CN109584200A - Vision positioning system and localization method in electrical changing station - Google Patents

Vision positioning system and localization method in electrical changing station Download PDF

Info

Publication number
CN109584200A
CN109584200A CN201811038852.4A CN201811038852A CN109584200A CN 109584200 A CN109584200 A CN 109584200A CN 201811038852 A CN201811038852 A CN 201811038852A CN 109584200 A CN109584200 A CN 109584200A
Authority
CN
China
Prior art keywords
image
offset
circle
point
current
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.)
Granted
Application number
CN201811038852.4A
Other languages
Chinese (zh)
Other versions
CN109584200B (en
Inventor
张炜
吴广涛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NIO Holding Co Ltd
Original Assignee
NIO Nextev Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by NIO Nextev Ltd filed Critical NIO Nextev Ltd
Priority to CN201811038852.4A priority Critical patent/CN109584200B/en
Publication of CN109584200A publication Critical patent/CN109584200A/en
Application granted granted Critical
Publication of CN109584200B publication Critical patent/CN109584200B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • Y—GENERAL 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Abstract

The invention belongs to electric cars to change electro-technical field, more particularly to the positioning system and localization method of view-based access control model in a kind of electrical changing station, there are two markers for setting on the chassis of electric car, two markers respectively correspond the first anchor point and the second anchor point, the positioning system includes for carrying out Image Acquisition to electric automobile chassis to obtain the image acquisition device of current position image, for being handled current position image to obtain the image processor of match point with the current offset of corresponding anchor point, and it is provided with the battery changing trolley of the first match point and the second match point；Battery changing trolley is moved such that the first match point and the first positioning point alignment according to the current offset of the first match point and the first anchor point, and is rotated using the first match point as the center of circle so that the second match point and the second positioning point alignment according to the current offset of the second match point and the second anchor point.The present invention can be realized the precise positioning of battery changing trolley and electric car, and electric rate is changed in raising.

Description

Vision positioning system and localization method in electrical changing station
Technical field
The invention belongs to change electro-technical field, the positioning system of view-based access control model and positioning side in a kind of electrical changing station are specifically provided Method.
Background technique
How with popularizing for electric car, quickly and effectively energy supply one effectively is provided for the insufficient automobile of energy It is directly urgent problem in the industry.In many Recharging modes, replacement power battery is a kind of scheme that feasibility is high, generally It is completed in electrical changing station.And how to realize the precise positioning between electric car and battery changing trolley be electrical changing station key technology it One.
Currently, being determined using the methods of PSD (Position Sensitive Detector) distance measuring method, laser positioning Position precision is lower, can not provide precise positioning to change the control closed loop of electric process.
Correspondingly, this field needs the high-precision localization method in a kind of electrical changing station to solve the above problems.
Summary of the invention
In order to solve the above problem in the prior art, in order to solve battery changing trolley and electricity in electrical changing station in the prior art The lower problem of positioning accuracy between electrical automobile, the present invention provides a kind of positioning system of view-based access control model in electrical changing station, electricity The chassis of electrical automobile includes at least two markers, and at least two marker includes the first marker and the second marker, Wherein, corresponding first anchor point of first marker, corresponding second anchor point of second marker；It is arranged in battery changing trolley Have with matched first match point of first anchor point and with matched second match point of second anchor point, the positioning System includes: image acquisition device, carries out Image Acquisition to the chassis of electric car to obtain current position image；Image procossing Device communicates to connect with described image collector, and is configured as handling to be worked as the current position image Current offset between preceding relative position and desired relative positions, the current offset are divided into the first offset and second partially Shifting amount, wherein current offset of first offset between first match point and the first anchor point, described second Current offset of the offset between second match point and the second anchor point；Module is adjusted, with described image processing Device communication connection, the adjustment module control the battery changing trolley movement so that first matching according to first offset Point and the first positioning point alignment, the adjustment module is according to second offset control battery changing trolley with described the One match point is that the center of circle is rotated so that second match point and the second positioning point alignment.
In the optimal technical scheme of above-mentioned positioning system, described image collector includes the first image acquisition device and second Image acquisition device；The first image collector and second image acquisition device are mounted in the battery changing trolley, wherein institute The first image acquisition device is stated for carrying out Image Acquisition to first marker to obtain the first current position image, described the Two image acquisition devices are used to carry out Image Acquisition to second marker to obtain the second current position image；At described image Reason device is configured as handling first current position image to obtain first offset, current to described second Location drawing picture processing is to obtain second offset.
In the optimal technical scheme of above-mentioned positioning system, the adjustment module includes the first adjustment unit and second adjustment Unit, wherein the first adjustment unit controls the battery changing trolley movement so that described first according to first offset Match point and the first positioning point alignment, the second adjustment unit control the battery changing trolley according to second offset It is rotated using first match point as the center of circle so that second match point and the second positioning point alignment.
In the optimal technical scheme of above-mentioned positioning system, power battery, institute are installed on the chassis of the electric car Stating marker is the orifice plate on the power battery, and the anchor point is the center of circle of the circular hole of the orifice plate；First offset Amount is the first deviation angle, and second offset is the second deviation angle, wherein first deviation angle is described first Current offset angle between match point and first anchor point, second deviation angle are second match point and institute State the current offset angle between the second anchor point；The first adjustment unit is changed according to first deviation angle control Electric trolley is moved such that first match point is aligned with first match point in a stepwise manner；The second adjustment list Member is controlled the battery changing trolley according to second deviation angle and is turned in a stepwise manner using first match point as the center of circle It moves so that second match point and the second positioning point alignment.
In the optimal technical scheme of above-mentioned positioning system, described image processing module is configured as counting as follows It calculates the current offset angle: finding the circular hole imaging of the orifice plate in the current position image, and described in acquisition The center of circle of the circular hole imaging of orifice plate described in current position image；By the circular hole of orifice plate described in the current position image Imaging is matched with the circular hole imaging of orifice plate described in the ideal position image；If matching result meets precision It is required that then for alignment, if matching result is unsatisfactory for required precision by the current position image the circular center of circle with it is described The difference of the coordinate in the center of circle of ideal position Circle in Digital Images shape as alternate position spike (Δ x, Δ y), and using arctan (Δ y/ Δ x) as The current offset angle.
In the optimal technical scheme of above-mentioned positioning system, described image processing module is configured as holding as follows Row " finds the circular hole imaging of the orifice plate in the current position image, and obtains institute in the current position image State the center of circle of the circular hole imaging of orifice plate " the step for: closed curve is searched in the current position image；Described in judgement Whether closed curve is the circle met under required precision, and required precision is to fit the closed curve according to round definition The round and center of circle, and calculate point all on the closed curve to the center of circle fitted distance, if the standard deviation sigma of the distance ≤ kR, then it is assumed that the closed curve is the circle met under the required precision, wherein R is the radius of the circle fitted；If The obtained closed curve met under required precision is one, then using the closed curve as the circular hole of the orifice plate in institute State imaging in current position image；If the obtained closed curve met under required precision is 0, institute is changed Required precision is stated, judges whether the closed curve is the circle met under new required precision；If what is obtained meets precision The closed curve under it is required that is at least two, then by this, at least two closed curve Plays difference σ are one the smallest Closed curve as the orifice plate circular hole in the current position image imaging；The closed curve that will be selected The center of circle of the center as circular hole imaging described in the current position image.
In the optimal technical scheme of above-mentioned positioning system, the marker include template graphics and with the template image Corresponding comparison component, wherein the template graphics include the identical square lattice of multiple sizes, and the anchor point is described The vertex of any grid in template graphics, the comparison component includes circular portion or circular hole, perpendicular to described On the direction of electric automobile chassis, the comparison component is located at corresponding to it in the orthographic projection on the chassis of the electric car In the template graphics；First offset vector is the first offset vector, and second offset is the second offset vector, In, current offset vector of first offset vector between first match point and first anchor point, described Current offset vector of two offset vectors between second match point and second anchor point；The first adjustment module The battery changing trolley, which is controlled, according to first offset vector is moved such that first match point is matched with described first Point alignment；It is circle that the second adjustment module, which controls the battery changing trolley according to two offset vector with first match point, The heart is rotated so that second match point and the second positioning point alignment.
In the optimal technical scheme of above-mentioned positioning system, described image processing module is configured as counting as follows It calculates the current offset vector: obtaining the side length of grid described in current position image as the first side length, obtain ideal position The side length of grid described in image is as the second side length, using the ratio of second side length and first side length as correction system Number；The current position image is handled and is sat based on obtaining the circular center of circle in the current position image Mark, and using the base coordinate multiplied by the correction coefficient as calibration coordinate；By the difference of the calibration coordinate and standard coordinate As the current offset vector, wherein the standard coordinate is the coordinate in the center of circle of ideal position Circle in Digital Images shape.
In the optimal technical scheme of above-mentioned positioning system, described image processor is configured as executing as follows The step for " current position image being handled to obtain the circular center of circle in the current position image ": to described Current position image carries out Fuzzy Processing to obtain the current position image of blurring；In the current position image of the blurring Upper interception current template image, the current template image include that the round and described current template image is with specific length For the square of side length；Obtain circular boundary described in the current template image；It is looked for using Hough and being worked as described in circule method acquisition The circular center of circle described in front template image.
In the optimal technical scheme of above-mentioned positioning system, the adjustment module is arranged in the battery changing trolley.
In the optimal technical scheme of above-mentioned positioning system, the battery changing trolley is automated guided vehicle or rail system Guide-car.
In order to solve the above-mentioned technical problem, the present invention also provides a kind of localization method of view-based access control model in electrical changing station, electricity The chassis of electrical automobile includes at least two markers, and at least two marker includes the first marker and the second marker, Wherein, corresponding first anchor point of first marker, corresponding second anchor point of second marker；It is arranged in battery changing trolley Have with matched first match point of first anchor point and with matched second match point of second anchor point, the positioning Method includes: that image acquisition device carries out Image Acquisition to the chassis of electric car to obtain current position image；Image processor The current position image is handled to obtain the current offset between current relative position and desired relative positions, institute State current offset and be divided into the first offset and the second offset, wherein first offset be first match point with Current offset between first anchor point, second offset working as between second match point and the second anchor point Preceding offset；It adjusts module and the battery changing trolley movement is controlled so that first match point and institute according to first offset State the first positioning point alignment；The adjustment module controls the battery changing trolley according to second offset with first matching Point is that the center of circle is rotated so that second match point and the second positioning point alignment.
In the optimal technical scheme of above-mentioned localization method, described image collector includes the first image acquisition device and second Image acquisition device, the first image collector and second image acquisition device are mounted in the battery changing trolley, wherein institute The first image acquisition device is stated for carrying out Image Acquisition to first marker to obtain the first current position image, described the Two image acquisition devices are used to carry out Image Acquisition to second marker to obtain the second current position image；At described image Reason device is configured as handling first current position image to obtain first offset, current to described second Location drawing picture processing is to obtain second offset.
In the optimal technical scheme of above-mentioned localization method, the adjustment module includes the first adjustment unit and second adjustment Unit, wherein the first adjustment unit controls the battery changing trolley movement so that described first according to first offset Match point and the first positioning point alignment, the second adjustment unit control the battery changing trolley according to second offset It is rotated using first match point as the center of circle so that second match point and the second positioning point alignment.
In the optimal technical scheme of above-mentioned localization method, power battery, institute are installed on the chassis of the electric car Stating marker is the orifice plate on the power battery, and the anchor point is the center of circle of the circular hole of the orifice plate；First offset Amount is the first deviation angle, and second offset is the second deviation angle, wherein first deviation angle is described first Current offset angle between match point and first anchor point, second deviation angle are second match point and institute State the current offset angle between the second anchor point；The first adjustment unit is changed according to first deviation angle control Electric trolley is moved such that first match point is aligned with first match point in a stepwise manner；The second adjustment list Member is controlled the battery changing trolley according to second deviation angle and is turned in a stepwise manner using first match point as the center of circle It moves so that second match point and the second positioning point alignment.
In the optimal technical scheme of above-mentioned localization method, the calculation method of the current offset angle includes following step It is rapid: to find the circular hole imaging of the orifice plate in the current position image, and obtain institute in the current position image State the center of circle of the circular hole imaging of orifice plate；By the circular hole imaging of orifice plate described in the current position image and the reason Think that the circular hole imaging of orifice plate described in location drawing picture is matched；It is alignment if matching result meets required precision, if Matching result is unsatisfactory for required precision then will be in the circular center of circle and the ideal position image in the current position image The difference of the coordinate in the circular center of circle is as alternate position spike (Δ x, Δ y), and (Δ y/ Δ x) is as the current offset angle using arctan Degree.
In the optimal technical scheme of above-mentioned localization method, " circle of the orifice plate is found in the current position image The step of hole imaging, and obtain the center of circle of the circular hole imaging of orifice plate described in the current position image " include: Closed curve is searched in the current position image；Judge whether the closed curve is the circle met under required precision, essence Degree requires to be the closed curve to be fitted the round and center of circle according to round definition, and calculate all on the closed curve The distance to the center of circle fitted is put, if standard deviation σ≤kR of the distance, then it is assumed that the closed curve is to meet the precision to want Circle under asking, wherein R is the radius of the circle fitted；If the obtained closed curve met under required precision is One, then the imaging in the current position image using the closed curve as the circular hole of the orifice plate；If obtained Meeting the closed curve under required precision is 0, then changes the required precision, judges whether the closed curve is full Circle under the new required precision of foot；It, will if the obtained closed curve met under required precision is at least two At least two the smallest closed curves of closed curve Plays difference σ as the orifice plate circular hole described current Imaging in location drawing picture；Using the center for the closed curve selected as circular hole described in the current position image The center of circle of imaging.
In the optimal technical scheme of above-mentioned localization method, the marker include template graphics and with the template image Corresponding comparison component, wherein the template graphics include the identical square lattice of multiple sizes, and the anchor point is described The vertex of any grid in template graphics, the comparison component includes circular portion or circular hole, perpendicular to described On the direction of electric automobile chassis, the comparison component is located at corresponding to it in the orthographic projection on the chassis of the electric car In the template graphics；First offset is the first offset vector, and second offset is the second offset vector, In, current offset vector of first offset vector between first match point and first anchor point, described Current offset vector of two offset vectors between second match point and second anchor point；The first adjustment module The battery changing trolley, which is controlled, according to first offset vector is moved such that first match point is matched with described first Point alignment；It is circle that the second adjustment module, which controls the battery changing trolley according to two offset vector with first match point, The heart is rotated so that second match point and the second positioning point alignment.
In the optimal technical scheme of above-mentioned localization method, the calculation method of the current offset vector includes following step It is rapid: to obtain the side length of grid described in current position image as the first side length, obtain grid described in ideal position image Side length is as the second side length, using the ratio of second side length and first side length as correction coefficient；To the present bit It sets image to be handled to obtain the circular center of circle in the current position image as basic coordinate, and the basis is sat Scalar multiplication is using the correction coefficient as calibration coordinate；Using the difference of the calibration coordinate and standard coordinate as the current offset to Amount, wherein the standard coordinate is the coordinate in the center of circle of ideal position Circle in Digital Images shape.
In the optimal technical scheme of above-mentioned localization method, " current position image is handled described in acquisition The step of circular center of circle in current position image " includes: fuzzy to obtain to current position image progress Fuzzy Processing The current position image of change；Current template image, the current template figure are intercepted on the current position image of the blurring As being the square using specific length as side length including the round and described current template image；Obtain the current template figure The circular boundary as described in；Circule method is looked for obtain the circular center of circle described in the current template image using Hough.
In the optimal technical scheme of above-mentioned localization method, the adjustment module is arranged in the battery changing trolley.
In the optimal technical scheme of above-mentioned localization method, the battery changing trolley is automated guided vehicle or rail system Guide-car.
In order to solve the above-mentioned technical problem, the present invention also provides in a kind of electrical changing station, including any of the above-described electrical changing station The positioning system of view-based access control model.
It will be appreciated to those of skill in the art that in the inventive solutions, by collected present bit The mode that image is handled is set to obtain current offset, is surveyed compared to PSD (Position Sensitive Detector) Away from the methods of method, laser positioning, the precision of vision positioning mode is higher；Adjustment module control battery changing trolley movement makes first With point and the first positioning point alignment, and controls battery changing trolley and rotated using the first match point as the center of circle so that the second match point Point alignment is positioned with second, so that it is more simple to the control of the movement of battery changing trolley, therefore be conducive to improve to battery changing trolley Control precision, to further increase the precise positioning of battery changing trolley and electric car；Only it can be realized with two anchor points Precise positioning is conducive to improve the location efficiency between battery changing trolley and electric car so that data processing amount is also smaller.
The positioning system of view-based access control model in scheme 1, a kind of electrical changing station, which is characterized in that the chassis of electric car includes extremely Few two markers, at least two marker include the first marker and the second marker, wherein first marker Corresponding first anchor point, corresponding second anchor point of second marker；It is provided in battery changing trolley and first anchor point Matched first match point and with matched second match point of second anchor point, the positioning system includes: Image Acquisition Device carries out Image Acquisition to the chassis of electric car to obtain current position image；Image processor is adopted with described image Storage communication connection, and be configured as handling the current position image to obtain current relative position and ideal phase To the current offset between position, the current offset is divided into the first offset and the second offset, wherein described first Current offset of the offset between first match point and the first anchor point, second offset are described second With the current offset between point and the second anchor point；Module is adjusted, is connect with described image processor communication, the adjustment Module controls the battery changing trolley movement so that first match point and first anchor point according to first offset Alignment, the adjustment module control the battery changing trolley according to second offset and carry out by the center of circle of first match point It rotates so that second match point and the second positioning point alignment.
Scheme 2, positioning system according to scheme 1, which is characterized in that described image collector includes the first image acquisition device With the second image acquisition device；The first image collector and second image acquisition device are mounted in the battery changing trolley, Wherein, the first image collector is used to carry out Image Acquisition to first marker to obtain the first current location figure Picture, second image acquisition device are used to carry out Image Acquisition to second marker to obtain the second current position image； Described image processor is configured as handling to obtain first offset, to institute first current position image The processing of the second current position image is stated to obtain second offset.
Scheme 3, the positioning system according to scheme 2, which is characterized in that the adjustment module includes the first adjustment unit and Two adjustment units, wherein the first adjustment unit controls the battery changing trolley movement so that institute according to first offset The first match point and the first positioning point alignment are stated, the second adjustment unit is changed according to second offset control Electric trolley is rotated using first match point as the center of circle so that second match point and the second positioning point alignment.
Scheme 4, positioning system according to scheme 3, which is characterized in that power electric is installed on the chassis of the electric car Pond, the marker are the orifice plate on the power battery, and the anchor point is the center of circle of the circular hole of the orifice plate；Described first Offset is the first deviation angle, and second offset is the second deviation angle, wherein first deviation angle is described Current offset angle between first match point and first anchor point, second deviation angle are second match point With the current offset angle between second anchor point；The first adjustment unit controls institute according to first deviation angle It states battery changing trolley and is moved such that first match point is aligned with first match point in a stepwise manner；Described second adjusts Whole unit according to second deviation angle control the battery changing trolley using first match point as the center of circle in a stepwise manner into Row rotates so that second match point and the second positioning point alignment.
Scheme 5, positioning system according to scheme 4, which is characterized in that described image processing module is configured as according to as follows Method calculates the current offset angle: finding the circular hole imaging of the orifice plate in the current position image, and obtains Take the center of circle of the circular hole imaging of orifice plate described in the current position image；By orifice plate described in the current position image Circular hole imaging matched with the circular hole imaging of orifice plate described in the ideal position image；If matching result is full Sufficient required precision is then alignment, by the circular center of circle in the current position image if matching result is unsatisfactory for required precision And the difference of the coordinate in the center of circle of the ideal position Circle in Digital Images shape is as alternate position spike (Δ x, Δ y), and with arctan (Δ y/ Δ X) it is used as the current offset angle.
Scheme 6, the positioning system according to scheme 5, which is characterized in that described image processing module is configured as according to as follows Method execution " finds the circular hole imaging of the orifice plate in the current position image, and obtains the current location figure The step for center of circle of the circular hole imaging of the orifice plate as described in ": closed curve is searched in the current position image；Sentence Whether the closed curve that breaks is the circle met under required precision, and required precision is by the closed curve according to round definition Fit the round and center of circle, and calculate point all on the closed curve to the center of circle fitted distance, if the distance Standard deviation σ≤kR, then it is assumed that the closed curve is the circle met under the required precision, wherein R is the half of the circle fitted Diameter；If the obtained closed curve met under required precision is one, using the closed curve as the orifice plate Circular hole imaging in the current position image；If the obtained closed curve met under required precision is 0, The required precision is then changed, judges whether the closed curve is the circle met under new required precision；If obtained The closed curve met under required precision is at least two, then most by least two closed curve Plays difference σ A small closed curve as the orifice plate circular hole in the current position image imaging；Described in selecting The center of circle of the center of closed curve as circular hole imaging described in the current position image.
Scheme 7, positioning system according to scheme 3, which is characterized in that the marker include template graphics and with the mould The corresponding comparison component of plate image, wherein the template graphics include the identical square lattice of multiple sizes, the anchor point For the vertex of any grid in the template graphics, the comparison component includes circular portion or circular hole, vertical In on the direction of the electric automobile chassis, orthographic projection of the comparison component on the chassis of the electric car is located at its institute In the corresponding template graphics；First offset vector is the first offset vector, and second offset is the second offset Vector, wherein current offset vector of first offset vector between first match point and first anchor point, Current offset vector of second offset vector between second match point and second anchor point；Described first adjusts Mould preparation root tuber controls the battery changing trolley according to first offset vector and is moved such that first match point and described the The alignment of one match point；The second adjustment module controls the battery changing trolley according to two offset vector with first matching Point is that the center of circle is rotated so that second match point and the second positioning point alignment.
Scheme 8, positioning system according to scheme 7, which is characterized in that described image processing module is configured as according to as follows Method calculates the current offset vector: obtaining the side length of grid described in current position image as the first side length, obtains reason Think the side length of grid described in location drawing picture as the second side length, using the ratio of second side length and first side length as Correction coefficient；The current position image is handled to obtain the circular center of circle in the current position image as base Plinth coordinate, and using the base coordinate multiplied by the correction coefficient as calibration coordinate；By the calibration coordinate and standard coordinate Difference as the current offset vector, wherein the standard coordinate be ideal position Circle in Digital Images shape the center of circle coordinate.
Scheme 9, the positioning system according to scheme 8, which is characterized in that described image processor is configured as according to such as lower section Method executes the step for " being handled the current position image to obtain the circular center of circle in the current position image ": Fuzzy Processing is carried out to obtain the current position image of blurring to the current position image；In the present bit of the blurring Interception current template image on image is set, the current template image includes that the round and described current template image is with spy Measured length is the square of side length；Obtain circular boundary described in the current template image；Circule method is looked for obtain using Hough The circular center of circle described in the current template image.
Scheme 10, the positioning system according to any one of scheme 1-9, which is characterized in that the adjustment module is arranged in institute It states in battery changing trolley.
Scheme 11, positioning system according to scheme 10, which is characterized in that the battery changing trolley be automated guided vehicle or Person's rail guides vehicle.
The localization method of view-based access control model in scheme 12, a kind of electrical changing station, which is characterized in that the chassis of electric car includes at least two A marker, at least two marker include the first marker and the second marker, wherein first marker is corresponding First anchor point, corresponding second anchor point of second marker；It is provided in battery changing trolley and is matched with first anchor point The first match point and with matched second match point of second anchor point, the localization method includes: image acquisition device pair The chassis of electric car carries out Image Acquisition to obtain current position image；Image processor carries out the current position image To obtain the current offset between current relative position and desired relative positions, the current offset is divided into first partially for processing Shifting amount and the second offset, wherein first offset is current inclined between first match point and the first anchor point Shifting amount, current offset of second offset between second match point and the second anchor point；Adjust module according to It is mobile so that first match point and the first positioning point alignment that first offset controls the battery changing trolley；It is described Adjustment module according to second offset control the battery changing trolley rotated using first match point as the center of circle so that Second match point and the second positioning point alignment.
Scheme 13, localization method according to scheme 12, which is characterized in that described image collector includes the first Image Acquisition Device and the second image acquisition device, the first image collector and second image acquisition device are mounted on the battery changing trolley On, wherein the first image collector is used to carry out Image Acquisition to first marker to obtain the first current location Image, second image acquisition device are used to carry out Image Acquisition to second marker to obtain the second current location figure Picture；Described image processor is configured as handling first current position image to obtain first offset, To second current position image processing to obtain second offset.
Scheme 14, localization method according to scheme 13, which is characterized in that the adjustment module include the first adjustment unit and Second adjustment unit, wherein the first adjustment unit according to first offset control the battery changing trolley it is mobile so that First match point and the first positioning point alignment, the second adjustment unit is according to second offset control Battery changing trolley is rotated using first match point as the center of circle so that second match point and the second positioning point alignment.
Scheme 15, the localization method according to scheme 14, which is characterized in that installed on the chassis of the electric car dynamic Battery, the marker are the orifice plate on the power battery, and the anchor point is the center of circle of the circular hole of the orifice plate；Described One offset is the first deviation angle, and second offset is the second deviation angle, wherein first deviation angle is institute The current offset angle between the first match point and first anchor point is stated, second deviation angle is second matching Current offset angle between point and second anchor point；The first adjustment unit is controlled according to first deviation angle The battery changing trolley is moved such that first match point is aligned with first match point in a stepwise manner；Described second Adjustment unit according to second deviation angle control the battery changing trolley using first match point as the center of circle in a stepwise manner It is rotated so that second match point and the second positioning point alignment.
Scheme 16, localization method according to scheme 15, which is characterized in that the calculation method of the current offset angle includes Following steps: finding the circular hole imaging of the orifice plate in the current position image, and obtains the current location figure The center of circle of the circular hole imaging of the orifice plate as described in；By the circular hole imaging of orifice plate described in the current position image with The circular hole imaging of orifice plate described in the ideal position image is matched；It is pair if matching result meets required precision Together, if matching result is unsatisfactory for required precision by the current position image the circular center of circle and the ideal position figure The difference of the coordinate in the circular center of circle is as alternate position spike (Δ x, Δ y), and (Δ y/ Δ x) is as described currently inclined using arctan as in Move angle.
Scheme 17, localization method according to scheme 16, which is characterized in that " found in the current position image described The step of the circular hole imaging of orifice plate, and obtain the center of circle of the circular hole imaging of orifice plate described in the current position image " It suddenly include: to search closed curve in the current position image；Judge whether the closed curve is to meet under required precision Circle, required precision is the closed curve to be fitted the round and center of circle according to round definition, and calculate the closure song On line all points to the center of circle fitted distance, if standard deviation σ≤kR of the distance, then it is assumed that the closed curve be meet Circle under the required precision, wherein R is the radius of the circle fitted；If meeting for obtaining is described under required precision Closed curve is one, then the imaging in the current position image using the closed curve as the circular hole of the orifice plate； If the obtained closed curve met under required precision is 0, the required precision is changed, judges that the closure is bent Whether line is the circle met under new required precision；If the obtained closed curve met under required precision is at least Two, then using at least two the smallest closed curves of closed curve Plays difference σ as the circular hole of the orifice plate The imaging in the current position image；Using the center for the closed curve selected as the current position image Described in circular hole imaging the center of circle.
Scheme 18, the localization method according to scheme 14, which is characterized in that the marker include template graphics and with it is described The corresponding comparison component of template image, wherein the template graphics include the identical square lattice of multiple sizes, the positioning Point is the vertex of any grid in the template graphics, and the comparison component includes circular portion or circular hole, is being hung down Directly on the direction of the electric automobile chassis, orthographic projection of the comparison component on the chassis of the electric car is located at it In the corresponding template graphics；First offset is the first offset vector, and second offset is the second offset Vector, wherein current offset vector of first offset vector between first match point and first anchor point, Current offset vector of second offset vector between second match point and second anchor point；Described first adjusts Mould preparation root tuber controls the battery changing trolley according to first offset vector and is moved such that first match point and described the The alignment of one match point；The second adjustment module controls the battery changing trolley according to two offset vector with first matching Point is that the center of circle is rotated so that second match point and the second positioning point alignment.
Scheme 19, the localization method according to scheme 18, which is characterized in that the calculation method of the current offset vector includes Following steps: the side length of grid described in current position image is obtained as the first side length, is obtained described in ideal position image The side length of grid is as the second side length, using the ratio of second side length and first side length as correction coefficient；To described Current position image is handled to obtain the circular center of circle in the current position image as basic coordinate, and will be described Base coordinate is multiplied by the correction coefficient as calibration coordinate；Using the difference of the calibration coordinate and standard coordinate as described current Offset vector, wherein the standard coordinate is the coordinate in the center of circle of ideal position Circle in Digital Images shape.
Scheme 20, the localization method according to scheme 19, which is characterized in that " to the current position image handled with Obtain the circular center of circle in the current position image " the step of include: to the current position image carry out Fuzzy Processing with Obtain the current position image of blurring；Current template image is intercepted on the current position image of the blurring, it is described to work as Front template image includes the circle and the current template image is the square using specific length as side length；Work as described in acquisition Circular boundary described in front template image；Circule method is looked for obtain circular circle described in the current template image using Hough The heart.
Scheme 21, the localization method according to any one of scheme 12-20, which is characterized in that the adjustment module setting exists In the battery changing trolley.
Scheme 22, localization method according to claim 21, which is characterized in that the battery changing trolley is homing guidance transport Vehicle or rail guide vehicle.
Scheme 23, a kind of electrical changing station, which is characterized in that including view-based access control model in the electrical changing station as described in any one of scheme 1-11 Positioning system.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the positioning system of view-based access control model in one of embodiment of the present invention electrical changing station.
Fig. 2 is the partial side schematic diagram of the electrical changing station with the positioning system in the embodiment of the present invention.
Fig. 3 is the positioning schematic of the positioning system of view-based access control model in electrical changing station in the embodiment of the present invention.
Fig. 4 is the flow chart of the vision positioning method in one of embodiment of the present invention electrical changing station.
Fig. 5 is the structural schematic diagram of one of embodiment of the present invention marker.
Fig. 6 is the flow chart of the vision positioning method in another electrical changing station in the embodiment of the present invention.
Fig. 7 is the flow chart of the step S202 in the embodiment of the present invention.
Fig. 8 is the schematic diagram of one of embodiment of the present invention current position image.
Fig. 9 is the flow chart of the step S202 in the embodiment of the present invention.
Figure 10 is the structural schematic diagram of one of embodiment of the present invention template graphics.
Figure 11 is the flow chart of the vision positioning method in another electrical changing station in the embodiment of the present invention.
Figure 12 is the flow chart of the step S302 in the embodiment of the present invention.
Figure 13 is the flow chart of one of embodiment of the present invention step S202.
Specific embodiment
The preferred embodiment of the present invention described with reference to the accompanying drawings.It will be apparent to a skilled person that this A little embodiments are used only for explaining technical principle of the invention, it is not intended that limit the scope of the invention.This field skill Art personnel, which can according to need, makes adjustment to it, to adapt to specific application.
In order to guarantee the course continuation mileage of electric car, carrying out replacement to the storage power battery of electric car in electrical changing station is A kind of feasible method.And for electrical changing station, how to realize that the precise positioning between electric car and battery changing trolley is then One of key technology of electrical changing station.But the vision positioning in existing market is all coarse positioning, positioning accuracy is lower.
To solve the above-mentioned problems, the present invention provides a kind of positioning systems of view-based access control model in electrical changing station and positioning side Method, the system based on to visual pattern acquisition and processing with realize battery changing trolley/change level platform and electric car it is accurate calmly Position.It is carried out below in conjunction with positioning system and localization method of the attached drawing to view-based access control model in electrical changing station provided by the invention clear, complete Site preparation explanation.
Fig. 1 is the structural schematic diagram of the positioning system of view-based access control model in one of embodiment of the present invention electrical changing station.Fig. 2 is The partial side schematic diagram of electrical changing station with the positioning system in the embodiment of the present invention.Fig. 3 is to change electricity in the embodiment of the present invention The positioning schematic of the positioning system of view-based access control model in standing.For the ease of the positioning principle to the positioning system in the present embodiment into Row illustrates, shows the side view of electric car in Fig. 2, though electric car is not shown in Fig. 3, shows in alignment bit The battery changing trolley set is shown in order to the position to the first anchor point and the second anchor point.Referring to Figure 1 to Fig. 3, change Power station can provide for electric car 6 and change electric service, and in changing electric process, usually electric car 6 drives into electrical changing station and is parked in It changes on level platform 5, changes level platform 5 for providing parking for electric car 6 and changing electric field institute, also, change level platform 5 with work Hole, the working hole are located at the lower section of electric car 6 being positioned, in order to battery changing trolley 6 by working hole to electric car 6 into Row changes electricity.
The chassis of electric car 6 includes at least two markers, and to simplify the explanation, the embodiment in the present invention is with electricity It include what two markers were illustrated on the chassis of electrical automobile.For ease of description, the two markers are referred to as first Marker a and the second marker b.Wherein, the first marker a is corresponding with the first anchor point A, the positioning of the second marker b and second Point B is corresponding.And it is provided in battery changing trolley and the matched first match point A of the first anchor point A1It is matched with the second anchor point B The second match point B1.It should be noted that match point described in the present invention is only a determining position in battery changing trolley It sets, not necessarily point of the real marking in battery changing trolley.It should be noted that in Fig. 3 in order to clearly state marker, The relative positional relationship of anchor point and match point is that marker has been plotted in the corresponding position of battery changing trolley, also, in order to just The current location of battery changing trolley and ideal position have been plotted in same attached drawing in statement.
Positioning system provided in this embodiment includes image acquisition device 1, image processor 2 and adjustment module 3.Wherein,
Image acquisition device 1 is configured as carrying out Image Acquisition to the chassis of electric car 6 to obtain current position image.When Front position image includes the first anchor point A and/or the second anchor point B imaging.Current position image refer to anchor point with With point in acquired image in the case of current positional relationship.It should be noted that due to image acquisition device number not The acquisition angles of same and image acquisition device setting are different, and the number for the anchor point for including in current position image is different.
Image processor 2 and image acquisition device 1 communicate to connect, and image processor 2 is configured as to current location figure As being handled to obtain the current offset between current relative position and desired relative positions.Current offset is divided into first Offset and the second offset, wherein the first offset is the first match point A1With the current offset between the first anchor point A Amount, the second offset are the second match point B1With the current offset between the second anchor point B.It should be noted that ideal bit Setting image is that image acquisition device carries out Image Acquisition image obtained, ideal position figure to the chassis of electric car when being positioned As related with vehicle, that is, same vehicle all vehicles when being positioned, image acquisition device acquired image all should be Consistent, therefore, ideal position image can obtain in advance.
Module 3 and 2 communication connection of image processor are adjusted, and adjusts module and is configured as being controlled according to the first offset Battery changing trolley 4 is mobile so that the first match point A1It is aligned with the first anchor point A, adjustment module changes electricity according to the control of the second offset Trolley 4 is using the first match point as center of circle A1It is rotated so that the second match point B1It is aligned with the second anchor point B.
Based on the positioning system, the present embodiment additionally provides the vision positioning method in a kind of electrical changing station, and Fig. 4 is the present invention The flow chart of vision positioning method in one of embodiment electrical changing station.Fig. 4 is referred to, which includes following step It is rapid:
Step S101: image acquisition device carries out Image Acquisition to the chassis of electric car to obtain current position image.
Step S102: image processor handles current position image opposite with ideal to obtain current relative position Current offset between position, current offset are divided into the first offset and the second offset, wherein the first offset is the Current offset between one match point and the first anchor point, the second offset is between the second match point and the second anchor point Current offset.
Step S103: adjustment module controls battery changing trolley movement so that the first match point and first is determined according to the first offset Site alignment.
Step S104: adjustment module is controlled battery changing trolley according to the second offset and is rotated using the first match point as the center of circle So that the second match point and the second positioning point alignment.
Vision positioning system and method in electrical changing station provided in this embodiment, by collected current position image The mode handled obtains current offset, compared to the ranging side PSD (Position Sensitive Detector) The precision of the methods of method, laser positioning, vision positioning mode is higher；Adjustment module control battery changing trolley movement makes the first match point With the first positioning point alignment, and controls battery changing trolley and rotated using the first match point as the center of circle so that the second match point and the Two positioning point alignments, so that it is more simple to the control of the movement of battery changing trolley, therefore be conducive to improve the control to battery changing trolley Precision processed, to further increase the precise positioning of battery changing trolley and electric car；Only it can be realized precisely with two anchor points Positioning is conducive to improve the location efficiency between battery changing trolley and electric car so that data processing amount is also smaller.
Please further referring to Fig. 1 and Fig. 2, it is generally the case that power battery 601 is installed on the chassis of electric car 5, is marked Remember that object is arranged on power battery 601.It is designed in this way, on the one hand electric car need not be reequiped, on the other hand due to dynamic Power battery be usually to provide change electricity service company or mechanism provide, marker is fixed on power battery, Ke Yijin The unified setting of row, so that two anchor points of each electric car are all in fixed position, in order to be determined in electrical changing station Position.Preferably, the first anchor point A and the second anchor point B is aligned or the first anchor point A on the length direction of electric car 6 It is aligned in the width direction of electric car 6 with the second anchor point B.This section due to battery changing trolley close to electric car is driven a vehicle Route be usually with the length direction of electric car or width direction be it is parallel, therefore, be arranged such the first anchor point and The position of second anchor point, battery changing trolley are easier to realize the alignment of the first anchor point.
Continuing with referring to Fig. 1 and Fig. 2, image acquisition device 1 includes the first image acquisition device and the second image acquisition device, and first Image acquisition device and the second image acquisition device are mounted in battery changing trolley 4, wherein the first image acquisition device is used to mark to first Object carries out Image Acquisition to obtain the first current position image, and the second image acquisition device is used to carry out image to the second marker to adopt Collection is to obtain the second current position image；Image processor 2 is configured as handling the first current position image to obtain First offset, to the processing of the second current position image to obtain the second offset.Different figures is used by each marker As the mode that collector is acquired and the position of each image acquisition device is different, collected current position image is enabled to The deformation of middle marker is smaller, facilitates the difficulty for reducing image procossing and the precision for improving image procossing.Further, It can be using optical center in each image acquisition device as match point, to further increase the precision of positioning.
Continuing with referring to Fig. 1 and Fig. 3, adjusting module 3 includes the first adjustment unit and second adjustment unit, wherein first Adjustment unit controls the movement of battery changing trolley 4 so that the first match point A according to the first offset1It is aligned with the first anchor point A, second Adjustment unit controls battery changing trolley according to the second offset with the first match point A1It is rotated for the center of circle so that the second match point B1 It is aligned with the second anchor point B.Setup module includes that two adjustment units are conducive to control to battery changing trolley.
Continuing with referring to Fig. 1, it is preferable that image acquisition device 1 can be preferably video camera or camera.Either continuous energy The video camera of enough continuous acquisition images still can only acquire the camera of an image every time, and the image to marker may be implemented Acquisition.
Continuing with referring to Fig. 1, it is preferable that battery changing trolley 4 can guide vehicle for automated guided vehicle or rail.Two Person can move according to scheduled route, it should be noted that automatic since battery changing trolley is rotated Guide transport lorry needs to configure the related guided path that battery changing trolley can be guided to rotate；And rail guidance vehicle needs to design energy The orbital segment enough rotated is needing that turntable is arranged below the orbital segment rotated, it is in-orbit that battery changing trolley can be realized in the case of It is rotated on road.
Continuing with referring to Fig. 1, it is preferable that adjustment module 3 can be set in battery changing trolley 4, in order to battery changing trolley Control.
Fig. 5 is the structural schematic diagram of one of embodiment of the present invention marker.Referring to Figure 1, Fig. 3 and Fig. 5, some In positioning system, marker is the orifice plate 602 of power battery, and anchor point is the center of circle of the circular hole 6021 of orifice plate 602.In this implementation Example in, using orifice plate as marker, and orifice plate is accessory on power battery, using orifice plate as marker be not necessarily to power battery into Row repacking.In the present embodiment, image processor 2 is configured as to current position image processing to obtain current offset angle work For current offset, wherein the first offset is the first deviation angle, and the second offset is the second deviation angle, the first offset Angle is the first match point A1With the current offset angle between the first anchor point A, the second deviation angle is the second match point B1With Current offset angle between second anchor point B.The first adjustment unit controls battery changing trolley according to the first deviation angle with stepping Mode is moved such that the first match point is aligned with the first match point；Second adjustment unit is changed according to the control of the second deviation angle Electric trolley is rotated in a stepwise manner using the first match point as the center of circle so that the second match point and the second positioning point alignment.Foundation Deviation angle be adjusted in a stepping manner can be realized electric car and change between level platform and battery changing trolley with it is electronic Positioning between automobile.It should be noted that moved in a stepping manner, every time a step into requiring to carry out figure later As acquisition and processing, to judge whether to be aligned, stop adjusting if alignment, further progress adjustment is straight if not being aligned It is positioned to completion.
It is the positioning system of orifice plate based on marker, the present embodiment additionally provides the vision positioning side in a kind of electrical changing station Method, Fig. 6 are the flow chart of the vision positioning method in another electrical changing station in the embodiment of the present invention.Fig. 6 is referred to, the positioning Method includes the following steps:
Step S201: image acquisition device carries out Image Acquisition to the chassis of electric car to obtain current position image.
Step S202: image processor is to current position image processing to obtain current offset angle as current offset Amount, wherein the first offset is the first deviation angle, and the second offset is the second deviation angle, wherein the first deviation angle is First match point A1With the current offset angle between the first anchor point A, the second deviation angle is the second match point B1It is fixed with second Current offset angle between the B of site.
Step S203: the first adjustment unit according to the first deviation angle control battery changing trolley moved in a stepwise manner with It is aligned the first match point with the first match point.
Step S204: second adjustment unit according to the second deviation angle control battery changing trolley using the first match point as the center of circle with Step-by-step system is rotated so that the second match point and the second positioning point alignment.
Further, image processor 2 is configured as executing step S202 as follows to calculate current offset angle Degree.Fig. 7 is the flow chart of the step S202 in the embodiment of the present invention.Fig. 7 is referred to, the method for calculating current offset angle includes Following steps:
Step S2021: the circular hole imaging of orifice plate is found in current position image, and is obtained in current position image The center of circle of the circular hole imaging of orifice plate.Fig. 8 is the schematic diagram of one of embodiment of the present invention current position image.It refers to Fig. 8, it should be noted that the round O in ideal position image is shown in Fig. 71It is merely for convenience and purposes of illustration of, and in fact, circle Shape O1With round O2It should be in different images.
Step S2022: by the circle of the circular hole imaging of current position image aperture plate and ideal position image aperture plate Hole imaging is matched.Ideal position image is the first match point and the first anchor point and/or the second match point and second Anchor point is in the image that image acquisition device acquires the chassis of electric car under aligned condition.Continuing with referring to Fig. 8, in Fig. 8 The round O stated using dotted line1For the circular hole imaging of ideal position image aperture plate.
Step S2023: being alignment if matching result meets required precision, if matching result is unsatisfactory for required precision and incites somebody to action The difference of the coordinate in the center of circle in the circular center of circle and ideal position Circle in Digital Images shape in current position image as alternate position spike (Δ x, Δ y), and (Δ y/ Δ x) is as current offset angle using arctan.Specifically, continuing with referring to Fig. 8, if setting center of circle O1's Coordinate is (a1, b1), if center of circle O2Coordinate be (a2, b2), then Δ x=a1-a2, Δ y=b1-b2, therefore, essence can be calculated True current offset direction, and step-by-step operation is carried out according to the current offset direction, the amplitude of stepping can be tuned up at this time with Just the number for reducing Image Acquisition and adjustment, to promote locating speed and reduce the load of image procossing.
Further, image processing module 2 is configured as executing step S2021 as follows to calculate current offset Angle.Fig. 9 is the flow chart of the step S202 in the embodiment of the present invention.Fig. 9 is referred to, " finds hole in current position image The step of circular hole imaging of plate, and obtain the center of circle of the circular hole imaging of current position image aperture plate " includes:
Step S20211: closed curve is searched in current position image.In the present invention, the method for closed curve is searched It is any point M on aim curve all there are two points with point M at a distance from minimum.It should be noted that point M is only to represent target Any point on curve only has point minimum at a distance from point M when there is point M on aim curve.
Step S20212: judge whether closed curve is the circle met under required precision, and required precision is will to be closed song Line fits the round and center of circle according to round definition, and calculate point all on closed curve to the center of circle fitted distance, If standard deviation σ≤kR of the distance, then it is assumed that the closed curve is the circle met under required precision, wherein R is fitted Round radius.It should be noted that k can choose different values according to different positioning accuracy requests, wanted in existing precision It asks down, k is substantially equal to 0.05, that is, when σ≤0.05R, that is, thinks that this circle is the circle for meeting required precision.
Step S20213: if the obtained closed curve met under required precision is one, which is made For orifice plate circular hole in current position image imaging；If the obtained closed curve met under required precision is 0, Required precision is then changed, judges whether closed curve is the circle met under new required precision；If what is obtained meets precision Closed curve under it is required that is at least two, then by least two the smallest closed curves of closed curve Plays difference σ Circular hole as the orifice plate imaging in current position image.It should be noted that new required precision are as follows: on closed curve Then closed curve is circle under required precision to standard deviation σ≤kR of the point of at least w%, wherein w can as the case may be into Row adjustment, for example, then closed curve is circle under required precision to standard deviation σ≤kR of at least 75% point on closed curve.
Step S20214: using the center for the closed curve selected as the circle of circular hole imaging in current position image The heart.
In the present embodiment, Adjustment precision requires to be because being likely to occur shade when shooting or spot makes present bit The circular hole for setting the orifice plate in image can not be rendered as complete circle, and can there is shade or spot after Adjustment precision The circular hole imaging of orifice plate is enough found, therefore, this method has stronger adaptability.
Figure 10 is the structural schematic diagram of one of embodiment of the present invention template graphics.Referring to Figure 1, Fig. 3 and Figure 10, mark Remember that object includes template graphics 603 and comparison component corresponding with template image, wherein template graphics 603 include multiple size phases With square lattice 6031, in some specific embodiments, grid 6031 along line direction and column direction arrangement and it is adjacent Grid color it is different, certainly, the arrangement mode of grid 6031 can also be different, the invention is not limited in this regard.It is fixed Site is the vertex of any grid 6031 in template graphics 603, and comparison component includes circular portion or circular hole, perpendicular to On the direction of electric automobile chassis, comparison component is located at the template graphics corresponding to it in the orthographic projection on the chassis of electric car It is interior.So set, can be using template graphics as reference, in order to improve the computational accuracy of offset.
In the present embodiment, the first offset vector is the first offset vector, and the second offset is the second offset vector, In, the first offset vector is the first match point a1With the current offset vector between the first anchor point a, the second offset vector is the Two match point b1With the current offset vector between the second anchor point b；The first adjustment module controls electricity according to the first offset vector Electrical automobile relatively moves in a first direction with level platform is changed, so that electric car is aligned in a first direction with level platform is changed； Second adjustment module controls electric car according to two offset vectors and relatively moves in a second direction with battery changing trolley, so as to change electricity Trolley is aligned with electric car.In the present embodiment, offset vector is directly calculated, the operand of image procossing, foundation are reduced Offset vector disposably completes electric car and changes the positioning between level platform or battery changing trolley and electric car, can be faster Complete positioning in ground.
It include the positioning system of template graphics 603 and comparison component based on marker, the present embodiment additionally provides one kind and changes Vision positioning method in power station, Figure 11 are the process of the vision positioning method in another electrical changing station in the embodiment of the present invention Figure.Referring to Figure 11, which includes the following steps:
Step S301: image acquisition device carries out Image Acquisition to the chassis of electric car to obtain current position image.
Step S302: image processor is to current position image processing to obtain current offset vector as current offset Amount, wherein the first offset vector is the first offset vector, and the second offset is the second offset vector, and the first offset vector is the One match point A1With the current offset vector between the first anchor point A, the second offset vector is the second match point B1With the second positioning Current offset vector between point B.
Step S303: the first adjustment module controls battery changing trolley according to the first offset vector and is moved such that the first matching Point is aligned with the first match point
Step S304: second adjustment module controls battery changing trolley according to two offset vectors and carries out by the center of circle of the first match point It rotates so that the second match point and the second positioning point alignment.
Further, image processor 2 is configured as executing step S302 as follows to calculate current offset angle Degree.Figure 12 is the flow chart of the step S302 in the embodiment of the present invention.Referring to Figure 12, calculate the method packet of current offset angle Include following steps:
Step S3021: the side length of grid in current position image is obtained as the first side length, is obtained in ideal position image The side length of grid is as the second side length, using the ratio of the second side length and the first side length as correction coefficient.It should be noted that lattice The side length of son refers to the average side length of all grid in image (current position image or ideal position image).
Step S3022: current position image is handled using obtain the circular center of circle in current position image as Base coordinate, and using base coordinate multiplied by correction coefficient as calibration coordinate.Base coordinate is corrected by correction coefficient, Base coordinate after correction is coordinate of the base coordinate in ideal location drawing picture.
Step S3023: using the difference of calibration coordinate and standard coordinate as current offset vector, wherein standard coordinate is reason Think the coordinate in the circular center of circle in location drawing picture.
In the present embodiment, by being corrected to the circular central coordinate of circle in current position image, it can correct because of figure The deformation of the image as caused by the camera site of collector and shooting angle improves positioning accuracy.
Further, Figure 13 is the flow chart of one of embodiment of the present invention step S202.For " right in step S202 Current position image is handled to obtain the circular center of circle in current position image " the step of include:
Step S2021: Fuzzy Processing is carried out to obtain the current position image of blurring to current position image.Blurring The mode of processing can use Gaussian Blur method or other achievable blur methods, be blurred to current position image Processing is to reduce the noise in image.Certainly, Fuzzy Processing can be directly carried out if acquired image is black white image, It can carry out gray processing processing first if acquired image is color image to reduce post-processing difficulty.
Step S2022: intercepting current template image on the current position image of blurring, and current template image includes circle Shape and current template image are the squares using specific length as side length.It is specific in order to guarantee the circular integrality after screenshot Side length should be greater than circular diameter in current position image, further, in order to reduce it is subsequent look for round range, reduce at data Reason amount, specific side length should be as small as possible 2 times of the circular diameter in current position image.
Step S2023: the boundary of current template Circle in Digital Images shape is obtained.
Step S2024: the center of circle of circule method acquisition current template Circle in Digital Images shape is looked for using Hough.
Circule method is looked for obtain the center of circle of current template Circle in Digital Images shape by interception template and by Hough, can not only be subtracted It is small it is subsequent look for round range, reduce data processing amount, while ensure that guarantee circular integrality after screenshot；And look for circle Method it is relatively simple, the coordinate in the center of circle of acquisition is also more accurate.
In order to solve the above-mentioned technical problem, a kind of electrical changing station is present embodiments provided, which includes any of the above-described The positioning system of view-based access control model in electrical changing station in embodiment, with view-based access control model in the electrical changing station in any of the above-described embodiment Positioning system beneficial effect, details are not described herein.
So far, it has been combined preferred embodiment shown in the drawings and describes technical solution of the present invention, still, this field Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these specific embodiments.Without departing from this Under the premise of the principle of invention, those skilled in the art can make equivalent change or replacement to the relevant technologies feature, these Technical solution after change or replacement will fall within the scope of protection of the present invention.

Claims (10)

1. the positioning system of view-based access control model in a kind of electrical changing station, which is characterized in that the chassis of electric car includes at least two marks Remember that object, at least two marker include the first marker and the second marker, wherein first marker corresponding first Anchor point, corresponding second anchor point of second marker；It is provided in battery changing trolley and first anchor point matched One match point and with matched second match point of second anchor point, the positioning system includes:
Image acquisition device carries out Image Acquisition to the chassis of electric car to obtain current position image；
Image processor is communicated to connect with described image collector, and is configured as carrying out the current position image To obtain the current offset between current relative position and desired relative positions, the current offset is divided into first partially for processing Shifting amount and the second offset, wherein first offset is current inclined between first match point and the first anchor point Shifting amount, current offset of second offset between second match point and the second anchor point；
Module is adjusted, is connect with described image processor communication, the adjustment module controls institute according to first offset Battery changing trolley movement is stated so that first match point and the first positioning point alignment, the adjustment module is according to described second Offset control the battery changing trolley rotated using first match point as the center of circle so that second match point with it is described Second positioning point alignment.
2. positioning system according to claim 1, which is characterized in that described image collector includes the first image acquisition device With the second image acquisition device；
The first image collector and second image acquisition device are mounted in the battery changing trolley, wherein described first Image acquisition device is used to carry out Image Acquisition to first marker to obtain the first current position image, second image Collector is used to carry out Image Acquisition to second marker to obtain the second current position image；
Described image processor is configured as handling first current position image to obtain first offset, To second current position image processing to obtain second offset.
3. positioning system according to claim 2, which is characterized in that the adjustment module includes the first adjustment unit and Two adjustment units, wherein the first adjustment unit controls the battery changing trolley movement so that institute according to first offset The first match point and the first positioning point alignment are stated, the second adjustment unit is changed according to second offset control Electric trolley is rotated using first match point as the center of circle so that second match point and the second positioning point alignment.
4. positioning system according to claim 3, which is characterized in that
Power battery is installed, the marker is the orifice plate on the power battery, described on the chassis of the electric car Anchor point is the center of circle of the circular hole of the orifice plate；
First offset is the first deviation angle, and second offset is the second deviation angle, wherein described first partially Current offset angle of the angle between first match point and first anchor point is moved, second deviation angle is institute State the current offset angle between the second match point and second anchor point；
The first adjustment unit according to first deviation angle control the battery changing trolley moved in a stepwise manner with It is aligned first match point with first match point；
It is circle that the second adjustment unit, which controls the battery changing trolley according to second deviation angle with first match point, The heart is rotated in a stepwise manner so that second match point and the second positioning point alignment.
5. positioning system according to claim 4, which is characterized in that described image processing module is configured as according to as follows Method calculates the current offset angle:
The circular hole imaging of the orifice plate is found in the current position image, and obtains institute in the current position image State the center of circle of the circular hole imaging of orifice plate；
By orifice plate described in the circular hole imaging of orifice plate described in the current position image and the ideal position image Circular hole imaging is matched；
It is alignment if matching result meets required precision, if matching result is unsatisfactory for required precision for the current location figure As in the circular center of circle and the ideal position Circle in Digital Images shape the center of circle coordinate difference as alternate position spike (Δ x, Δ y), And (Δ y/ Δ x) is as the current offset angle using arctan.
6. positioning system according to claim 5, which is characterized in that described image processing module is configured as according to as follows Method execution " finds the circular hole imaging of the orifice plate in the current position image, and obtains the current location figure The step for center of circle of the circular hole imaging of the orifice plate as described in ":
Closed curve is searched in the current position image；
Judge whether the closed curve is the circle met under required precision, and required precision is by the closed curve according to circle Definition fit the round and center of circle, and calculate the distance that point all on the closed curve arrives the center of circle fitted, if this Standard deviation σ≤kR of distance, then it is assumed that the closed curve is the circle met under the required precision, wherein R is fitted Round radius；
If the obtained closed curve met under required precision is one, using the closed curve as the orifice plate Circular hole imaging in the current position image；If the obtained closed curve met under required precision is 0, The required precision is then changed, judges whether the closed curve is the circle met under new required precision；If obtained The closed curve met under required precision is at least two, then most by least two closed curve Plays difference σ A small closed curve as the orifice plate circular hole in the current position image imaging；
Using the center for the closed curve selected as the center of circle of circular hole imaging described in the current position image.
7. positioning system according to claim 3, which is characterized in that
The marker includes template graphics and comparison component corresponding with the template image, wherein the template graphics packet The identical square lattice of multiple sizes is included, the anchor point is the vertex of any grid in the template graphics, institute Stating comparison component includes circular portion or circular hole, on the direction perpendicular to the electric automobile chassis, the comparison component It is located in the template graphics corresponding to it in the orthographic projection on the chassis of the electric car；
First offset vector is the first offset vector, and second offset is the second offset vector, wherein described first Current offset vector of the offset vector between first match point and first anchor point, second offset vector are Current offset vector between second match point and second anchor point；
The first adjustment module controls the battery changing trolley according to first offset vector and is moved such that described first Match point is aligned with first match point；
The second adjustment module controls the battery changing trolley using first match point as the center of circle according to two offset vector It is rotated so that second match point and the second positioning point alignment.
8. positioning system according to claim 7, which is characterized in that described image processing module is configured as according to as follows Method calculates the current offset vector:
The side length of grid described in current position image is obtained as the first side length, obtains grid described in ideal position image Side length is as the second side length, using the ratio of second side length and first side length as correction coefficient；
The current position image is handled and is sat based on obtaining the circular center of circle in the current position image Mark, and using the base coordinate multiplied by the correction coefficient as calibration coordinate；
Using the difference of the calibration coordinate and standard coordinate as the current offset vector, wherein the standard coordinate is ideal The coordinate in the circular center of circle in location drawing picture.
9. positioning system according to claim 8, which is characterized in that described image processor is configured as according to such as lower section Method executes the step for " being handled the current position image to obtain the circular center of circle in the current position image ":
Fuzzy Processing is carried out to obtain the current position image of blurring to the current position image；
Current template image is intercepted on the current position image of the blurring, the current template image includes the circle And the current template image is the square using specific length as side length；
Obtain circular boundary described in the current template image；
Circule method is looked for obtain the circular center of circle described in the current template image using Hough.
10. positioning system according to claim 1 to 9, which is characterized in that
The adjustment module is arranged in the battery changing trolley.
CN201811038852.4A 2018-09-06 2018-09-06 Visual positioning system and positioning method in power exchange station Active CN109584200B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811038852.4A CN109584200B (en) 2018-09-06 2018-09-06 Visual positioning system and positioning method in power exchange station

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811038852.4A CN109584200B (en) 2018-09-06 2018-09-06 Visual positioning system and positioning method in power exchange station

Publications (2)

Publication Number Publication Date
CN109584200A true CN109584200A (en) 2019-04-05
CN109584200B CN109584200B (en) 2023-08-04

Family

ID=65919803

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201811038852.4A Active CN109584200B (en) 2018-09-06 2018-09-06 Visual positioning system and positioning method in power exchange station

Country Status (1)

Country Link
CN (1) CN109584200B (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021228258A1 (en) * 2020-05-15 2021-11-18 奥动新能源汽车科技有限公司 Battery pack removal control method and battery pack installation control method
CN113665403A (en) * 2020-05-15 2021-11-19 奥动新能源汽车科技有限公司 Battery replacing method for battery replacing station
CN113665407A (en) * 2020-05-15 2021-11-19 奥动新能源汽车科技有限公司 Battery replacement control method of battery replacement equipment and battery replacement equipment
CN113895293A (en) * 2020-07-06 2022-01-07 奥动新能源汽车科技有限公司 Control method for taking and placing battery pack
CN113895289A (en) * 2020-07-06 2022-01-07 奥动新能源汽车科技有限公司 Positioning method and system of battery swapping device and battery swapping method and system
CN113982276A (en) * 2021-11-03 2022-01-28 广东天凛高新科技有限公司 Method and device for accurately positioning cast-in-place wall robot
CN116424279A (en) * 2023-06-13 2023-07-14 宁德时代新能源科技股份有限公司 Posture adjustment method, posture adjustment device, control equipment and storage medium
WO2024055710A1 (en) * 2022-09-14 2024-03-21 蔚来汽车科技(安徽)有限公司 Battery swapping control method and system, and computer device and computer-readable storage medium

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104417382A (en) * 2013-08-30 2015-03-18 国家电网公司 Visual positioning system
CN104973024A (en) * 2014-04-04 2015-10-14 浙江瓿达科技有限公司 Electric automobile battery replacement system based on vision positioning method
CN105000001A (en) * 2015-07-28 2015-10-28 国网山东省电力公司电力科学研究院 Battery replacing system for chassis of power-driven passenger car and battery replacing method
CN105539384A (en) * 2016-01-06 2016-05-04 贵州恒晋科技有限公司 Device for automatically replacing power battery of electric automobile
KR20160092733A (en) * 2015-01-28 2016-08-05 중소기업은행 System and method for exchanging battery of electric vehicle
CN206086673U (en) * 2016-10-15 2017-04-12 南通中远重工有限公司 Battery replacing system of electric car
CN107264486A (en) * 2017-05-18 2017-10-20 上海蔚来汽车有限公司 Vision positioning changes method for electrically and system

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104417382A (en) * 2013-08-30 2015-03-18 国家电网公司 Visual positioning system
CN104973024A (en) * 2014-04-04 2015-10-14 浙江瓿达科技有限公司 Electric automobile battery replacement system based on vision positioning method
KR20160092733A (en) * 2015-01-28 2016-08-05 중소기업은행 System and method for exchanging battery of electric vehicle
CN105000001A (en) * 2015-07-28 2015-10-28 国网山东省电力公司电力科学研究院 Battery replacing system for chassis of power-driven passenger car and battery replacing method
CN105539384A (en) * 2016-01-06 2016-05-04 贵州恒晋科技有限公司 Device for automatically replacing power battery of electric automobile
CN206086673U (en) * 2016-10-15 2017-04-12 南通中远重工有限公司 Battery replacing system of electric car
CN107264486A (en) * 2017-05-18 2017-10-20 上海蔚来汽车有限公司 Vision positioning changes method for electrically and system

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
燕小强: "基于机器视觉的全自动换电机器人定位系统", 计算机系统应用, vol. 24, no. 9, pages 234 - 239 *

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021228258A1 (en) * 2020-05-15 2021-11-18 奥动新能源汽车科技有限公司 Battery pack removal control method and battery pack installation control method
CN113665403A (en) * 2020-05-15 2021-11-19 奥动新能源汽车科技有限公司 Battery replacing method for battery replacing station
CN113665407A (en) * 2020-05-15 2021-11-19 奥动新能源汽车科技有限公司 Battery replacement control method of battery replacement equipment and battery replacement equipment
CN113665403B (en) * 2020-05-15 2024-01-19 奥动新能源汽车科技有限公司 Power exchanging method for power exchanging station
CN113895293A (en) * 2020-07-06 2022-01-07 奥动新能源汽车科技有限公司 Control method for taking and placing battery pack
CN113895289A (en) * 2020-07-06 2022-01-07 奥动新能源汽车科技有限公司 Positioning method and system of battery swapping device and battery swapping method and system
CN113895289B (en) * 2020-07-06 2023-08-25 奥动新能源汽车科技有限公司 Positioning method and system of battery replacement equipment, and battery replacement method and system
CN113982276A (en) * 2021-11-03 2022-01-28 广东天凛高新科技有限公司 Method and device for accurately positioning cast-in-place wall robot
CN113982276B (en) * 2021-11-03 2023-03-14 广东天凛高新科技有限公司 Method and device for accurately positioning cast-in-place wall robot
WO2024055710A1 (en) * 2022-09-14 2024-03-21 蔚来汽车科技(安徽)有限公司 Battery swapping control method and system, and computer device and computer-readable storage medium
CN116424279A (en) * 2023-06-13 2023-07-14 宁德时代新能源科技股份有限公司 Posture adjustment method, posture adjustment device, control equipment and storage medium
CN116424279B (en) * 2023-06-13 2023-11-10 宁德时代新能源科技股份有限公司 Posture adjustment method, posture adjustment device, control equipment and storage medium

Also Published As

Publication number Publication date
CN109584200B (en) 2023-08-04

Similar Documents

Publication Publication Date Title
CN109584200A (en) Vision positioning system and localization method in electrical changing station
CN106338245B (en) A kind of non-contact traverse measurement method of workpiece
CN109532779A (en) Vision positioning system and localization method in electrical changing station
US9134127B2 (en) Determining tilt angle and tilt direction using image processing
CN109782770B (en) Method for automatically charging mower
CN106996777B (en) A kind of vision navigation method based on ground image texture
CN104200086A (en) Wide-baseline visible light camera pose estimation method
US20150207987A1 (en) Systems and Methods for Tracking Location of Movable Target Object
CN112184890B (en) Accurate positioning method of camera applied to electronic map and processing terminal
CN107264486A (en) Vision positioning changes method for electrically and system
CN108445882A (en) Automatic guided vehicle with following function
CN110736447B (en) Vertical-direction horizontal position calibration method for integrated image acquisition equipment
CN106125738A (en) A kind of identification of pallets device and method based on AGV
CN107741233A (en) A kind of construction method of the outdoor map of three-dimensional
CN109188449B (en) Method and system for positioning position of charging port
CN105157564A (en) Grid unit assembling precision rapid automated photogrammetric method
CN106712313B (en) A kind of intelligent positioner and method based on wireless charging system
CN105758411A (en) Vehicular camera-based system and method for increasing positioning precision of vehicular GPS
CN112598756A (en) Roadside sensor calibration method and device and electronic equipment
CN110411449B (en) Aviation reconnaissance load target positioning method and system and terminal equipment
CN112530010A (en) Data acquisition method and system
CN115760999B (en) Monocular camera calibration and target geographic position extraction method based on GIS assistance
CN111426304A (en) Accurate attitude positioning method based on vision, satellite positioning and GIS algorithm
CN110244717A (en) The automatic method for searching of portal crane climbing robot based on existing threedimensional model
WO2023060511A1 (en) Method for determining position of battery box and method for disassembling and replacing battery box

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
TA01 Transfer of patent application right
TA01 Transfer of patent application right

Effective date of registration: 20200921

Address after: Susong Road West and Shenzhen Road North, Hefei Economic and Technological Development Zone, Anhui Province

Applicant after: Weilai (Anhui) Holding Co.,Ltd.

Address before: 30 Floor of Yihe Building, No. 1 Kangle Plaza, Central, Hong Kong, China

Applicant before: NIO NEXTEV Ltd.

GR01 Patent grant
GR01 Patent grant