CN104786865B - A kind of method of docking of being charged for electric automobile is provided based on monocular vision - Google Patents
A kind of method of docking of being charged for electric automobile is provided based on monocular vision Download PDFInfo
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Abstract
The invention provides a kind of device of docking of being charged for electric automobile is provided based on monocular vision, including：Image capturing system, illuminator docks connection system, computer based image procossing and motor motion control system and drive device；The illuminator provides lighting source for described image acquisition system, image capturing system is clearly imaged；The docking connection system is driven by motor and is laterally moved and lengthwise movement；The computer based image procossing is processed the image that image capturing system is gathered with motor motion control system, and motion control is carried out to the motor based on the data that image procossing is produced, so as to control the docking connection system to move to relevant position；The drive device drives described device to move or rotate.Said apparatus can be convenient, fast, simple for electric motor car provides automatic charging docking, and the mechanical structure of the device is simple, and docking calculation reliability is high.
Description
Technical field
The present invention relates to Computer Image Processing field, more particularly to one kind controls to complete to charge based on monocular vision
The apparatus and method that head is accurately docked with electric automobile socket.
Background technology
Many robots be have now been developed for completing the production of industrial automation, in addition with computer technology with
The fast development of micro machine technology, the task that robot can be done is also more and more, becomes increasingly complex.Recently, with electronic
The continuous popularization of automobile, it is a kind of for the automatic robot that electric automobile provides docking of charging also just arises at the historic moment.Automatic charging pair
Welding robot is such a equipment, can capture charging head and search out cradle on electric vehicle, and complete to dock and provide
Charge.Such equipment can effectively reduce the trouble of vehicle driver, and effectively can control the charging interval to reduce because of personnel
The injury that carelessness causes the charging interval long to on-vehicle battery.
China Patent No. CN 103023091 discloses a kind of vehicular charging station of robot manipulation, and its structure is by base portion
Plate, lifting parts and the part of robot arm three composition, wherein lifting parts couple with base plate and are configured as and are generally transverse to
Base plate extends.End effector includes being configured as and the joining multiple electric contacts of socket positioned at electric vehicle.Machine
Human arm is configured as in three degrees of motion mobile end effector.By the presence of the sensor detected vehicle positioned at base portion,
Target following camera above charging head provides visual feedback to the robot arm controller positioned at base portion.
The simple movement that optional position on three-dimensional is completed by mechanical arm of device described in the patent, structure is multiple
It is miscellaneous, it is of a relatively high with control system control accuracy requirement to manufacturing process requirement.And the robot need to be fixed on a certain position, its
The scope that can be stretched just compares limitation, uses inconvenience.
The content of the invention
Technical problem underlying to be solved by this invention be to provide one kind based on monocular vision come control complete charging head with
The device that electric automobile socket is accurately docked.Can be convenient, fast, simple for electric motor car provides automatic charging docking, the dress
The mechanical structure put is simple, and docking calculation reliability is high.
Secondary technical problem to be solved by this invention be one kind based on monocular vision come control complete charging head with it is electronic
The method that car socket is accurately docked.
In order to solve above-mentioned technical problem, the invention provides one kind based on monocular vision for electric automobile provides charging
The device of docking, including：Image capturing system, illuminator docks connection system, computer based image procossing and motor
Kinetic control system and drive device；
The illuminator provides lighting source for described image acquisition system, make image capturing system obtain clearly into
Picture；
The docking connection system is driven by motor and is laterally moved and lengthwise movement；
The computer based image procossing enters with motor motion control system to the image that image capturing system is gathered
Row treatment, and motion control is carried out to the motor based on the data that image procossing is produced, so as to control the docking connection system
System moves to relevant position；
The drive device drives described device to move or rotate.
In a preferred embodiment:It is described docking connection connection system include a horizontal concrete chute, one with the horizontal concrete chute
Vertical longitudinal chute and a butt joint being connected with longitudinal chute；The motor drives longitudinal chute edge respectively
The horizontal concrete chute slip, the butt joint along longitudinal slide.
In a preferred embodiment:The butt joint includes butt joint outer ring, electric contact, flexible connecting device and machinery
Arm；The flexible connecting device is located between the butt joint outer ring and one end of mechanical arm, the other end of mechanical arm and longitudinal direction
Chute is connected；The electric contact is in the butt joint outer ring.
In a preferred embodiment:The illuminator and image capturing system are respectively arranged on the upper of the butt joint outer ring
Lower both sides.
In a preferred embodiment:The computer based image procossing and motor motion control system described image
Profile and the central point information of the electric automobile socket that acquisition system is obtained control driving wheel, and drive the mechanical arm to carry out horizontal stroke
To and lengthwise movement so that butt joint is docked with socket.
In a preferred embodiment:The size of the butt joint outer ring is more than the outline of electric automobile socket, described right
Pass through a chamfered transition between joint outer ring and electric contact.
In a preferred embodiment:The flexible connecting device includes：Rubber ring and be arranged at rubber ring periphery 4
Damping spring.
In a preferred embodiment:The horizontal concrete chute, longitudinal chute are spindle gear.
Present invention also offers a kind of method of docking of being charged for electric automobile is provided based on monocular vision, using above-mentioned
Based on monocular vision for electric automobile provides the device for charging and docking, step is as follows：
1) image capturing system carries out Real-time Collection under the auxiliary of illuminator to image；
2) ellipse fitting searches electric automobile socket；If electric automobile socket is in the visual field, step 3 is carried out；Do not regarding
In wild, then rotate described device and continue to search for, be rotated by 360 ° and do not find socket yet, then system default electric automobile socket is not deposited
；
If 3) ellipse long and short shaft that the ellipse fitting is produced is equal, step 4 is carried out；If unequal, need to adjust institute
The position of device is stated, until major and minor axis are equal；
4) center point coordinate and circular radius of electric automobile socket are obtained, then by computer based image procossing and electricity
The control docking connection system movement calibration of machine kinetic control system is to the heart；
5) described device straight ahead is controlled, docking is completed.
In a preferred embodiment：Step 3) with step 4) in ellipse long and short shaft and center position information be based on ellipse
Be fitted the elliptic contour information extraction for producing, step 4) in center position information then read based on set up coordinate system.
Compared to prior art, technical scheme possesses following beneficial effect：
1. intelligent, expansion is strong.Device and mechanical arm are controlled based on car-mounted computer, control accuracy is relatively
Height, processing speed is also very fast.With reference to vision, by the way that to programming, functions expanding is strong, and intelligence degree is high.
2. simple structure, cost is relatively low.Optional position movement on three-dimensional is completed by mechanical arm relative to simple
Complex mechanical structure, the present apparatus is relatively easy, manufacturing process is relatively low with control accuracy requirement, it is possible thereby to effectively
Reduction manufacturing cost.
3. highly reliable, it is widely used.With reference to the control and the design for docking connection system of car-mounted computer, can be effective
Lifting dock successful reliability, while the robot can also be expanded being applied in industrial production, complete some to taking over
Business, is widely used.
Brief description of the drawings
Fig. 1 is a kind of structure of the device for docking that charged for electric automobile is provided based on monocular vision in the embodiment of the present invention
Schematic diagram；
Fig. 2 is a kind of device and automobile of docking of being charged for electric automobile is provided based on monocular vision in the embodiment of the present invention
Docking electrical schematic；
Fig. 3 is the structural representation of butt joint in the embodiment of the present invention；
Fig. 4 is flexible connecting device structural representation in the embodiment of the present invention；
Fig. 5 is the flow chart in the embodiment of the present invention for electric automobile socket recognizer；
Fig. 6 is a kind of device and automobile of docking of being charged for electric automobile is provided based on monocular vision in the embodiment of the present invention
The basic flow sheet of docking；
Fig. 7 is a kind of device and automobile of docking of being charged for electric automobile is provided based on monocular vision in the embodiment of the present invention
The flow top view one of docking；
Fig. 8 is a kind of device and automobile of docking of being charged for electric automobile is provided based on monocular vision in the embodiment of the present invention
The flow top view two of docking；
Fig. 9 is location algorithm explanatory diagram one in the embodiment of the present invention；
Figure 10 is location algorithm explanatory diagram two in the embodiment of the present invention；
Figure 11 is location algorithm explanatory diagram three in the embodiment of the present invention；
In figure：1- illuminators, 2- butt joints, 3- electric contacts, 4- image capturing systems, 5- flexible connecting devices, 6- machines
Tool arm, 7- mobile bars, 8- motors, 9- car-mounted computers, 10- apparatus platforms, 11- driven pulleys, 12- driving wheels, 13- screw rod transmissions
Device, 14- charging electric vehicle grooves, 15- electric automobile sockets, 16- damping springs, 17- rubber rings.
Specific embodiment
Below in conjunction with drawings and Examples, the present invention will be further described.
Charging robot designed by herein can serve public charging station or private parking stall, be filled for electric vehicle is provided
Electricity service, it is also possible to which expansion is applied in industrial production, completes the function of similar accurate docking.Certainly these functions are completed
Working region be in the range of the visual identity carried in robot.For the ease of understanding the present invention, hereinafter with reference to correlation
Drawings and Examples are discussed in greater detail to whole invention.Identical reference generation is used wherein in different views
The same or like part of table.
As Figure 1-4, a kind of device of docking of being charged for electric automobile is provided based on monocular vision, including：Including figure
As acquisition system 4, illuminator 1 docks connection system, computer based image procossing and motor motion control system and
Drive device：
The illuminator 1 is that described image acquisition system 4 provides lighting source, image capturing system 4 is obtained clearly
Imaging；Described image acquisition system 4 is mainly CCD camera, its surface for being located at docking connection system, such design master
Will be for the ease of the collection to ambient condition information, to reduce the presence of vision dead zone as far as possible.Image is completed by CCD camera
The collection of information, is transmitted to image pick-up card via AV lines, and image card capture card is transmitted to computer via USB line again, with this
Path completes the collection transmitting procedure of whole image.
The docking connection system is driven by motor 8 and is laterally moved and lengthwise movement；The docking connection system bag
Include a horizontal concrete chute, a longitudinal chute vertical with the horizontal concrete chute and a butt joint 2 being connected with longitudinal chute；
Longitudinal chute is on drive rod 7.The motor 8 drives longitudinal chute to be slided along the horizontal concrete chute respectively,
The butt joint 2 is along longitudinal slide.The horizontal concrete chute and longitudinal chute are spindle gear 13.
The butt joint 2 includes butt joint outer ring, electric contact 3, flexible connecting device 5 and mechanical arm 6；The flexibility is even
Connection device 5 is located between the butt joint outer ring and one end of mechanical arm 6, and the other end of mechanical arm 6 is connected with longitudinal chute；Institute
Electric contact 3 is stated to be located in the butt joint outer ring.The size of the butt joint outer ring is more than the outline of electric automobile socket 15,
Pass through a chamfered transition between the butt joint outer ring and electric contact 3.It is such to be mainly designed to make up in docking operation
In there are some uncontrollable tiny errors, inclined-plane guiding under be slowly corrected.
The illuminator 1 and image capturing system 4 are respectively arranged on the both sides up and down of the butt joint outer ring.The flexibility
Attachment means 5 include：Rubber ring 17 and it is arranged at 4 damping springs 16 of the periphery of rubber ring 17.Rubber ring 17 is flexible even
Effect is connect, 4 damping springs 16 then play restricted stability, and whole flexible connecting device 5 allows to produce under stress
Vertical plane top offset, the error recovery procedure to being guided by above-mentioned butt joint outer ring inclined-plane provides support.Under external force removal,
Flexible connecting device 5 can restore to the original state rapidly again under 4 constraints of damping spring 16.
The drive device drives described device to move or rotate.In the present embodiment, drive device is included located at dress
The driving wheel 12 and driven pulley 11 of the bottom of horizontalization platform 10.
The computer based image procossing enters with motor motion control system to the image that image capturing system is gathered
Row treatment, and motion control is carried out to the motor 8 based on the data that image procossing is produced, so as to control the docking connection system
System moves to relevant position；
The electricity that the computer based image procossing is obtained with motor motion control system with described image acquisition system
The profile of electrical automobile socket controls driving wheel and drives the mechanical arm to carry out horizontal and vertical motion with central point information, makes
Butt joint is obtained to be docked with socket.
The computer based image procossing is mainly car-mounted computer 9 with motor motion control system core device,
Its function is broadly divided into following module：
1) image processing module：Image to gathering carries out real-time processing, and the electric automobile socket 15 in image is entered
Row identification, whole recognizer flow are as shown in figure 5, contour edge information and central point after having recognized again to electronic socket are sat
Mark information carries out extraction calculating.
2) motion-control module：According to the rotation of the image information controlled motor 8 for collecting, so as to control driving wheel 12
Rotation and the movement of mechanical arm 6 and mobile bar 7, make docking facilities reach required docking location.
3) human-computer interaction module：Human-computer interaction module mainly by the touch-screen that is carried on the platform of car-mounted computer 9 and
Phonetic entry and output system realize being exchanged with people that this platform is open platform, be available for developer to expand robot and had
Some intelligent interaction functions.
As shown in fig. 6, charging docking calculation flow of the present invention is as follows：
S1 obtains the image that imaging device shoots：Whole gatherer process carries out real time shooting by CCD cameras to surrounding environment,
Transmitted to image pick-up card by AV lines, image pick-up card is connected by USB line with computer again.Software environment is mainly
Software open cv under the platforms of windows 7, provided by cvCaptureFromCAM function pair images adopted in real time
Collection.
S2 electric automobiles socket is recognized：Image to gathering is identified using algorithm flow as shown in Figure 5, when electronic
Car socket 15 then carries out downstream within sweep of the eye.If not in the visual field, rotating in place device and being searched in real time
Identification, if having rotated 360 degree, does not find yet, then system default electric automobile socket 15 does not exist.For the ease of identification, this paper
The algorithm flow as shown in Figure 5 for using need to carry out rounding treatment to the electric automobile socket 15 of non-circularization, and it is justified
Shape region is coloured using vivid color.
The acquisition of information of S3 electric automobiles socket 15：The acquisition of information of electric automobile socket 15 is primarily referred to as it and is thrown in picture
The acquisition of length axis information formed by shadow, in this regard, we can be according to the ellipse fitting step in algorithm as shown in Figure 5, by intending
The oval information of conjunction obtains length axis information.The conventional method of ellipse fitting has Hough transform method and least square method.Because
Hough transformation carries out ellipse fitting, it is necessary to calculate each monitoring point, the time is more long, and inaccurate, so herein
Using least square method.Least square method is the optimal estimation released by maximum likelihood method when random error is normal distribution
Technology, it is adaptable to one group of unknown quantity is obtained from one group of measured value.Function cvFitEl l ipse () uses minimum in OpenCV
Square law carries out ellipse fitting, can obtain an ellipse most like with circular socket profile, and with this, we are electronic to obtain
The essential information of car socket 15.
The attitude of S4 adjusting apparatus makes above-mentioned major and minor axis equal：If major and minor axis are original just equal, we just can enter
Row downstream.But in actual applications, major and minor axis are often unequal.This adjustment process is just similar to by as shown in Figure 7
General position be adjusted to specific position as shown in Figure 8 because there are some uncontrollable errors, a step is difficult to adjust
It is whole to specific position as shown in Figure 8, but we can adjusting apparatus near position as shown in Figure 8, and make shooting line perpendicular to
Electric car body line, can make electric automobile socket 15 that the position of circle be presented in the picture.In the process that this is adjusted, I
Just need to try to achieve apart from Z, angle, θ.
Apart from Z:We can be as shown in Figure 9 imaging model figure one run away with, the H in figure refer to electric automobile insert
Radius information in seat short transverse, h is imagings of the H on imaging plane, and f is the focal length of CCD cameras.It is former by similar triangles
Reason, we can easily drawSoAnd the parameter of H, f is all known fixed, h can be by oval vertical in image
Axis information is obtained, and such Z just can determine that, and the precision of Z is just determined by the precision of h.
Angle, θ:We can be as shown in Figure 10 imaging model figure two run away with, the W in figure refers to electric automobile
Diameter information on socket width, w is imagings of the W on imaging plane, and f is known fixed, and Z has been tried to achieve, by similar
Triangle is obtainedSoAgain because θ angles are relatively small, W " ≈ W', so,
And lateral separation L=Zsin θ, so we only need control device to turn clockwiseAnd the L that advances, then rotate counterclockwise
Just above-mentioned major and minor axis can be made equal.
S5 obtains the three-dimensional information of electric automobile socket 15：In the adjustment of the device attitude by S4, due to control process
Error exist, the center of electric automobile socket 15 can not necessarily overlap with CCD camera center lines, and its position in the picture has very much
May be as shown in figure 11, now, we just need to set up coordinate system as depicted with CCD cameras center as origin, then according to circle
The radius information of heart coordinate information in the picture and circle finally draws its three-dimensional information (X, Y, Z).Principle is as follows because h by
The oval information of upper fitting is tried to achieve, and H is known, and institute is to haveAnd f is, it is known that x, y can be by setting up
The middle point coordinates of Circle in Digital Images try to achieve, so, the three-dimensional information (X, Y, Z) of electric automobile socket just can determine that.
S6 adjusting apparatus and manipulator motion thereon complete docking：The transverse shifting bar movement X of control device, elevator
Tool arm moves Y, device forward travel distance Z, just can complete final charging docking.
In sum, the present invention provides a kind of device and side for solving to provide docking of charging for electric automobile in practice
Method, the apparatus structure is simple, and cost is relatively low, and the docking calculation merging precision based on the device is high, highly reliable.
Embodiments of the invention are the foregoing is only, the scope of the claims of the invention is not thereby limited, it is every to utilize this hair
Equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (8)
1. it is a kind of based on monocular vision for electric automobile provide charge docking method, it is characterised in that：Including being regarded based on monocular
Feel the device that docking of charging is provided for electric automobile；The device includes：
Image capturing system, illuminator docks connection system, computer based image procossing and motor motion control system
And drive device；
The illuminator provides lighting source for described image acquisition system, image capturing system is clearly imaged；
The docking connection system is driven by motor and is laterally moved and lengthwise movement；
At the image that the computer based image procossing is gathered with motor motion control system to image capturing system
Reason, and motion control is carried out to the motor based on the data that image procossing is produced, so as to control the docking connection system to transport
Move to relevant position；
The drive device drives described device to move or rotate；
It is described docking connection system include a horizontal concrete chute, a longitudinal chute vertical with the horizontal concrete chute and one with it is described
The butt joint of longitudinal chute connection；The motor drives longitudinal chute to be slided along the horizontal concrete chute respectively, described right
Joint is along longitudinal slide；
The step of carrying out charging docking using the device is as follows：
1) image capturing system carries out Real-time Collection under the auxiliary of illuminator to image；
2) ellipse fitting searches electric automobile socket；If electric automobile socket is in the visual field, step 3 is carried out；Not in the visual field,
Then rotation described device is continued to search for, and is rotated by 360 ° and is not found socket yet, then system default electric automobile socket does not exist；
If 3) ellipse long and short shaft that the ellipse fitting is produced is equal, step 4 is carried out；If unequal, need to adjust the dress
The position put, until major and minor axis are equal；
4) center point coordinate and circular radius of electric automobile socket are obtained, then is transported by computer based image procossing and motor
Autocontrol system control docking connection system movement calibration is to the heart；
5) described device straight ahead is controlled, docking is completed.
2. it is according to claim 1 it is a kind of based on monocular vision for electric automobile provide charge docking method, its feature
It is：Step 3) with step 4) in ellipse long and short shaft and center position information be based on ellipse fitting produce elliptic contour letter
Breath is extracted, step 4) in center position information then read based on set up coordinate system.
3. it is according to claim 1 it is a kind of based on monocular vision for electric automobile provide charge docking method, its feature
It is：The butt joint includes butt joint outer ring, electric contact, flexible connecting device and mechanical arm；The flexible connecting device
Between the butt joint outer ring and one end of mechanical arm, the other end of mechanical arm is connected with longitudinal chute；The electric contact
In the butt joint outer ring.
4. it is according to claim 3 it is a kind of based on monocular vision for electric automobile provide charge docking method, its feature
It is：The illuminator and image capturing system are respectively arranged on the both sides up and down of the butt joint outer ring.
5. it is according to claim 4 it is a kind of based on monocular vision for electric automobile provide charge docking method, its feature
It is：The electronic vapour that the computer based image procossing is obtained with motor motion control system with described image acquisition system
The profile of car socket controls driving wheel and drives the mechanical arm to carry out horizontal and vertical motion with central point information so that right
Joint is docked with socket.
6. it is according to claim 5 it is a kind of based on monocular vision for electric automobile provide charge docking method, its feature
It is：The size of the butt joint outer ring is more than the outline of electric automobile socket, between the butt joint outer ring and electric contact
By a chamfered transition.
7. it is according to claim 6 it is a kind of based on monocular vision for electric automobile provide charge docking method, its feature
It is：The flexible connecting device includes：Rubber ring and be arranged at rubber ring periphery 4 damping springs.
8. it is according to claim 7 it is a kind of based on monocular vision for electric automobile provide charge docking method, its feature
It is：The horizontal concrete chute, longitudinal chute are spindle gear.
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| CN201510193348.1A CN104786865B (en) | 2015-04-22 | 2015-04-22 | A kind of method of docking of being charged for electric automobile is provided based on monocular vision |
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| CN201510193348.1A CN104786865B (en) | 2015-04-22 | 2015-04-22 | A kind of method of docking of being charged for electric automobile is provided based on monocular vision |
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| CN101344376A (en) * | 2008-08-28 | 2009-01-14 | 上海交通大学 | Measuring method for spacing circle geometric parameter based on monocular vision technology |
| CN103023091A (en) * | 2011-09-26 | 2013-04-03 | 通用汽车环球科技运作有限责任公司 | Robotically operated vehicle charging station |
| CN104520134A (en) * | 2012-07-27 | 2015-04-15 | 库卡罗伯特有限公司 | Charging system and method for electrically charging a motor vehicle |
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2015
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| CN101067557A (en) * | 2007-07-03 | 2007-11-07 | 北京控制工程研究所 | Environment sensing one-eye visual navigating method adapted to self-aid moving vehicle |
| CN101344376A (en) * | 2008-08-28 | 2009-01-14 | 上海交通大学 | Measuring method for spacing circle geometric parameter based on monocular vision technology |
| CN103023091A (en) * | 2011-09-26 | 2013-04-03 | 通用汽车环球科技运作有限责任公司 | Robotically operated vehicle charging station |
| CN104520134A (en) * | 2012-07-27 | 2015-04-15 | 库卡罗伯特有限公司 | Charging system and method for electrically charging a motor vehicle |
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