CN104786865A - Device and method for providing charging docking for electric car based on monocular vision - Google Patents

Device and method for providing charging docking for electric car based on monocular vision Download PDF

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Publication number
CN104786865A
CN104786865A CN201510193348.1A CN201510193348A CN104786865A CN 104786865 A CN104786865 A CN 104786865A CN 201510193348 A CN201510193348 A CN 201510193348A CN 104786865 A CN104786865 A CN 104786865A
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electronlmobil
docking
monocular vision
socket
dock
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CN104786865B (en
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张建寰
俞凯翔
张陈涛
陶金
南洋
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Xiamen University
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Xiamen University
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/70Energy storage systems for electromobility, e.g. batteries

Abstract

The invention provides a device and method for providing charging docking for an electric car based on monocular vision. The device comprises an image collection system, an illumination system, a docking connecting system, a computer-based image processing and motor movement control system and a drive device. The illumination system provides an illumination light source for the image collection system to enable the image collection system to obtain clear imaging. The docking connecting system is driven by a motor to move in the transverse direction and the longitudinal direction. The computer-based image processing and motor movement control system processes images collected by the image collection system and carries out movement control over the motor based on data generated by image processing, and therefore the docking connecting system is controlled to move to the corresponding position. The drive device drives the device to move or rotate. The device can provide automatic charging docking for the electric car conveniently, fast and easily, and is simple in mechanical structure, and the docking method is high in reliability.

Description

A kind of apparatus and method providing charging to dock for electronlmobil based on monocular vision
Technical field
The present invention relates to Computer Image Processing field, particularly relate to and a kind ofly controlled based on monocular vision the apparatus and method that charging head accurately docks with electronlmobil socket.
Background technology
Have now been developed a lot of robot for completing the production of automation of industry, in addition along with the fast development of computer technology and micromotor technology, the task that robot can complete also gets more and more, and becomes increasingly complex.Recently, constantly universal along with electronlmobil, a kind ofly provides the automatic robot of charging docking also just to arise at the historic moment for electronlmobil.Automatic charging docking robot is so a kind of equipment, can capture charging head and search out cradle on elec. vehicle, and complete docking and provide charging.Such equipment effectively can reduce the trouble of vehicle driver, and can effectively control charging duration to reduce because personnel's carelessness causes the long injury to on-vehicle battery of charging duration.
China Patent No. CN 103023091 discloses the Vehicular charging station of a kind of robot manipulation, its structure by base plate, lifting parts and robot arm three part form, wherein lifting parts connects with base plate and is configured to and substantially extends transverse to base plate.End-effector comprises and is configured to joining multiple electric contact with the socket being positioned at elec. vehicle.Robot arm is configured to mobile terminal actr in three degrees of motion.By the existence of sensor detected vehicle being positioned at base portion, the target tracking camera be positioned at above charging head provides visual feedback to the robot arm controller being positioned at base portion.
The movement being completed optional position on three-dimensional by mechanical arm that device described in this patent is simple, complex structure, requires relatively high to manufacture process requirement and control system control accuracy.And this robot need be fixed on a certain position, its scope that can stretch just compares limitation, uses inconvenience.
Summary of the invention
Technical problem underlying to be solved by this invention is to provide and has a kind ofly controlled based on monocular vision the device that charging head accurately docks with electronlmobil socket.Can convenient, fast, simply for battery-driven car provides automatic charging dock, simply, docking calculation reliability is high for the physical construction of this device.
Secondary technical matters to be solved by this invention has a kind ofly controlled based on monocular vision the method that charging head accurately docks with electronlmobil socket.
In order to solve above-mentioned technical matters, the invention provides a kind of device providing charging to dock for electronlmobil based on monocular vision, comprising: image capturing system, Lighting System, docking connected system, computer based image procossing and motor motion control system and actuating device;
Described Lighting System provides lighting source for described image capturing system, makes image capturing system obtain imaging clearly;
Described docking connected system is driven by motor and carries out cross motion and longitudinal movement;
Described computer based image procossing and the image of motor motion control system to image capturing system collection process, and based on the data that image procossing produces, motion control is carried out to described motor, thus control described docking connected system and move to relevant position;
Described actuating device drives described device to carry out moving or rotating.
In a preferred embodiment: described docking connects connected system and comprises a horizontal concrete chute, a longitudinal chute vertical with described horizontal concrete chute and a butt junction be connected with described longitudinal chute; Described motor drives that described longitudinal chute slides along described horizontal concrete chute respectively, described butt junction is along described longitudinal slide.
In a preferred embodiment: described butt junction comprises butt junction outer ring, electric contact, flexible connecting device and mechanical arm; Described flexible connecting device is located between described butt junction outer ring and one end of mechanical arm, and the other end of mechanical arm is connected with longitudinal chute; Described electric contact is located in described butt junction outer ring.
In a preferred embodiment: described Lighting System and image capturing system are located at the both sides up and down of described butt junction outer ring respectively.
In a preferred embodiment: the profile of the electronlmobil socket that described computer based image procossing and motor motion control system obtain with described image capturing system and center-point information control drive wheel, and drive described mechanical arm to carry out horizontal and vertical motion, butt junction is docked with socket.
In a preferred embodiment: the size of described butt junction outer ring is greater than the outline of electronlmobil socket, a chamfered transition is passed through between described butt junction outer ring and electric contact.
In a preferred embodiment: described flexible connecting device comprises: rubber ring and be arranged at 4 damping springs of rubber ring periphery.
In a preferred embodiment: described horizontal concrete chute, longitudinal chute are spindle gear.
Present invention also offers a kind of method providing charging to dock for electronlmobil based on monocular vision, use the above-mentioned device providing charging to dock for electronlmobil based on monocular vision, step is as follows:
1) image capturing system Lighting System auxiliary under, Real-time Collection is carried out to image;
2) ellipse fitting searches electronlmobil socket; If electronlmobil socket in the visual field, then carry out step 3; Not in the visual field, then rotate described device and continue to search, rotating 360 degrees finds socket not yet, then system default electronlmobil socket does not exist;
3) if the ellipse long and short shaft of described ellipse fitting generation is equal, then carry out step 4; If unequal, then need the position adjusting described device, until major and minor axis is equal;
4) obtain center point coordinate and the circular radius of electronlmobil socket, then to dock connected system with motor motion control Systematical control by computer based image procossing and move and calibrate the heart;
5) control described device straight ahead, complete docking.
In a preferred embodiment: step 3) with step 4) in ellipse long and short shaft and the elliptic contour information extraction that produces based on ellipse fitting of center position information, step 4) middle center position information then reads based on set up system of axes.
Compared to prior art, technical scheme of the present invention possesses following beneficial effect:
1. intelligent, expansion is strong.Control device and mechanical arm based on car-mounted computer, control accuracy is relatively high, and processing speed is also very fast.In conjunction with vision, by programming, functions expanding is strong, and intelligence degree is high.
2. structure is simple, and cost is lower.Relative to the simple complex mechanical structure being completed optional position movement on three-dimensional by mechanical arm, this device is relatively simple, requires also relatively low, can effectively reduce manufacturing cost thus to manufacturing process and control accuracy.
3. reliability is strong, is widely used.In conjunction with control and the design of docking connected system of car-mounted computer, can promote the successful reliability of docking by actv., all right expansive approach of this robot is in commercial production simultaneously, completes some docking mission, is widely used.
Accompanying drawing explanation
Fig. 1 is the structural representation providing the device of charging docking based on monocular vision for electronlmobil a kind of in the embodiment of the present invention;
Fig. 2 in the embodiment of the present invention a kind of based on monocular vision for electronlmobil provides the device of charging docking to dock confession electrical schematic with automobile;
Fig. 3 is the structural representation of butt junction 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 diagram of circuit for electronlmobil socket recognizer in the embodiment of the present invention;
Fig. 6 is the basic flow sheet providing the device of charging docking to dock with automobile for electronlmobil based on monocular vision a kind of in the embodiment of the present invention;
Fig. 7 is the flow process birds-eye view one providing the device of charging docking to dock with automobile for electronlmobil based on monocular vision a kind of in the embodiment of the present invention;
Fig. 8 is the flow process birds-eye view two providing the device of charging docking to dock with automobile for electronlmobil based on monocular vision a kind of in the embodiment of the present invention;
Fig. 9 is location algorithm instruction diagram one in the embodiment of the present invention;
Figure 10 is location algorithm instruction diagram two in the embodiment of the present invention;
Figure 11 is location algorithm instruction diagram three in the embodiment of the present invention;
In figure: 1-Lighting System, 2-butt junction, 3-electric contact, 4-image capturing system, 5-flexible connecting device, 6-mechanical arm, 7-shifting bar, 8-motor, 9-car-mounted computer, 10-apparatus platform, 11-flower wheel, 12-drive wheel, 13-spindle gear, 14-charging electric vehicle groove, 15-electronlmobil socket, 16-damping spring, 17-rubber ring.
Detailed description of the invention
Hereafter the present invention will be further described in conjunction with the accompanying drawings and embodiments.
Charging robot herein can serve public charging station or private parking stall, for elec. vehicle provides charging service, also can expansive approach in commercial production, complete the function of similar accurate docking.Certain work area completing these functions is within the scope of the visual identification of carrying at robot.For the ease of understanding the present invention, hereinafter with reference to relevant drawings and embodiment, whole invention is discussed in greater detail.In different views, wherein use identical Reference numeral to represent identical or same parts.
As Figure 1-4, a kind ofly provide the device of charging docking based on monocular vision for electronlmobil, comprising: comprise image capturing system 4, Lighting System 1, docking connected system, computer based image procossing and motor motion control system and actuating device:
Described Lighting System 1 provides lighting source for described image capturing system 4, makes image capturing system 4 obtain imaging clearly; Described image capturing system 4 is mainly CCD camera, its be positioned at docking connected system directly over, such design mainly for being convenient to the collection to ambient condition information, to reduce the existence of vision dead zone as far as possible.Completed the collection of graphicinformation by CCD camera, transfer to image pick-up card via AV line, image card capture card transfers to computing machine via USB line again, completes the collect and transmit process of whole image with this path.
Described docking connected system is driven by motor 8 and carries out cross motion and longitudinal movement; Described docking connected system comprises a horizontal concrete chute, a longitudinal chute vertical with described horizontal concrete chute and a butt junction 2 be connected with described longitudinal chute; Described longitudinal chute is located on drive spindle 7.Described motor 8 drives that described longitudinal chute slides along described horizontal concrete chute respectively, described butt junction 2 is along described longitudinal slide.Described horizontal concrete chute and longitudinal chute are spindle gear 13.
Described butt junction 2 comprises butt junction outer ring, electric contact 3, flexible connecting device 5 and mechanical arm 6; Described flexible connecting device 5 is located between described butt junction outer ring and one end of mechanical arm 6, and the other end of mechanical arm 6 is connected with longitudinal chute; Described electric contact 3 is located in described butt junction outer ring.The size of described butt junction outer ring is greater than the outline of electronlmobil socket 15, by a chamfered transition between described butt junction outer ring and electric contact 3.Such design mainly also exists some uncontrollable tiny errors in order to make up in docking operation, slowly corrects under inclined-plane guides.
Described Lighting System 1 and image capturing system 4 are located at the both sides up and down of described butt junction outer ring respectively.Described flexible connecting device 5 comprises: rubber ring 17 and be arranged at 4 damping springs 16 of rubber ring 17 periphery.Rubber ring 17 works the effect of flexibly connecting, and 4 damping springs 16 play restricted stability effect, and whole flexible connecting device 5 allows to produce at vertical plane top offset under strained condition, provides support to the error recovery procedure guided by inclined-plane, above-mentioned butt junction outer ring.Under external force is removed, under the constraint of 4 damping springs 16, flexible connecting device 5 can restore to the original state rapidly again.
Described actuating device drives described device to carry out moving or rotating.In the present embodiment, actuating device comprises is located at drive wheel 12 bottom apparatus platform 10 and flower wheel 11.
Described computer based image procossing and the image of motor motion control system to image capturing system collection process, and based on the data that image procossing produces, motion control is carried out to described motor 8, thus control described docking connected system and move to relevant position;
The profile of the electronlmobil socket that described computer based image procossing and motor motion control system obtain with described image capturing system and center-point information control drive wheel and drive described mechanical arm to carry out horizontal and vertical motion, and butt junction is docked with socket.
Described computer based image procossing and motor motion control system core device are mainly car-mounted computer 9, and its function is mainly divided into following module:
1) image processing module: the image gathered is processed in real time, and the electronlmobil socket 15 in image is identified, whole recognizer flow process as shown in Figure 5, is carried out extraction to the contour edge information of electronic socket and center point coordinate information again after having identified and is calculated.
2) motion-control module: the rotation controlling motor 8 according to the graphicinformation collected, thus control the rotation of drive wheel 12 and the movement of mechanical arm 6 and shifting bar 7, make docking facilities reach required docking location.
3) human-computer interaction module: human-computer interaction module realizes and the exchanging of people mainly through touch-screen that car-mounted computer 9 platform carries and phonetic entry and output system, this platform is open platform, can expand the intelligent interaction function that robot has for developer.
As shown in Figure 6, charging docking calculation flow process of the present invention is as follows:
S1 obtains the image of imaging device shooting: whole gatherer process carries out real time shooting by CCD camera to surrounding environment, transfers to image pick-up card by AV line, and image pick-up card is connected with computing machine by USB line again.Software environment is mainly software open cv under windows 7 platform, and the cvCaptureFromCAM function provided by it carries out Real-time Collection to image.
S2 electronlmobil socket identification: adopt algorithm flow as shown in Figure 5 to identify to the image gathered, when electronlmobil socket 15 is within sweep of the eye, then carry out downstream.If not in the visual field, then original place slewing arrangement searches identification in real time, if rotated 360 degree, finds not yet, then system default electronlmobil socket 15 does not exist.For the ease of identifying, the algorithm flow as shown in Figure 5 adopted herein need carry out rounding process to the electronlmobil socket 15 of non-circularization, and adopts vivid color to carry out painted to its border circular areas.
S3 electronlmobil socket 15 acquisition of information: the acquisition of information of electronlmobil socket 15 mainly refers to the acquisition of its formed major and minor axis information that projects in picture, to this, we according to the ellipse fitting step in algorithm as shown in Figure 5, can obtain major and minor axis information by the oval information of matching.The method that ellipse fitting is conventional has Hough transform method and method of least square.Because Hough transformation carries out ellipse fitting, need to calculate each monitoring point, the time is longer, and inaccurate, so adopt method of least square herein.Method of least square is when random error is normal distribution, the optimal estimation techniques released by maximum likelihood method, is applicable to obtain one group of unknown quantity from one group of observed reading.In OpenCV, function cvFitEl l ipse () uses method of least square to carry out ellipse fitting, and can obtain a ellipse the most similar to circular socket profile, with this, we obtain the essential information of electronlmobil socket 15.
The attitude of S4 setting device makes above-mentioned major and minor axis equal: if major and minor axis is original just equal, we just can carry out downstream.But in actual applications, major and minor axis is unequal often.This adjustment process is just similar to adjusts to specific position as shown in Figure 8 by general position as shown in Figure 7, because there are some uncontrollable errors, so a step is difficult to the specific position adjusted to as shown in Figure 8, but we can setting device near position as shown in Figure 8, and make shooting line perpendicular to electric car body line, electronlmobil socket 15 can be made to present circular position in the picture.In the process of this adjustment, we just need to try to achieve distance Z, angle θ.
Distance Z: we can run away with by imaging model figure mono-as shown in Figure 9, and the H in figure refers to the radius information on electronlmobil outlet height direction, h is the imaging of H on imaging plane, and f is the focal length of CCD camera.By similar triangle theory, we easily can draw so and the parameter of H, f is all known fixed, h can be obtained by longitudinal axis information oval in image, and such Z just can determine, and the precision of Z is just determined by the precision of h.
Angle θ: we can run away with by imaging model figure bis-as shown in Figure 10, and the W in figure refers to the diameter information on electronlmobil socket Width, and w is the imaging of W on imaging plane, and f is known fixed, and Z tries to achieve, is obtained by similar triangle so again because θ angle is relatively little, so W " ≈ W', so, and transverse distance L=Zsin θ, so we only need control setup clickwise and the L that advances, then left-hand revolution just above-mentioned major and minor axis can be made equal.
S5 obtains the three-dimensional information of electronlmobil socket 15: in the adjustment of the device attitude through S4, because the error of control process exists, electronlmobil socket 15 center not necessarily can overlap with CCD camera line of centers, its position is in the picture very possible as shown in figure 11, and now, we just need with CCD camera center for initial point, set up system of axes as shown in the figure, its three-dimensional information (X, Y, Z) is finally drawn again according to center of circle coordinate information in the picture and radius of a circle information.Principle is as follows, because h is tried to achieve by the oval information of upper matching, and H is known, and institute is to have and f is known, x, y can be tried to achieve by point coordinate in the Circle in Digital Images set up, so the three-dimensional information (X, Y, Z) of electronlmobil socket just can be determined.
S6 setting device and on manipulator motion complete docking: the transverse shifting bar of control setup moves X, and gig mechanical arm moves Y, device advance Z, just can complete final charging docking.
In sum, the present invention provides the device and method that a kind of solution provides charging to dock for electronlmobil in practice, and this apparatus structure is simple, and cost is lower, and the docking calculation merging precision based on this device is high, and reliability is strong.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize specification sheets of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.

Claims (10)

1. provide the device of charging docking based on monocular vision for electronlmobil, it is characterized in that comprising: image capturing system, Lighting System, docking connected system, computer based image procossing and motor motion control system and actuating device;
Described Lighting System provides lighting source for described image capturing system, makes image capturing system obtain imaging clearly;
Described docking connected system is driven by motor and carries out cross motion and longitudinal movement;
Described computer based image procossing and the image of motor motion control system to image capturing system collection process, and based on the data that image procossing produces, motion control is carried out to described motor, thus control described docking connected system and move to relevant position;
Described actuating device drives described device to carry out moving or rotating.
2. according to claim 1ly a kind ofly provide the device of charging docking based on monocular vision for electronlmobil, it is characterized in that: described docking connected system comprises a horizontal concrete chute, a longitudinal chute vertical with described horizontal concrete chute and a butt junction be connected with described longitudinal chute; Described motor drives described longitudinal chute to slide along described horizontal concrete chute respectively, and described butt junction is along described longitudinal slide.
3. a kind of device providing charging to dock for electronlmobil based on monocular vision according to claim 2, is characterized in that: described butt junction comprises butt junction outer ring, electric contact, flexible connecting device and mechanical arm; Described flexible connecting device is located between described butt junction outer ring and one end of mechanical arm, and the other end of mechanical arm is connected with longitudinal chute; Described electric contact is located in described butt junction outer ring.
4. a kind of device providing charging to dock for electronlmobil based on monocular vision according to claim 3, is characterized in that: described Lighting System and image capturing system are located at the both sides up and down of described joint outer ring respectively.
5. a kind of device providing charging to dock for electronlmobil based on monocular vision according to claim 4, it is characterized in that: the profile of the electronlmobil socket that described computer based image procossing and the described image capturing system of motor motion control system obtain and center-point information control drive wheel and drives described mechanical arm to carry out horizontal and vertical motion, and butt junction is docked with socket.
6. a kind of device providing charging to dock for electronlmobil based on monocular vision according to claim 5, it is characterized in that: the size of described butt junction outer ring is greater than the outline of electronlmobil socket, by a chamfered transition between described butt junction outer ring and electric contact.
7. according to claim 3ly a kind ofly provide the device of charging docking based on monocular vision for electronlmobil, it is characterized in that: described flexible connecting device comprises: rubber ring and be arranged at 4 damping springs of rubber ring periphery.
8. a kind of device providing charging to dock for electronlmobil based on monocular vision according to claim 3, is characterized in that: described horizontal concrete chute, longitudinal chute are spindle gear.
9. based on the method that monocular vision provides charging to dock for electronlmobil, it is characterized in that: use the device providing charging to dock for electronlmobil based on monocular vision according to any one of claim 1 to 8, step is as follows:
1) image capturing system Lighting System auxiliary under, Real-time Collection is carried out to image;
2) ellipse fitting searches electronlmobil socket; If electronlmobil socket in the visual field, then carry out step 3; Not in the visual field, then rotate described device and continue to search, rotating 360 degrees finds socket not yet, then system default electronlmobil socket does not exist;
3) if the ellipse long and short shaft of described ellipse fitting generation is equal, then carry out step 4; If unequal, then need the position adjusting described device, until major and minor axis is equal;
4) obtain center point coordinate and the circular radius of electronlmobil socket, then to dock connected system with motor motion control Systematical control by computer based image procossing and move and calibrate the heart;
5) control described device straight ahead, complete docking.
10. a kind of method providing charging to dock for electronlmobil based on monocular vision according to claim 9, it is characterized in that: step 3) with step 4) in ellipse long and short shaft and the elliptic contour information extraction that produces based on ellipse fitting of center position information, step 4) middle center position information then reads based on set up system of axes.
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