CN112097663A - Charging socket combined positioning device for charging robot and using method - Google Patents
Charging socket combined positioning device for charging robot and using method Download PDFInfo
- Publication number
- CN112097663A CN112097663A CN202010904846.3A CN202010904846A CN112097663A CN 112097663 A CN112097663 A CN 112097663A CN 202010904846 A CN202010904846 A CN 202010904846A CN 112097663 A CN112097663 A CN 112097663A
- Authority
- CN
- China
- Prior art keywords
- robot
- charging socket
- charging
- image
- control computer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
- G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
- G06V10/751—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
Landscapes
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Evolutionary Computation (AREA)
- Databases & Information Systems (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Computing Systems (AREA)
- Artificial Intelligence (AREA)
- Health & Medical Sciences (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a charging socket combined positioning device for a charging robot and a using method, wherein the combined positioning device consists of two parts, namely hardware and software; the hardware part comprises a mounting plate, an industrial camera, a laser range finder, a light intensity sensor, a shadowless light source, a light source controller, a data acquisition card and an industrial control computer; the software part comprises an image acquisition module, a template creation module, a template matching module, a distance acquisition module, a calibration module, a positioning coordinate calculation module and a positioning result output module. After the teaching setting, the charging socket of the electric bus to be charged can be combined and positioned at each charging station and output position coordinates to the upper controller, and the upper controller guides the robot to complete the insertion of the charging gun into the charging socket. The invention has the advantages of high precision, simple hardware composition, easy algorithm, easy realization, adaptability to illumination change, contribution to realizing the automation of charging operation and good application prospect.
Description
Technical Field
The invention relates to the technical field of robot positioning, in particular to a charging socket combined positioning device for a charging robot and a using method.
Background
The electric automobile has the advantages of zero emission, low noise, low use cost and the like, is led to the public transportation field under the strong support of government policies, and gradually replaces a fuel bus. Because the energy density of the power battery is lower than that of gasoline and diesel oil, the single endurance mileage of the electric automobile cannot reach the endurance level of the fuel oil vehicle, and the power battery needs to be charged in time to supplement electric energy after the operation is finished. At present, the standard charging mode of the electric bus is that the whole bus is charged by direct current conduction, the direct current charging pile of the charging station completes alternating current-direct current conversion, after a charging gun is manually inserted into a charging socket of the electric bus, the charging process is started, and after the charging is completed, the charging gun is manually pulled out. In order to ensure enough charging speed, the charging current reaches hundreds of amperes, the charging gun cable needs a larger sectional area to meet the electrical requirements, and the weight and the twisting force of the cable are larger; in addition, in order to ensure the reliable connection of the charging gun and the electrode of the charging socket and reduce the contact resistance, the insertion and extraction force of the structural design of the charging gun and the charging socket reaches hundreds of newtons, so the labor intensity of manual charging operation is high and the operation is difficult.
In recent years, with the popularization and application of the electric buses, the routes and the number of the electric buses are more and more, and a charging station needs to be equipped with more charging operators to maintain operation. However, at present, labor resources are gradually in shortage, labor cost is greatly increased, and cost pressure of electric bus operation enterprises is increasingly large, so that charging operation performed by applying robots instead of manual work is highly regarded.
Because the proportion of the time of plugging and unplugging the charging gun in the whole charging period of the electric bus is very small, the service efficiency of the robot is very low, a moving mechanism is added for the robot, and the development direction of the field is to realize multi-station inspection and time-sharing multiplexing. On the other hand, the accurate positioning of the charging socket of the electric bus to be charged is a prerequisite for the robot to grab the charging gun and insert the charging socket, so that a charging socket combined positioning device and a use method for the charging robot are urgently needed.
Disclosure of Invention
The invention aims to make up the defects of the prior art, and provides a charging socket combined positioning device and a use method for a charging robot, which are used for receiving instructions of a superior controller at different charging stations, outputting positioning results and position coordinates of a charging socket of an electric bus to be charged and sending the positioning results and the position coordinates to the superior controller to control the robot, so that the charging operation labor intensity can be reduced, and the operation cost of the electric bus can be reduced.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention provides a charging socket combined positioning device for a charging robot, which consists of two parts, namely hardware and software.
The hardware part comprises a mounting plate, an industrial camera, a laser range finder, a light intensity sensor, a shadowless light source, a light source controller, a data acquisition card and an industrial control computer.
Further, the mounting plate is used for mounting the industrial camera, the laser range finder, the illuminance sensor and the shadowless light source, and the mounting plate is arranged on a mounting flange of a robot tool; the industrial camera is arranged on the mounting plate and used for acquiring images of a charging socket containing an electric bus to be charged, electrically connected with the industrial control computer and transmitting the acquired images to the industrial control computer; the laser range finder is arranged on the shadowless light source, is used for detecting the distance from the combined positioning device to the to-be-charged electric bus and is electrically connected with the data acquisition card; the illumination sensor is arranged on the shadowless light source, is used for detecting the illumination intensity of the working environment of the combined positioning device and is electrically connected with the light source controller; the shadowless light source is arranged on the mounting plate, is used for auxiliary lighting of the working environment of the combined positioning device and is electrically connected with the light source controller; the light source controller is electrically connected with the industrial control computer, receives an illumination intensity value set by the industrial control computer, and automatically adjusts the luminous intensity of the shadowless light source according to the feedback of the illumination sensor; the data acquisition card is electrically connected with the industrial control computer and used for acquiring voltage signals output by the laser range finder, converting the voltage signals into digital quantity and transmitting the digital quantity to the industrial control computer; the industrial control computer has a processor and memory for processing and storing the image, data and software functional modules required for operation of the combined positioning device.
Further, the model of the industrial camera is MV-CE013-50GM, and has 130 ten thousand effective pixels.
Further, the laser range finder is a laser displacement sensor with the model of HG-C1400.
Furthermore, the model of the industrial control computer is IPC-610L.
The software part (namely the software functional module) comprises an image acquisition module, a template creation module, a template matching module, a distance acquisition module, a calibration module, a positioning coordinate calculation module and a positioning result output module.
Further, the image acquisition module is used for triggering the industrial camera to acquire a gray image of a charging socket containing the electric bus to be charged and sending the acquired image to the industrial control computer; the template creating module is used for extracting a characteristic area of the charging socket from the acquired image to serve as a template image and storing the template image in the memory of the industrial control computer; the template matching module is used for searching the template image from the acquired image and outputting a matching score and pixel coordinates of the template image in the acquired image; the distance acquisition module is used for acquiring a detection value of the laser range finder; the calibration module is used for determining the relation between the pixel coordinate variation of the charging socket in the acquired image and the variation in the robot base coordinate system; the positioning coordinate calculation module calculates the positioning coordinate of the charging socket according to the result of the template matching module, the result of the calibration module and the position coordinate of the robot taught when the charging gun is inserted into the charging socket during setting; and the positioning result output module is used for sending the obtained positioning result and the coordinates of the charging socket to a superior controller.
The invention provides a use method of a charging socket combined positioning device for a charging robot.
Before the combined positioning device is arranged, a to-be-charged electric bus for teaching stops at the ith charging parking place, a decorative cover and a protective cover of a charging socket are opened, the combined positioning device is installed on a tool flange at the tail end of a robot, the robot is controlled to drive the combined positioning device to move right in front of the charging socket of the to-be-charged electric bus, the charging socket is enabled to be in the visual field of an industrial camera, the distance from the industrial camera to the to-be-charged electric bus is in the range of a laser range finder, the distance is preferably equal to the middle point of the range of the laser range finder, the focal length and the aperture of the industrial camera are adjusted, collected images are enabled to be clear, the light source controller is adjusted to control the illumination intensity of a shadowless light source, and the brightness of the shot images is enabled to.
The setting method of the combined positioning device comprises the following steps:
s101, controlling an industrial camera to collect images by using an image collecting module of a software part in an industrial control computer, and obtaining a gray image of a charging socket of the electric bus to be charged.
S102, creating a template image from the gray level image obtained in the step S101 by applying a template creating module of a software part in an industrial control computer; preferably, the template image is a gray image of a direct-current power supply positive jack and a direct-current power supply negative jack.
S103, a template matching module of a software part in the industrial control computer is applied to determine the pixel coordinate Q of the template image in the gray level image obtained in the step S101i0(Ui0,Vi0) And setting and storing a threshold value for judging the matching success.
S104, collecting the detection value D of the laser range finder by using a distance collecting module of a software part in an industrial control computeri0。
S105, storing the pixel coordinate Q by the industrial control computeri0(Ui0,Vi0) Detection value D of laser range finderi0And robot shooting position coordinates Pi0(Xi0,Yi0,Zi0)。
S106, setting the moving step length delta of the robot in the OYZ plane, and ensuring that the charging socket of the electric bus to be charged is always in the visual field of the industrial camera when the robot moves in the OYZ plane.
S107, keeping the X-axis distance between the industrial camera and the to-be-charged electric bus unchanged, and controlling the robot to move to the position coordinate point P in sequencei1(Xi0,Yi0+Δ,Zi0)、Pi2(Xi0,Yi0+Δ,Zi0+Δ)、Pi3(Xi0,Yi0,Zi0+Δ)、Pi4(Xi0,Yi0-Δ,Zi0+Δ)、Pi5(Xi0,Yi0-Δ,Zi0)、Pi6(Xi0,Yi0-Δ,Zi0-Δ)、Pi7(Xi0,Yi0,Zi0-Δ)、Pi8(Xi0,Yi0+Δ,Zi0- Δ), at each position coordinate point, obtaining a grayscale image of the charging socket of the electric bus to be charged according to step S101, determining the pixel coordinates of the template image obtained in step S102 in the corresponding grayscale image, noting that the pixel coordinates of the template image of each position coordinate point are Q respectivelyi1(Ui1,Vi1)、Qi2(Ui2,Vi2)、Qi3(Ui3,Vi3)、Qi4(Ui4,Vi4)、Qi5(Ui5,Vi5)、Qi6(Ui6,Vi6)、Qi7(Ui7,Vi7)、Qi8(Ui8,Vi8)。
S108, determining the relation between the pixel variation of the charging socket in the acquired image and the variation in the robot base coordinate system by using a calibration module of a software part in the industrial control computer, and defining
Computing and saving mapping matrices
Wherein, the matrix
Is BiThe transposed matrix of (2).
S109, teaching the position coordinates of the charging socket in the robot base coordinate system, controlling the robot to grab the charging gun to insert into the charging socket of the electric bus to be charged, and storingTeaching position coordinates P of robotiI(XiI,YiI,ZiI) And the setting is finished.
The combined positioning device is required to be arranged in different parking places, the arrangement method and steps of each parking place are the same, the stored images and data are distinguished through the parking place number i, and the combined positioning device can be operated after the arrangement is finished.
Before the combined positioning device operates, an electric bus to be charged stops in the charging parking place No. i to prepare charging operation, and in the charging operation process, the operation method of the combined positioning device comprises the following steps:
s201, in the charging operation process, the robot firstly drives the combined positioning device to operate to a position coordinate P right in front of a charging socket of the to-be-charged electric bus for teaching when in settingi0(Xi0,Yi0,Zi0)。
S202, the industrial control computer receives the charging parking place combination positioning trigger command of the ith number sent by the upper controller.
S203, reading the detection value D of the laser range finder stored in the settingi0The distance acquisition module of the software part in the industrial control computer acquires the detection value D of the laser range finderi1If the distance is within the range of the measuring range, calculating the distance variation D as Di1-Di0If the combined positioning is abnormal, the process goes to step S209.
S204, controlling the robot to drive the combined positioning device to move to a position coordinate P right in front of a charging socket of the electric bus to be chargedi01(Xi0+d,Yi0,Zi0)。
S205, an image acquisition module of a software part in the industrial control computer is applied to control the industrial camera to acquire images, and a gray image of a charging socket of the electric bus to be charged is obtained.
S206, reading the template image saved during setting, applying a template matching module of a software part in an industrial control computer, matching the template image in the gray image obtained in the step S205, and if the matching score is larger than or equal to a set threshold value, determining the gray image obtained in the step S205 of the template imagePixel coordinate Q in imagei(Ui,Vi) Calculating the pixel coordinate variation U-Ui-Ui0、v＝Vi-Vi0If the matching score is lower than the set threshold, the combination is abnormal, and the process goes to step S209.
S207, reading the mapping matrix A saved during settingiThe positioning coordinate calculating module of the software in the industrial control computer calculates the variation of the charging socket in an OYZ plane, wherein y is ai11u+ai12v+ai13、z＝ai21u+ai22v+ai23。
S208, reading robot teaching position coordinate P stored in settingiI(XiI,YiI,ZiI) The position coordinate calculation module of the software part in the industrial control computer calculates the position coordinate P of the charging socket of the electric bus to be chargediI1(XiI+d,YiI-y,ZiI-z)。
S209, a positioning result output module of a software part in the industrial control computer sends a combined positioning result to the upper controller, the combined positioning result comprises a parking space number, a positioning success or failure mark and charging socket positioning position coordinate data, and if the positioning is successful, the position coordinate of the charging socket is the position coordinate P calculated in the step S208iI1(XiI+d,YiI-y,ZiI-z), if the positioning fails, the combined positioning result does not contain the position coordinates of the charging socket.
When the combined positioning device runs, the received combined positioning trigger command contains a parking space number i, the data and the template image which are saved when the combined positioning device is correspondingly set are read according to the parking space number i, and the combined positioning result sent to the upper controller also contains the parking space number i.
It should be noted that the position coordinates are points of a robot base coordinate system, in the operation process that the robot grabs the charging gun and inserts the charging gun into the charging socket of the electric bus, the robot only considers the translational linear motion, the posture of the charging gun is fixed, and the robot is manually determined during teaching and is fixed in the charging operation process.
The above-mentioned charging socket combination positioning device for charging robot and the use method thereof, the related components are all obtained by known ways, and the related matching template creation method, template matching method and other calculation methods can be grasped by those skilled in the art.
Compared with the prior art, the invention has the beneficial effects that: the combined positioning device provided by the invention is arranged on the end tool flange of the robot, after the teaching setting, the combined positioning device can be used for performing combined positioning on the charging socket of the electric bus to be charged at each charging station and outputting position coordinates to the upper controller, and the upper controller guides the robot to finish inserting the charging gun into the charging socket; the combined positioning device is also provided with a light intensity sensor, a shadowless light source and a light source controller, so that the light intensity of the working environment can be automatically adjusted, and the accuracy of visual positioning is improved; the combined positioning device integrates the advantages of monocular vision positioning and laser range finders and the characteristics of a robot, has high precision, simple hardware composition, easy algorithm and easy realization, can adapt to the change of illuminance, is favorable for realizing the automation of charging operation and has good application prospect.
Drawings
In order that the advantages of the invention will be readily understood, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings. Understanding that these drawings depict only typical embodiments of the invention and are not therefore to be considered to be limiting of its scope, the invention will be described and explained with additional specificity and detail through the use of the accompanying drawings.
Fig. 1 is a schematic perspective view of a combined positioning device according to the present invention.
Fig. 2 is a block diagram of a connection structure of the combined positioning device of the present invention.
Fig. 3 is a schematic view showing a robot driving the combined positioning device of the present invention to move to a position right in front of a charging socket of an electric bus to be charged.
Fig. 4 is a gray scale image of a charging socket of an electric bus to be charged according to the present invention.
Fig. 5 is a template image created in the present invention.
FIG. 6 is a schematic diagram of the steps of the setup method of the present invention.
FIG. 7 is a schematic representation of the steps of the method of operation of the present invention.
The system comprises a mounting plate 1, a mounting hole 2, an industrial camera 3, a shadowless light source 4, a laser range finder 5, a light illumination sensor 6, an electric bus to be charged 41, a charging socket 42, a robot 43 and a robot moving mechanism 44.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that embodiments of the invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in detail so as not to obscure the embodiments of the invention.
In the following description, a detailed structure will be presented for a thorough understanding of embodiments of the invention. It is apparent that the implementation of the embodiments of the present invention is not limited to the specific details familiar to those skilled in the art. The following detailed description of preferred embodiments of the invention, however, the invention is capable of other embodiments in addition to those detailed.
In the description of the present invention, the terms "inside", "outside", "longitudinal", "transverse", "upper", "lower", "top", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are for convenience only to describe the present invention without requiring the present invention to be necessarily constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Embodiments of the invention are described in further detail below with reference to the accompanying drawings:
as shown in fig. 1 and 3, the combined positioning device provided by the invention comprises a mounting plate 1, a mounting hole 2, an industrial camera 3, a shadowless light source 4, a laser range finder 5 and a light intensity sensor 6. The whole combined positioning device is arranged on a tool flange of a robot 43 through an installation plate 1 and an installation hole 2, and the robot 43 moves through a robot moving mechanism 44 to drive the combined positioning device to switch between different charging stations; the industrial camera 3 is arranged on the mounting plate 1, and a lens of the industrial camera 3 is opposite to a charging socket 42 of the electric bus 41 to be charged when being combined and positioned, so as to acquire a gray image containing the charging socket 42; a shadowless light source 4 is also arranged on the mounting plate 1 and provides auxiliary illumination when in combined positioning; the laser range finder 5 is arranged on the shadowless light source 4 and is used for detecting the distance from the combined positioning device to the electric bus to be charged during combined positioning; the illumination sensor 6 is arranged on the shadowless light source 4 and used for detecting the illumination intensity of the working environment. Wherein, the industrial camera selects a Haokawav visual industrial camera MV-CE013-50GM with 130 million effective pixels, and is connected with an industrial control computer through an Ethernet; the laser range finder selects a laser displacement sensor HG-C1400 of the loose electrical appliance; the industrial control computer selects and uses the Hua IPC-610L.
As shown in fig. 2, the industrial camera 3 is connected to the industrial control computer through an ethernet, the laser range finder 5 is electrically connected to the data acquisition card, the data acquisition card converts an analog voltage signal output by the laser range finder 5 into a digital signal, the data acquisition card is connected to the industrial control computer through a USB bus, the light source controller is connected to the industrial controller computer through a standard serial communication port, receives an illumination intensity value set by the industrial control computer, the illumination sensor 6 is electrically connected to the light source controller, the shadowless light source 4 is electrically connected to the light source controller, and the light source controller automatically adjusts the illumination intensity of the shadowless light source according to a detection value of the illumination sensor 6.
The invention provides a use method of a charging socket combined positioning device for a charging robot.
Before the combined positioning device is arranged, the electric bus 41 to be charged for teaching stops at the charging stall No. 1, the decorative cover and the protective cover of the charging socket 42 are opened, the combined positioning device is installed on a tool flange at the tail end of the robot 43, the robot 43 is controlled to drive the combined positioning device to move to the position right in front of the charging socket 42 of the electric bus 41 to be charged, as shown in fig. 3, the charging socket 42 is in the visual field of the industrial camera 3, the distance from the industrial camera 3 to the electric bus 41 to be charged is in the range of the laser range finder 5, in the embodiment, the middle section of the range of the laser range finder 5 is adopted, the focal length and the aperture of the industrial camera 3 are adjusted, the acquired image is clear, the light intensity of the shadowless light source 4 is adjusted, and the brightness of the shot image is proper.
Referring to fig. 6, the setting method of the combined positioning device specifically includes the following steps:
s101, controlling the industrial camera 3 to collect images by using an image collecting module of a software part in the industrial control computer, and obtaining a gray image of the charging socket 42 of the electric bus 41 to be charged, as shown in FIG. 4.
S102, a template creating module of a software part in the industrial control computer is applied to create a template image from the gray-scale image obtained in the step S101, as shown in FIG. 5.
S103, a template matching module of a software part in the industrial control computer is applied to determine that the pixel coordinate of the template image in the gray-scale image obtained in the step S101 is Q10(631.1,475.0), setting a threshold value for judging the matching success to be 0.6, wherein the matching score is between 0 and 1.0, and 1.0 is complete matching.
S104, collecting the detection value of the laser range finder 5 by using a distance collecting module of a software part in the industrial control computer to be 454.8 mm.
S105, storing the pixel coordinate Q by the industrial control computer10(631.1,475.0), the detection value 454.8mm of the laser rangefinder 5, and the robot photographing position coordinate P10(100,1250,600)。
S106, the moving step length of the robot 43 in the OYZ plane is set to be 30 mm.
S107, controlling the robot 43 to move to the coordinate point P in sequence11(100,1280,600)、P12(100,1280,630)、P13(100,1250,630)、P14(100,1220,630)、P15(100,1220,600)、P16(100,1220,570)、P17(100,1250,570)、P18(100,1280,570) obtaining, at each position coordinate point, the position coordinate information according to the step S101Determining the gray scale image of the charging socket 42 of the to-be-charged electric bus 41, determining the pixel coordinates of the template image obtained in the step S102 in the corresponding gray scale image, and recording the pixel coordinates of the template image of each position coordinate point as Q11(801.8,474.6)、Q12(802.1,643.0)、Q13(633.2,641.9)、Q14(462.9,640.0)、Q15(461.7,473.1)、Q16(460.9,302.7)、Q17(631.3,303.9)、Q18(801.9,303.6)。
S108, determining the relation between the pixel coordinate variation of the charging socket 42 in the acquired image and the variation in the robot base coordinate system by using a calibration module of a software part in the industrial control computer, and defining
Computing and saving mapping matrices
S109, teaching the position coordinates of the charging socket 42 in the robot base coordinate system, controlling the robot 43 to grab the charging gun and insert the charging gun into the charging socket 42 of the to-be-charged electric bus 41 for teaching, and storing the teaching position coordinates P of the robot 431I(256,1248.5,746.5), the setup is ended.
Before the combined positioning device is operated, the electric bus 41 to be charged is stopped in the charging stall No. 1 to prepare for charging operation, and in the charging operation process, the operation method of the combined positioning device is shown in FIG. 7, and the method specifically comprises the following steps:
s201, in the charging process, the robot 43 first drives the combined positioning device to operate to the position coordinate P right in front of the charging socket 42 of the to-be-charged electric bus 41 when the combined positioning device is set10(100,1250,600)。
S202, the industrial control machine receives a charging parking place combination positioning trigger command T1 sent by the upper controller, wherein the charging parking place combination positioning trigger command is No. 1.
S203, reading 454.8mm of the detection value of the laser range finder 5 stored during setting, acquiring 502.6mm of the detection value of the laser range finder 5 by a distance acquisition module of a software part in the industrial control computer, and calculating 47.8mm of distance variation within the range of 200 mm-600 mm of the measuring range.
S204, controlling the robot 43 to drive the combined positioning device to move to the position coordinate P right in front of the charging socket 42 of the to-be-charged electric bus 41101(147.8,1250,600)。
And S205, controlling the industrial camera to collect images by an image collecting module of a software part in the industrial control computer, and obtaining a gray image of the charging socket 42 of the to-be-charged electric bus 41.
S206, reading the template image stored in the setting, applying a template matching module of a software part in the industrial control computer, determining the pixel coordinate Q of the pixel coordinate in the gray level image obtained by the step S205 of the template image, wherein the matching score is larger than or equal to the set threshold value1(720.4,476.1), the pixel coordinate variation u is 89.3 and v is 1.1.
S207, reading the mapping matrix A saved during setting1The positioning coordinate calculation module of the software portion in the industrial control computer calculates the variation y of the charging inlet 42 in the yz plane to 15.6 and z to 0.5.
S208, reading, setting and storing robot teaching position coordinates P1I(256,1248.5,746.5) the location coordinate calculation module of the software portion in the industrial control computer calculates the location coordinate P of the charging socket 42 of the electric bus 41 to be charged1I1(303.8,1232.9,746.0)。
S209, a positioning result output module of a software part in the industrial control computer sends a combined positioning result to the upper controller, wherein the positioning result sent in the example is '1, 1, +0303.8, +1232.9, + 0746.0', which sequentially represents the parking space No. 1, the positioning success and the position coordinates of the robot. If the positioning fails, the sent positioning result is '1, 0', which sequentially indicates the No. 1 parking space, and the positioning fails.
In summary, the present invention is not limited to the above-mentioned embodiments, and those skilled in the art can propose other embodiments within the technical teaching of the present invention, but these embodiments are included in the scope of the present invention.
Claims (9)
1. A charging socket combined positioning device for a charging robot is characterized by comprising a mounting plate, an industrial camera, a laser range finder, a light illumination sensor, a shadowless light source, a light source controller, a data acquisition card and an industrial control computer;
the mounting plate is used for mounting the industrial camera, the laser range finder, the illuminance sensor and the shadowless light source, and is arranged on a mounting flange of a robot tool;
the industrial camera is arranged on the mounting plate and used for acquiring images of a charging socket containing an electric bus to be charged, electrically connected with the industrial control computer and transmitting the acquired images to the industrial control computer;
the laser range finder is arranged on the shadowless light source, is used for detecting the distance from the combined positioning device to the to-be-charged electric bus and is electrically connected with the data acquisition card;
the illumination sensor is arranged on the shadowless light source, is used for detecting the illumination intensity of the working environment of the combined positioning device and is electrically connected with the light source controller;
the shadowless light source is arranged on the mounting plate, is used for auxiliary lighting of the working environment of the combined positioning device and is electrically connected with the light source controller;
the light source controller is electrically connected with the industrial control computer, receives an illumination intensity value set by the industrial control computer, and automatically adjusts the luminous intensity of the shadowless light source according to the feedback of the illumination sensor;
the data acquisition card is electrically connected with the industrial control computer and used for acquiring voltage signals output by the laser range finder, converting the voltage signals into digital quantity and transmitting the digital quantity to the industrial control computer;
the industrial control computer has a processor and memory for processing and storing the image, data and software functional modules required for operation of the combined positioning device.
2. The charging socket combination positioning device for the charging robot as claimed in claim 1, wherein the software function module comprises an image acquisition module, a template creation module, a template matching module, a distance acquisition module, a calibration module, a positioning coordinate calculation module, and a positioning result output module;
the image acquisition module is used for triggering the industrial camera to acquire a gray image of a charging socket containing the electric bus to be charged and sending the acquired image to the industrial control computer;
the template creating module is used for extracting a characteristic area of the charging socket from the acquired image to serve as a template image and storing the template image in the memory of the industrial control computer;
the template matching module is used for searching the template image from the acquired image and outputting a matching score and pixel coordinates of the template image in the acquired image;
the distance acquisition module is used for acquiring a detection value of the laser range finder;
the calibration module is used for determining the relation between the pixel coordinate variation of the charging socket in the acquired image and the variation in the robot base coordinate system;
the positioning coordinate calculation module calculates the positioning coordinate of the charging socket according to the result of the template matching module, the result of the calibration module and the position coordinate of the robot taught when the charging gun is inserted into the charging socket during setting;
and the positioning result output module is used for sending the obtained positioning result and the coordinates of the charging socket to a superior controller.
3. A charging outlet combination positioning device for a charging robot as claimed in claim 1 or 2 wherein the industrial camera is model MV-CE013-50GM with 130 ten thousand active pixels.
4. The charging socket combination positioning device for the charging robot as claimed in claim 1 or 2, wherein the laser range finder is a laser displacement sensor with model number HG-C1400.
5. The charging socket combination positioning device for the charging robot as claimed in claim 1 or 2, wherein the industrial control computer is IPC-610L in model.
6. A use method of a charging socket combined positioning device for a charging robot is characterized by comprising the following steps:
s1, setting of a combined positioning device: acquiring a gray image of the charging socket and creating a template image; determining and storing pixel coordinates of the template image, and setting and storing a threshold value for judging successful matching; collecting and storing a detection value of the laser range finder; collecting and storing the coordinates of the shooting position of the robot; moving the robot in an OYZ plane according to a set moving step length, and acquiring pixel coordinates of the template image at each position coordinate point; determining a relationship between a pixel variation of the charging socket in the captured image and a variation in a robot base coordinate system; the teaching robot grabs the charging gun and inserts the charging socket, teaching position coordinates are stored, and setting is finished;
s2, operation of the combined positioning device: based on the shooting position coordinate of the robot during setting and the detection value of the laser range finder during setting, adjusting the actual shooting position coordinate of the robot according to the detection value of the laser range finder during operation, and controlling the robot to drive the combined positioning device to operate to the actual shooting position coordinate; the method comprises the steps of matching a template image saved during setting in an actually acquired gray image, determining pixel coordinates of the template image in the actually acquired gray image, calculating pixel coordinate variation and variation of a charging socket in an OYZ plane, grabbing a charging gun and inserting teaching position coordinates of the charging socket based on a robot saved during setting, calculating actual position coordinates of the charging socket during operation, and sending a combined positioning result to an upper controller.
7. The use method according to claim 6, wherein the specific process of step S1 is as follows:
s101, controlling an industrial camera to acquire an image by using an image acquisition module of a software part in an industrial control computer to obtain a gray image of a charging socket of the electric bus to be charged;
s102, creating a template image from the gray level image obtained in the step S101 by applying a template creating module of a software part in an industrial control computer;
s103, a template matching module of a software part in the industrial control computer is applied to determine the pixel coordinate Q of the template image in the gray level image obtained in the step S101i0(Ui0,Vi0) Setting and storing a threshold value for judging successful matching;
s104, collecting the detection value D of the laser range finder by using a distance collecting module of a software part in an industrial control computeri0；
S105, storing the pixel coordinate Q by the industrial control computeri0(Ui0,Vi0) Detection value D of laser range finderi0And robot shooting position coordinates Pi0(Xi0,Yi0,Zi0)；
S106, setting a moving step length delta of the robot in an OYZ plane, and ensuring that a charging socket of the electric bus to be charged is always in the visual field of the industrial camera when the robot moves in the OYZ plane;
s107, keeping the X-axis distance between the industrial camera and the to-be-charged electric bus unchanged, and controlling the robot to move to the position coordinate point P in sequencei1(Xi0,Yi0+Δ,Zi0)、Pi2(Xi0,Yi0+Δ,Zi0+Δ)、Pi3(Xi0,Yi0,Zi0+Δ)、Pi4(Xi0,Yi0-Δ,Zi0+Δ)、Pi5(Xi0,Yi0-Δ,Zi0)、Pi6(Xi0,Yi0-Δ,Zi0-Δ)、Pi7(Xi0,Yi0,Zi0-Δ)、Pi8(Xi0,Yi0+Δ,Zi0- Δ), at each position coordinate point, obtaining a grayscale image of the charging socket of the electric bus to be charged according to step S101, determining the pixel coordinates of the template image obtained in step S102 in the corresponding grayscale image, noting that the pixel coordinates of the template image of each position coordinate point are Q respectivelyi1(Ui1,Vi1)、Qi2(Ui2,Vi2)、Qi3(Ui3,Vi3)、Qi4(Ui4,Vi4)、Qi5(Ui5,Vi5)、Qi6(Ui6,Vi6)、Qi7(Ui7,Vi7)、Qi8(Ui8,Vi8)；
S108, determining the relation between the pixel variation of the charging socket in the acquired image and the variation in the robot base coordinate system by using a calibration module of a software part in the industrial control computer, and defining
Computing and saving mapping matrices
Wherein, the matrix
Is BiThe transposed matrix of (2);
s109, teaching the position coordinates of the charging socket in the robot base coordinate system, controlling the robot to grab the charging gun to insert into the charging socket of the electric bus to be charged, and storing the teaching position coordinates P of the robotiI(XiI,YiI,ZiI) And the setting is finished;
the combined positioning device is required to be arranged in different parking spaces, the arrangement method and steps of each parking space are the same, the stored images and data are distinguished through the parking space number i, and the combined positioning device operates after the arrangement is finished.
8. The use method according to claim 7, wherein in step S102, the template image is selected from grayscale images of a positive jack and a negative jack of the dc power supply.
9. The use method according to claim 7, wherein the specific process of step S2 is as follows:
s201, in the charging operation process, the robot firstly drives the combined positioning device to operate to a position coordinate P right in front of a charging socket of the to-be-charged electric bus for teaching when in settingi0(Xi0,Yi0,Zi0)；
S202, the industrial control computer receives an ith charging parking place combination positioning trigger command sent by a superior controller;
s203, reading the detection value D of the laser range finder stored in the settingi0The distance acquisition module of the software part in the industrial control computer acquires the detection value D of the laser range finderi1If the distance is within the range of the measuring range, calculating the distance variation D as Di1-Di0If the combined positioning is abnormal, and the step S209 is skipped to after the combined positioning is finished;
s204, controlling the robot to drive the combined positioning device to move to a position coordinate P right in front of a charging socket of the electric bus to be chargedi01(Xi0+d,Yi0,Zi0)；
S205, an image acquisition module of a software part in the industrial control computer is applied to control the industrial camera to acquire images, and a gray image of a charging socket of the electric bus to be charged is obtained;
s206, reading the template image saved during setting, applying a template matching module of a software part in an industrial control computer, matching the template image in the gray level image obtained in the step S205, and if the matching score is larger than or equal to a set threshold value, determining the pixel coordinate Q of the template image in the gray level image obtained in the step S205i(Ui,Vi) Calculating the pixel coordinate variation U-Ui-Ui0、v＝Vi-Vi0If the matching score is lower than the set threshold, the combined positioning is abnormal, and the step S209 is skipped to after the positioning is finished;
s207, reading the mapping matrix A saved during settingiThe positioning coordinate calculating module of the software in the industrial control computer calculates the variation of the charging socket in an OYZ plane, wherein y is ai11u+ai12v+ai13、z＝ai21u+ai22v+ai23；
S208, reading robot teaching position coordinate P stored in settingiI(XiI,YiI,ZiI) The position coordinate calculation module of the software part in the industrial control computer calculates the position coordinate P of the charging socket of the electric bus to be chargediI1(XiI+d,YiI-y,ZiI-z)；
S209, a positioning result output module of a software part in the industrial control computer sends a combined positioning result to the upper controller, the combined positioning result comprises a parking space number, a positioning success or failure mark and charging socket positioning position coordinate data, and if the positioning is successful, the position coordinate of the charging socket is the position coordinate P calculated in the step S208iI1(XiI+d,YiI-y,ZiI-z), if the positioning fails, the combined positioning result does not contain the position coordinates of the charging socket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010904846.3A CN112097663A (en) | 2020-09-01 | 2020-09-01 | Charging socket combined positioning device for charging robot and using method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010904846.3A CN112097663A (en) | 2020-09-01 | 2020-09-01 | Charging socket combined positioning device for charging robot and using method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112097663A true CN112097663A (en) | 2020-12-18 |
Family
ID=73757448
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010904846.3A Pending CN112097663A (en) | 2020-09-01 | 2020-09-01 | Charging socket combined positioning device for charging robot and using method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112097663A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220383543A1 (en) * | 2021-05-26 | 2022-12-01 | Abb Schweiz Ag | Multi-Stage Autonomous Localization Architecture for Charging Electric Vehicles |
Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN104795868A (en) * | 2015-05-11 | 2015-07-22 | 武汉工程大学 | Automatic charging system for electric automobile |
| CN104806909A (en) * | 2015-04-27 | 2015-07-29 | 江苏中科贯微自动化科技有限公司 | High-brightness LED (light-emitting diode) shadowless light source used for machine vision system |
| CN106125724A (en) * | 2016-06-13 | 2016-11-16 | 华讯方舟科技有限公司 | A kind of method and system of robot autonomous charging |
| CN106125744A (en) * | 2016-06-22 | 2016-11-16 | 山东鲁能智能技术有限公司 | The Intelligent Mobile Robot cloud platform control method of view-based access control model servo |
| CN106335381A (en) * | 2015-07-06 | 2017-01-18 | 鸿富锦精密工业（深圳）有限公司 | Battery Charging System And Apparatus And Method For Electric Vehicle |
| CN106427633A (en) * | 2016-10-26 | 2017-02-22 | 深圳市新沧海机械有限公司 | Automobile charging robot |
| CN107598977A (en) * | 2017-09-20 | 2018-01-19 | 深圳市策维科技有限公司 | A kind of method and system that the automatic teaching of robot is realized using vision and laser range finder |
| CN108608880A (en) * | 2018-04-28 | 2018-10-02 | 安徽上造智能设备科技有限公司 | A kind of electric automobile charging pile with autonomous classification function |
| CN108621826A (en) * | 2018-03-26 | 2018-10-09 | 浙江大学 | A kind of more charging interface automatic charge devices |
| CN108656982A (en) * | 2018-03-26 | 2018-10-16 | 浙江大学 | A kind of electric bus mobile charging device |
| CN109532522A (en) * | 2019-01-21 | 2019-03-29 | 河南埃尔森智能科技有限公司 | A kind of unmanned charging system of automobile based on 3D vision technique and its application method |
| CN109895645A (en) * | 2019-03-29 | 2019-06-18 | 南京理工大学 | A kind of new-energy automobile automatic charging system |
| WO2019139463A2 (en) * | 2019-04-16 | 2019-07-18 | 엘지전자 주식회사 | Electric vehicle charging system and charging method using same |
| US20190340782A1 (en) * | 2018-05-02 | 2019-11-07 | Diatom Digital, Inc. | Method and system for automated vehicle charging |
| CN110660047A (en) * | 2019-09-10 | 2020-01-07 | 上海鼎充新能源技术有限公司 | Automatic identification and positioning method for electric vehicle charging interface |
| US20200016760A1 (en) * | 2019-07-25 | 2020-01-16 | Lg Electronics Inc. | Charging robot and control method thereof |
| CN110722561A (en) * | 2019-10-25 | 2020-01-24 | 北京华商三优新能源科技有限公司 | Full-automatic charger robot control method and device |
| CN111179292A (en) * | 2019-12-28 | 2020-05-19 | 西安交通大学 | Electric vehicle charging interface visual identification positioning method and charging system |
| CN111231711A (en) * | 2020-02-16 | 2020-06-05 | 南京林业大学 | Automatic charging robot |
-
2020
- 2020-09-01 CN CN202010904846.3A patent/CN112097663A/en active Pending
Patent Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN104806909A (en) * | 2015-04-27 | 2015-07-29 | 江苏中科贯微自动化科技有限公司 | High-brightness LED (light-emitting diode) shadowless light source used for machine vision system |
| CN104795868A (en) * | 2015-05-11 | 2015-07-22 | 武汉工程大学 | Automatic charging system for electric automobile |
| CN106335381A (en) * | 2015-07-06 | 2017-01-18 | 鸿富锦精密工业（深圳）有限公司 | Battery Charging System And Apparatus And Method For Electric Vehicle |
| CN106125724A (en) * | 2016-06-13 | 2016-11-16 | 华讯方舟科技有限公司 | A kind of method and system of robot autonomous charging |
| CN106125744A (en) * | 2016-06-22 | 2016-11-16 | 山东鲁能智能技术有限公司 | The Intelligent Mobile Robot cloud platform control method of view-based access control model servo |
| CN106427633A (en) * | 2016-10-26 | 2017-02-22 | 深圳市新沧海机械有限公司 | Automobile charging robot |
| CN107598977A (en) * | 2017-09-20 | 2018-01-19 | 深圳市策维科技有限公司 | A kind of method and system that the automatic teaching of robot is realized using vision and laser range finder |
| CN108656982A (en) * | 2018-03-26 | 2018-10-16 | 浙江大学 | A kind of electric bus mobile charging device |
| CN108621826A (en) * | 2018-03-26 | 2018-10-09 | 浙江大学 | A kind of more charging interface automatic charge devices |
| CN108608880A (en) * | 2018-04-28 | 2018-10-02 | 安徽上造智能设备科技有限公司 | A kind of electric automobile charging pile with autonomous classification function |
| US20190340782A1 (en) * | 2018-05-02 | 2019-11-07 | Diatom Digital, Inc. | Method and system for automated vehicle charging |
| CN109532522A (en) * | 2019-01-21 | 2019-03-29 | 河南埃尔森智能科技有限公司 | A kind of unmanned charging system of automobile based on 3D vision technique and its application method |
| CN109895645A (en) * | 2019-03-29 | 2019-06-18 | 南京理工大学 | A kind of new-energy automobile automatic charging system |
| WO2019139463A2 (en) * | 2019-04-16 | 2019-07-18 | 엘지전자 주식회사 | Electric vehicle charging system and charging method using same |
| US20200016760A1 (en) * | 2019-07-25 | 2020-01-16 | Lg Electronics Inc. | Charging robot and control method thereof |
| CN110660047A (en) * | 2019-09-10 | 2020-01-07 | 上海鼎充新能源技术有限公司 | Automatic identification and positioning method for electric vehicle charging interface |
| CN110722561A (en) * | 2019-10-25 | 2020-01-24 | 北京华商三优新能源科技有限公司 | Full-automatic charger robot control method and device |
| CN111179292A (en) * | 2019-12-28 | 2020-05-19 | 西安交通大学 | Electric vehicle charging interface visual identification positioning method and charging system |
| CN111231711A (en) * | 2020-02-16 | 2020-06-05 | 南京林业大学 | Automatic charging robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220383543A1 (en) * | 2021-05-26 | 2022-12-01 | Abb Schweiz Ag | Multi-Stage Autonomous Localization Architecture for Charging Electric Vehicles |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108128181B (en) | Adjustable charging robot | |
| KR20190113698A (en) | Electric vehicle charging system using robot and method for charging electric vehicle using same | |
| CN1853552A (en) | Cleaning robot having auto-return function to charching-stand and method using the same | |
| KR20170057840A (en) | Pose estimation apparatus and vacuum cleaner system | |
| CN111300405B (en) | Visual identification positioning device and method for mobile platform | |
| CN112097663A (en) | Charging socket combined positioning device for charging robot and using method | |
| CN105629977A (en) | Fully automatic navigation-type pilotless electric vehicle using method | |
| Quan et al. | Research on fast identification and location of contour features of electric vehicle charging port in complex scenes | |
| CN102036017B (en) | Method for controlling flashing module | |
| CN112319294B (en) | Cloud platform, charging processing method, device and system of charging field management system | |
| CN109541623A (en) | A kind of charging pile pose identifying system and method based on laser radar | |
| CN108725820A (en) | Unmanned plane automatic charging platform | |
| CN116032036A (en) | Underwater robot wireless charging system and method based on visual positioning | |
| CN115629066A (en) | Method and device for automatic wiring based on visual guidance | |
| CN110920450A (en) | Full-automatic charging system of electric automobile | |
| CN112798841B (en) | Full-automatic measuring device and method for digital multimeter | |
| CN111179292B (en) | Visual identification and positioning method for charging interface of electric automobile and charging system | |
| CN115663665B (en) | Binocular vision-based protection screen cabinet air-open state checking device and method | |
| CN108493740A (en) | A kind of electric cabinet automatic routing system based on machine vision | |
| CN115366100A (en) | Visual grabbing system and grabbing method for replacing battery of heavy truck | |
| KR20150037348A (en) | Apparatus for power charge in underwater robot and method thereof | |
| KR101483294B1 (en) | Apparatus and method for adjusting position of electric bus battery exchanger | |
| CN207938955U (en) | A kind of electric cabinet automatic routing system based on machine vision | |
| CN215793215U (en) | Vehicle charging apparatus | |
| CN115107052A (en) | Comprehensive operation and maintenance method and device for photovoltaic power station |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20201218 |
|
| WD01 | Invention patent application deemed withdrawn after publication |