波，获取待充电设备的至少两个部分与充电设备上至少两路超声波中每路超声波的发射位置之间的距离。S1303，根据待充电设备的至少两个部分与每路超声波的发射位置之间的距离，获取充电设备与待充电设备的相对位置。S1304，根据相对位置输出提示信息，提示信息用于指示调整待充电设备或充电设备的位置。In the above embodiment, the position on the device to be charged for receiving the ultrasonic wave (the position of the MIC) is one for description. FIG. 12 is a second schematic diagram of the relative positions of a device to be charged and a charging device according to an embodiment of the present application. As shown in Figure 12, although the position of one MIC can be used to obtain the relative position of the charging device and the device to be charged. However, when the device to be charged obtains the distance between the position C and the sound guide hole 1 and the sound guide hole 2, there are two cases of A and B in the position C as shown in Figure 12, so a MIC on the device to be charged is used. Although the relative position of the device to be charged and the charging device can be obtained, there is a problem that the accuracy of the relative position obtained is low. Therefore, in the embodiment of the present application, by setting at least two positions for receiving ultrasonic waves in the device to be charged, such as at least two MICs, the relative positions of the charging device and the device to be charged can be accurately determined. FIG. 13 is a schematic flowchart of another embodiment of the charging method provided by the embodiment of the present application. As shown in FIG. 13 , the charging method provided by the embodiment of the present application may include: S1301 , receiving at least two ultrasonic waves from a charging device, and any two ultrasonic waves in the at least two ultrasonic waves have different frequencies. S1302, according to the at least two ultrasonic waves, obtain the distance between at least two parts of the device to be charged and the transmitting position of each ultrasonic wave in the at least two ultrasonic waves on the charging device. S1303, according to the distance between at least two parts of the device to be charged and the transmitting position of each ultrasonic wave, obtain the relative position of the charging device and the device to be charged. S1304, output prompt information according to the relative position, where the prompt information is used to instruct to adjust the position of the device to be charged or the charging device.

本申请实施例中的S1301、S1304中的实施方式可以参照上述实施例中S901、S903中的相关描述，在此不做赘述。For the implementation manners of S1301 and S1304 in the embodiments of the present application, reference may be made to the relevant descriptions of S901 and S903 in the foregoing embodiments, and details are not repeated here.

上述S1302中，待充电设备的至少两个部分可以为待充电设备上设置接收超声波的位置，如MIC设置的位置。本申请实施例中，因为至少两个MIC均能够接收到来自充电设备的至少两路超声波，则待充电设备根据超声波定位原理，能够获取每个待充电设备的至少两个部分与充电设备上至少两路超声波中每路超声波的发射位置之间的距离。In the above S1302, at least two parts of the device to be charged may be a location on the device to be charged for receiving ultrasonic waves, such as a location where the MIC is set. In the embodiment of the present application, because at least two MICs can receive at least two ultrasonic waves from the charging device, the device to be charged can obtain at least two parts of each device to be charged and at least two parts of each device to be charged according to the principle of ultrasonic positioning. The distance between the emission positions of each ultrasonic wave in the two ultrasonic waves.

示例性的，如待充电设备上设置有MIC1和MIC2，MIC1和MIC2均能够接收到导声孔1发射的频率为A的超声波，以及导声孔2发射的频率为B的超声波，进而待充电设备能够根据超声波定位原理，获取MIC1和导声孔1之间的距离d ₁₁、MIC1和导声孔2之间的距离d ₁₂、MIC2和导声孔2之间的距离d ₂₁、MIC2和导声孔2之间的距离d ₂₂。应理解，本申请实施例中根据超声波定位原理获取每个MIC与每个导声孔之间的距离的方式可以参照上述实施例中的超声波定位原理的相关描述。上述S1303中，本申请实施例中可以依据如上图10所示的方式，获取充电设备与待充电设备的相对位置。因为上述图10中的方式是以当前MIC与每个导声孔的距离，以及接收线圈和发送线圈对齐时MIC与每个导声孔的距离，获取充电设备与待充电设备的相对位置。因为距离没有方向性，因此上述实施例中获取的相对位置的准确性较低。因此，为了提高充电设备与待充电设备的相对位置的准确性，本申请实施例中可以采用双曲线定位原理，确定充电设备与待充电设备的相对位置，具体过程如下所示： Exemplarily, if the device to be charged is provided with MIC1 and MIC2, both MIC1 and MIC2 can receive the ultrasonic wave with frequency A emitted by the sound guide hole 1, and the ultrasonic wave with frequency B emitted by the sound guide hole 2, and then the device is to be charged. The device can obtain the distance d ₁₁ between the MIC1 and the sound guide hole 1, the distance d ₁₂ _{between the MIC1 and the sound guide hole 2, the distance d 21} between the MIC2 and the sound guide hole 2, the distance d 21 between the MIC2 and the sound guide hole 2, and the _{The distance d 22} between the sound holes 2 . It should be understood that, for the manner of obtaining the distance between each MIC and each sound guide hole according to the principle of ultrasonic positioning in the embodiment of the present application, reference may be made to the relevant description of the principle of ultrasonic positioning in the foregoing embodiments. In the above S1303, in this embodiment of the present application, the relative positions of the charging device and the device to be charged may be acquired according to the manner shown in FIG. 10 above. Because the above method in FIG. 10 is based on the distance between the current MIC and each sound guide hole, and the distance between the MIC and each sound guide hole when the receiving coil and the transmitting coil are aligned, the relative position of the charging device and the device to be charged is obtained. Because the distance has no directionality, the relative position obtained in the above-mentioned embodiment has low accuracy. Therefore, in order to improve the accuracy of the relative position of the charging device and the device to be charged, the hyperbolic positioning principle can be used in the embodiment of the present application to determine the relative position of the charging device and the device to be charged. The specific process is as follows:

示例性的，待充电设备获取d ₁₁、d ₁₂、d ₂₁和d ₂₂后，可以计算得到四个距离差，即：δ1＝d ₁₁-d ₁₂，δ2＝d ₂₁-d ₂₂，δ3＝d ₁₁-d ₂₁，δ4＝d ₁₂-d ₂₂。 Exemplarily, after the device to be charged acquires d ₁₁ , d ₁₂ , d ₂₁ and d ₂₂ , four distance differences can be calculated, namely: δ1=d ₁₁ -d ₁₂ , δ2=d ₂₁ -d ₂₂ , δ3=d ₁₁ -d ₂₁ , δ4=d ₁₂ -d ₂₂ .

进而可以计算得到如下公式一至公式三所示的关系：Then, the relationship shown in the following formulas 1 to 3 can be calculated:

d ₁₂＝d ₁₁-δ ₁ 公式一 d ₁₂ =d ₁₁ -δ ₁ Formula 1

d ₂₁＝d ₁₁-δ ₃ 公式二 d ₂₁ =d ₁₁ -δ ₃ Formula 2

d ₂₂＝d ₁₁-δ ₁-δ ₄＝d ₁₁-δ ₂-δ ₃ 公式三 d ₂₂ =d ₁₁ -δ ₁ -δ ₄ =d ₁₁ -δ ₂ -δ ₃ Formula 3

图14为本申请实施例提供的待充电设备和充电设备的相对位置的示意图三。如图14所示，导声孔1和导声孔2的位置是预先确定的，MIC1和MIC2的位置是预先确定的。假设导声孔1和导声孔2在充电设备的坐标系下的坐标分别为(-c，0)、(c，0)，则导声孔1和导声孔2之间的距离为2c，假设MIC1和MIC2之间的距离为D，假设MIC1在充电设备的坐标系下的当前坐标为(x ₁，y ₁)，MIC2在充电设备的坐标系下的当前坐标为(x ₂，y ₂)，则存在如下公式四至公式八中的关系： FIG. 14 is a third schematic diagram of the relative positions of the device to be charged and the charging device according to an embodiment of the present application. As shown in FIG. 14 , the positions of the sound guide hole 1 and the sound guide hole 2 are predetermined, and the positions of the MIC1 and the MIC2 are predetermined. Assuming that the coordinates of the sound guide hole 1 and the sound guide hole 2 in the coordinate system of the charging device are (-c, 0) and (c, 0) respectively, the distance between the sound guide hole 1 and the sound guide hole 2 is 2c , assuming that the distance between MIC1 and MIC2 is D, assuming that the current coordinates of MIC1 in the coordinate system of the charging device are (x ₁ , y ₁ ), and the current coordinates of MIC2 in the coordinate system of the charging device are (x ₂ , y ) ₂ ), then there are the following relationships in formulas 4 to 8:

(x ₁-x ₂) ²+(y ₁-y ₂) ²＝D ² 公式八 (x ₁ -x ₂ ) ² +(y ₁ -y ₂ ) ² =D ² Formula 8

上述公式四至公式八中，c、D、d ₁₁和δ ₃是已知的，存在四个未知数，因此通过上述5个公式中的任意四个公式，即可求解x ₁，y ₁，x ₂，y ₂。 In the above formulas 4 to 8, c, D, d ₁₁ and δ ₃ are known, and there are four unknowns, so x ₁ , y ₁ , x _{2 can be solved by any four of the above 5 formulas} , y ₂ .

本申请实施例中，假设在接收线圈和发送线圈对齐时待充电设备的MIC1和MIC2在充电设备的坐标系下的坐标分别为(x ₁₀，y ₁₀)和(x ₂₀，y ₂₀)，则在得到待充电设备的两个MIC在充电设备的坐标系下的坐标(x ₁，y ₁)和(x ₂，y ₂)后，可以计算接收线圈的中心位置和发送线圈的中心位置之间的偏差距离如下公式九至公式十二所示： In the embodiment of the present application, it is assumed that the coordinates of MIC1 and MIC2 of the device to be charged in the coordinate system of the charging device are respectively (x ₁₀ , y ₁₀ ) and (x ₂₀ , y ₂₀ ) when the receiving coil and the transmitting coil are aligned, then _{After obtaining the coordinates (x 1} , y ₁ ) and (x ₂ , y ₂ ) of the two MICs of the device to be charged in the coordinate system of the charging device, the distance between the center position of the receiving coil and the center position of the transmitting coil can be calculated The deviation distance of , is shown in Equation 9 to Equation 12 below:

Δx ₁＝x ₁₀-x ₁ 公式九 Δx ₁ =x ₁₀ -x ₁ Formula 9

Δx ₂＝x ₂₀-x ₂ 公式十 Δx ₂ =x ₂₀ -x ₂ Formula ten

Δy ₁＝y ₁₀-y ₁ 公式十一 Δy ₁ =y ₁₀ -y ₁ Formula Eleven

Δy ₂＝y ₂₀-y ₂ 公式十二 Δy ₂ =y ₂₀ -y ₂ Formula 12

通过公式九至公式十二所示，本申请实施例中待充电设备可以根据横坐标差值的均值，以及纵坐标差值的均值确定需要移动的距离如下公式十三和公式十四所示：As shown in Formula 9 to Formula 12, the device to be charged in the embodiment of the present application can determine the distance to be moved according to the average value of the difference in the abscissa and the average value of the difference in the ordinate, as shown in the following formulas 13 and 14:

根据如上公式十三和公式十四，本申请实施例中可以将ΔX和ΔY作为提示信息，如上图11所示，以箭头开始的位置为圆心，箭头的终止位置在充电设备的坐标系下的坐标为(ΔX，ΔY)。According to the above formula 13 and formula 14, ΔX and ΔY can be used as prompt information in this embodiment of the present application. As shown in Figure 11 above, the starting position of the arrow is taken as the center of the circle, and the ending position of the arrow is in the coordinate system of the charging device. The coordinates are (ΔX, ΔY).

图15为本申请实施例提供的待充电设备和充电设备的相对位置的示意图四。如图15所示，当待充电设备上设置有三个MIC，如MIC1、MIC2和MIC3时，本申请实施例中可以根据每个MIC与充电设备上发射超声波的导声孔之间的距离、两个导声孔的坐标、三个MIC之间两两MIC之间的距离，依据双曲线定位原理，获取待充电设备和充电设备的相对位置。FIG. 15 is a fourth schematic diagram of the relative positions of the device to be charged and the charging device according to an embodiment of the present application. As shown in FIG. 15 , when three MICs, such as MIC1, MIC2 and MIC3, are provided on the device to be charged, in this embodiment of the present application, the distance between each MIC and the sound guide hole for emitting ultrasonic waves on the charging device, the distance between the two The coordinates of each sound guide hole and the distance between two MICs between three MICs are based on the principle of hyperbolic positioning to obtain the relative positions of the device to be charged and the charging device.

本申请实施例中通过待充电设备中设置的至少两个用于接收超声波的位置，能够达到准确定位待充电设备的位置的目的，进而能够提高获取充电设备和待充电设备的相对位置的准确性。In the embodiment of the present application, the purpose of accurately locating the position of the device to be charged can be achieved by at least two positions for receiving ultrasonic waves set in the device to be charged, thereby improving the accuracy of obtaining the relative positions of the charging device and the device to be charged .

图16为本申请实施例提供的电子设备的一种结构示意图。该电子设备为上述实施例中的待充电设备，也可以为应用于待充电设备中的芯片。该电子设备用于执行上述方法实施例中待充电设备的动作。如图16所示，该电子设备1600可以包括：检测单元1601、处理单元1602和输出单元1603。其中，检测单元1601，用于检测超声波，以接收来自充电设备的至少两路超声波，至少两路超声波中的任两路超声波的频率不同。处理单元1602，用于根据至少两路超声波，获取待充电设备与充电设备的相对位置，相对位置用于表征待充电设备中用于无线充电的接收线圈和充电设备中用于无线充电的发送线圈的对齐程度。输出单元1603，用于根据相对位置输出提示信息，提示信息用于指示调整待充电设备或充电设备的位置。FIG. 16 is a schematic structural diagram of an electronic device provided by an embodiment of the present application. The electronic device is the device to be charged in the above embodiment, and may also be a chip applied to the device to be charged. The electronic device is configured to perform the actions of the device to be charged in the above method embodiments. As shown in FIG. 16 , the electronic device 1600 may include: a detection unit 1601 , a processing unit 1602 and an output unit 1603 . The detection unit 1601 is used for detecting ultrasonic waves to receive at least two ultrasonic waves from the charging device, and any two ultrasonic waves in the at least two ultrasonic waves have different frequencies. The processing unit 1602 is configured to obtain the relative position of the device to be charged and the charging device according to at least two ultrasonic waves, and the relative position is used to characterize the receiving coil used for wireless charging in the device to be charged and the transmitting coil used for wireless charging in the charging device degree of alignment. The output unit 1603 is configured to output prompt information according to the relative position, where the prompt information is used to instruct to adjust the position of the device to be charged or the charging device.

在一种可能的实现方式中，处理单元1602，具体用于根据至少两路超声波，获取待充电设备的至少两个部分与充电设备上至少两路超声波中每路超声波的发射位置之间的距离，且根据待充电设备的至少两个部分与每路超声波的发射位置之间的距离，获取充电设备与待充电设备的相对位置。In a possible implementation manner, the processing unit 1602 is specifically configured to obtain the distance between at least two parts of the device to be charged and the transmitting position of each ultrasonic wave in the at least two ultrasonic waves on the charging device according to the at least two ultrasonic waves , and obtain the relative position of the charging device and the device to be charged according to the distance between at least two parts of the device to be charged and the transmitting position of each ultrasonic wave.

在一种可能的实现方式中，输出单元1603，具体用于在图像用户界面上显示提示信息。In a possible implementation manner, the output unit 1603 is specifically configured to display prompt information on an image user interface.

需要说明的是，上述处理单元可以以软件通过处理元件调用的形式实现；也可以以硬件的形式实现。例如，处理单元可以为单独设立的处理元件，也可以集成在上述装置的某一个芯片中实现，此外，也可以以程序代码的形式存储于上述装置的存储器中，由上述装置的某一个处理元件调用并执行以上处理模块的功能。此外上述单元全部或部分可以集成在一起，也可以独立实现。这里的处理元件可以是一种集成电路，具有信号的处理能力。在实现过程中，上述方法的各步骤或以上各个模块可以通过处理器元件中的硬件的集成逻辑电路或者软件形式的指令完成。例如，以上这些单元可以是被配置成实施以上方法的一个或多个集成电路，例如：一个或多个专用集成电路(application specific integrated circuit，ASIC)，或，一个或多个微处理器(digital signal processor，DSP)，或，一个或者多个现场可编程门阵列(field programmable gate array，FPGA)等。再如，当以上某个模块通过处理元件调度程序代码的形式实现时，该处理元件可以是通用处理器，例如中央处理器(central processing unit，CPU)或其它可以调用程序代码的处理器。再如，这些模块可以集成在一起，以片上***(system-on-a-chip，SOC)的形式实现。It should be noted that, the above-mentioned processing unit may be implemented in the form of software calling through processing elements; it may also be implemented in the form of hardware. For example, the processing unit may be a separately established processing element, or it may be integrated into a certain chip of the above-mentioned apparatus to realize, in addition, it may also be stored in the memory of the above-mentioned apparatus in the form of program code, and a certain processing element of the above-mentioned apparatus may be used for the processing unit. Call and execute the function of the above processing module. In addition, all or part of the above-mentioned units can be integrated together, and can also be implemented independently. The processing element here may be an integrated circuit with signal processing capability. In the implementation process, each step of the above-mentioned method or each of the above-mentioned modules can be completed by an integrated logic circuit of hardware in the processor element or an instruction in the form of software. For example, the above units may be one or more integrated circuits configured to implement the above methods, such as: one or more application specific integrated circuits (ASIC), or one or more microprocessors (digital) signal processor, DSP), or, one or more field programmable gate arrays (field programmable gate array, FPGA), etc. For another example, when one of the above modules is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a central processing unit (central processing unit, CPU) or other processors that can call program codes. For another example, these modules can be integrated together and implemented in the form of a system-on-a-chip (SOC).

图17为本申请实施例提供的电子设备的另一种结构示意图。图17所示的电子设备可以为上述实施例中的待充电设备。如图17所示，该电子设备可以包括：处理器1701、存储器1702；存储器1702可能包含高速随机存取存储器(random-access memory，RAM)，也可能还包括非易失性存储器(non-volatile memory，NVM)，例如至少一个磁盘存储器，存储器1702中可以存储各种指令，以用于完成各种处理功能以及实现本申请的方法步骤。可选的，本申请涉及的电子设备还可以包括：收发器1703、电源1704、通信总线1705、通信端口1706以及显示器1707。收发器1703可以耦合至处理器1701，处理器1701可以控制收发器1703实现与其他电子设备之间信息的收发。通信总线1705用于实现元件之间的通信连接。显示器1707用于显示电子设备的用户界面。上述通信端口1706用于实现电子设备与其他外设之间进行连接通信。在本申请实施例中，上述存储器1702用于存储计算机可执行程序代码，程序代码包括指令；当处理器1701执行指令时，指令使电子设备的处理器1701执行上述方法实施例中电子设备的处理动作，使收发器1703执行上述方法实施例中电子设备的收发动作，其实现原理和技术效果类似，在此不再赘述。FIG. 17 is another schematic structural diagram of an electronic device provided by an embodiment of the present application. The electronic device shown in FIG. 17 may be the device to be charged in the above embodiment. As shown in FIG. 17 , the electronic device may include: a processor 1701 and a memory 1702; the memory 1702 may include a high-speed random-access memory (RAM), and may also include a non-volatile memory (non-volatile memory) memory, NVM), such as at least one disk storage, various instructions may be stored in the memory 1702 for performing various processing functions and implementing the method steps of the present application. Optionally, the electronic device involved in this application may further include: a transceiver 1703 , a power supply 1704 , a communication bus 1705 , a communication port 1706 and a display 1707 . The transceiver 1703 can be coupled to the processor 1701, and the processor 1701 can control the transceiver 1703 to realize the sending and receiving of information with other electronic devices. A communication bus 1705 is used to enable communication connections between elements. The display 1707 is used to display the user interface of the electronic device. The above-mentioned communication port 1706 is used to implement connection and communication between the electronic device and other peripheral devices. In this embodiment of the present application, the above-mentioned memory 1702 is used to store computer-executable program codes, and the program codes include instructions; when the processor 1701 executes the instructions, the instructions cause the processor 1701 of the electronic device to perform the processing of the electronic device in the foregoing method embodiments. operation, so that the transceiver 1703 performs the sending and receiving operation of the electronic device in the above method embodiments, the implementation principle and technical effect thereof are similar, and are not repeated here.

在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行计算机程序指令时，全部或部分地产生按照本申请实施例的流程或功能。计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输。计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。可用介质可以是磁性介质，(例如，软盘、硬盘、磁带)、光介质(例如，DVD)、或者半导体介质(例如固态硬盘Solid State Disk(SSD))等。In the above-mentioned embodiments, it may be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented in software, it can be implemented in whole or in part in the form of a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the procedures or functions according to the embodiments of the present application are generated in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable device. Computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium. A computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, a data center, or the like that includes an integration of one or more available media. Useful media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVD), or semiconductor media (eg, Solid State Disk (SSD)), among others.

本文中的术语“多个”是指两个或两个以上。本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系；在公式中，字符“/”，表示前后关联对象是一种“相除”的关系。The term "plurality" as used herein refers to two or more. The term "and/or" in this document is only an association relationship to describe the associated objects, indicating that there can be three kinds of relationships, for example, A and/or B, which can mean that A exists alone, A and B exist at the same time, and they exist independently B these three cases. In addition, the character "/" in this article generally indicates that the related objects before and after are an "or" relationship; in the formula, the character "/" indicates that the related objects are a "division" relationship.

可以理解的是，在本申请的实施例中涉及的各种数字编号仅为描述方便进行的区分，并不用来限制本申请的实施例的范围。可以理解的是，在本申请的实施例中，上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请的实施例的实施过程构成任何限定。以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。It can be understood that, the various numbers and numbers involved in the embodiments of the present application are only for the convenience of description, and are not used to limit the scope of the embodiments of the present application. It can be understood that, in the embodiments of the present application, the size of the sequence numbers of the above-mentioned processes does not imply the order of execution, and the execution order of each process should be determined by its functions and internal logic, rather than the implementation of the present application. The implementation of the examples constitutes no limitation. The above are only specific embodiments of the present application, but the protection scope of the present application is not limited to this. should be covered within the scope of protection of this application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

一种充电方法，其特征在于，包括：A charging method, comprising:

接收来自充电设备的至少两路超声波，所述至少两路超声波中的任两路超声波的频率不同；Receive at least two ultrasonic waves from the charging device, and the frequencies of any two ultrasonic waves in the at least two ultrasonic waves are different;

根据所述至少两路超声波，获取待充电设备与所述充电设备的相对位置，所述相对位置用于表征所述待充电设备中用于无线充电的接收线圈和所述充电设备中用于所述无线充电的发送线圈的对齐程度；According to the at least two ultrasonic waves, the relative position of the device to be charged and the charging device is obtained, and the relative position is used to characterize the receiving coil used for wireless charging in the device to be charged and the charging device used in the charging device. The alignment degree of the sending coil of the wireless charging;

根据所述相对位置输出提示信息，所述提示信息用于指示调整所述待充电设备或所述充电设备的位置。According to the relative position, prompt information is output, where the prompt information is used to instruct to adjust the position of the device to be charged or the charging device.
根据权利要求1所述的方法，其特征在于，所述根据所述至少两路超声波，获取待充电设备与所述充电设备的相对位置，包括：The method according to claim 1, wherein the obtaining the relative position of the device to be charged and the charging device according to the at least two ultrasonic waves comprises:

根据所述至少两路超声波，获取所述待充电设备的至少两个部分与所述充电设备上所述至少两路超声波中每路超声波的发射位置之间的距离；According to the at least two ultrasonic waves, obtain the distance between at least two parts of the device to be charged and the transmitting position of each ultrasonic wave in the at least two ultrasonic waves on the charging device;

根据所述待充电设备的至少两个部分与所述每路超声波的发射位置之间的距离，获取所述充电设备与所述待充电设备的相对位置。The relative positions of the charging device and the device to be charged are acquired according to the distance between at least two parts of the device to be charged and the transmitting position of each ultrasonic wave.
根据权利要求1或2所述的方法，其特征在于，所述提示信息包括：调整方向和调整距离。The method according to claim 1 or 2, wherein the prompt information includes: adjusting the direction and adjusting the distance.
根据权利要求1-3中任一项所述的方法，其特征在于，所述输出所述提示信息，包括：The method according to any one of claims 1-3, wherein the outputting the prompt information comprises:

在图像用户界面上显示所述提示信息。The prompt information is displayed on the graphical user interface.
一种充电设备，其特征在于，包括：无线充电单元、超声波生成单元和至少两个超声波发射单元；A charging device, comprising: a wireless charging unit, an ultrasonic generating unit and at least two ultrasonic transmitting units;

所述无线充电单元，用于为待充电设备进行无线充电；The wireless charging unit is used to wirelessly charge the device to be charged;

所述超声波生成单元，用于生成至少一个超声波；the ultrasonic wave generating unit for generating at least one ultrasonic wave;

所述超声波发射单元，用于基于所述至少一个超声波发射至少两路超声波，所述至少两路超声波中任两路超声波的频率不同。The ultrasonic wave transmitting unit is used for transmitting at least two ultrasonic waves based on the at least one ultrasonic wave, and the frequencies of any two ultrasonic waves in the at least two ultrasonic waves are different.
根据权利要求5所述的充电设备，其特征在于，所述超声波发射单元包括：超结构通道、第一发射单元和第二发射单元；The charging device according to claim 5, wherein the ultrasonic transmitting unit comprises: a superstructure channel, a first transmitting unit and a second transmitting unit;

所述第一发射单元，用于发射所述至少一个超声波中的一路超声波；the first transmitting unit, configured to transmit one ultrasonic wave in the at least one ultrasonic wave;

所述超结构通道，用于将所述一路超声波变频为频率不同另一路超声波；The superstructure channel is used to convert the one ultrasonic wave into another ultrasonic wave with a different frequency;

所述第二发射单元，用于发射所述另一路超声波。The second transmitting unit is used for transmitting the other ultrasonic wave.
一种电子设备，其特征在于，包括：An electronic device, comprising:

检测单元，用于检测超声波，以接收来自充电设备的至少两路超声波，所述至少两路超声波中的任两路超声波的频率不同；a detection unit, configured to detect ultrasonic waves to receive at least two ultrasonic waves from the charging device, wherein the frequencies of any two ultrasonic waves in the at least two ultrasonic waves are different;

处理单元，用于根据所述至少两路超声波，获取待充电设备与所述充电设备的相对位置，所述相对位置用于表征所述待充电设备中用于无线充电的接收线圈和所述充电设备中用于所述无线充电的发送线圈的对齐程度；a processing unit, configured to obtain the relative position of the device to be charged and the charging device according to the at least two ultrasonic waves, where the relative position is used to characterize the receiving coil used for wireless charging and the charging device in the device to be charged the degree of alignment of the transmit coils used for said wireless charging in the device;

输出单元，用于根据所述相对位置输出提示信息，所述提示信息用于指示调整所述待充电设备或所述充电设备的位置。The output unit is configured to output prompt information according to the relative position, where the prompt information is used to instruct to adjust the position of the device to be charged or the charging device.
根据权利要求7所述的电子设备，其特征在于，The electronic device according to claim 7, wherein,

所述处理单元，具体用于根据所述至少两路超声波，获取所述待充电设备的至少两个部分与所述充电设备上所述至少两路超声波中每路超声波的发射位置之间的距离，且根据所述待充电设备的至少两个部分与所述每路超声波的发射位置之间的距离，获取所述充电设备与所述待充电设备的相对位置。The processing unit is specifically configured to obtain, according to the at least two ultrasonic waves, the distance between at least two parts of the device to be charged and the emission position of each ultrasonic wave in the at least two ultrasonic waves on the charging device , and obtain the relative position of the charging device and the device to be charged according to the distance between at least two parts of the device to be charged and the transmitting position of each ultrasonic wave.
根据权利要求7或8所述的电子设备，其特征在于，所述提示信息包括：调整方向和调整距离。The electronic device according to claim 7 or 8, wherein the prompt information includes: adjusting the direction and adjusting the distance.
根据权利要求7-9中任一项所述的电子设备，其特征在于，The electronic device according to any one of claims 7-9, wherein,

所述输出单元，具体用于在图像用户界面上显示所述提示信息。The output unit is specifically configured to display the prompt information on an image user interface.
一种电子设备，其特征在于，包括：存储器和处理器；An electronic device, comprising: a memory and a processor;

所述处理器用于与所述存储器耦合，读取并执行所述存储器中的指令，以实现权利要求1-4中任一项所述的方法。The processor is configured to be coupled with the memory to read and execute instructions in the memory to implement the method of any one of claims 1-4.
一种计算机可读存储介质，其特征在于，所述计算机存储介质存储有计算机指令，当所述计算机指令被计算机执行时，使得所述计算机执行权利要求1-4中任一项所述的方法。A computer-readable storage medium, characterized in that the computer storage medium stores computer instructions, which, when executed by a computer, cause the computer to execute the method according to any one of claims 1-4 .