CN110466369A - A kind of charging bow identification positioning system and method - Google Patents
A kind of charging bow identification positioning system and method Download PDFInfo
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- CN110466369A CN110466369A CN201910740035.1A CN201910740035A CN110466369A CN 110466369 A CN110466369 A CN 110466369A CN 201910740035 A CN201910740035 A CN 201910740035A CN 110466369 A CN110466369 A CN 110466369A
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- 238000007600 charging Methods 0.000 title claims abstract description 74
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000012545 processing Methods 0.000 claims abstract description 33
- 238000004891 communication Methods 0.000 claims abstract description 4
- 230000009466 transformation Effects 0.000 claims description 9
- 230000008901 benefit Effects 0.000 claims description 3
- 238000005452 bending Methods 0.000 claims 1
- 230000005611 electricity Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 239000002390 adhesive tape Substances 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
- B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
- B60L53/66—Data transfer between charging stations and vehicles
-
- 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
-
- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
-
- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
A kind of charging bow identification positioning system and method, are related to electric vehicle charging technical field.Including camera module, charging bow host computer, camera module includes camera and video processing controller, and downward, camera is connect the camera lens of camera with video processing controller, video processing controller and charging bow host computer communication connection.The present invention carries out whether location determination can carry out charging bow charging to vehicle after obtaining image information using camera, does not need artificial observation video image and sends license, simplifies charging operations, improve efficiency.
Description
Technical field
The present invention relates to electric vehicle charging technical field, specially a kind of charging bow identification positioning system and method.
Background technique
Currently, charging bow product section has emerged, when still in the research and development starting stage, charging bow is a kind of mainly in face of public affairs
Hand over the super-large current fast charge equipment in market.
Generally, driver stops the vehicle to bend authorized personnel parking only into charging and can start to charge, but the operation of people and different
Vehicle is disposably surely stopped into standard.Now on the market there is a kind of charging to bend aid parking positioning system.
Application number: 201810896986.3, title are as follows: charging bow, charging positioning system, electric vehicle and electric vehicle fill
Method for electrically discloses a kind of charging bow aid parking positioning system, installs camera on charging bow shelf and passes through video
Wireless signal is sent on vehicle screen (similar reversing automobile image) in real time, and driver observation is allowed whether to stop quasi- reselection drop bow,
But this localization method still relies on the judgement and operation of people, not convenient enough.
Summary of the invention
One of purpose of the invention is to provide a kind of charging bow identification positioning system, can effectively solve background technique
The problems in.
Realizing the technical solution of above-mentioned purpose is: a kind of charging bow identification positioning system, it is characterised in that: including camera
Mould group, charging bow host computer, camera module include camera and video processing controller, and the camera lens of camera downward, images
Head is connect with video processing controller, video processing controller and charging bow host computer communication connection.
The present invention carries out whether location determination can carry out charging bow charging to vehicle after obtaining image information using camera,
It does not need artificial observation video image and sends license, simplify charging operations, improve efficiency.
Further, the video processing controller uses STM32 single-chip microcontroller, is provided in video processing controller initial
The weight variable that value is 0, video processing controller turns RS485 module by TTL and charging bow host computer communicates to connect.
Further, recognition effect is shot at night to improve, positioning system further includes having control switch and light downward
Assist illuminator, connect power supply after the assist illuminator and control switch concatenation, the control terminal of control switch connects charging
Bend host computer.
Further, the camera angle of the camera module is adjustable.
Further, the top of charging vehicle is provided with two rows of pantograph electrodes, every row's pantograph electrode in the width direction
Including two pantograph electrodes, identification marking is pasted on the roof between two rows of pantograph electrodes.
Because electrode color identification effect it is less desirable, for improve identify stability, therefore pantograph electrode it
Between increase have identification marking.
Further, wherein the length of two pantograph electrodes of a row is 560mm, width is 60mm, Ling Yipai
One of pantograph electrode length be 560mm, width be 60mm, another pantograph electrode length be 440mm, width
It is 60mm, the center between two rows of pantograph electrodes is away from for 700mm, in two pantograph electrodes of two rows of pantograph electrodes
The heart is away from respectively 700mm.
Further, the identification marking includes yellow black alternate and with pantograph electrode runs parallel four mark bands, adjacent
The adjacent edge of mark band to form rectangle identification patch along being bonded to each other.
Yellow shoots display effect in the black white image of acquisition in environment outdoors and white is close, but it is reflective less
Seriously, alternate with black, comparison is obvious, facilitates identification.
It is a further object to provide a kind of chargings to bend recognition positioning method, which is characterized in that including walking as follows
It is rapid:
After S1, charging vehicle are stopped in place, charging bow PC control video processing controller shoots image with camera 4.1
Upper left angle point is that origin establishes coordinate system (x, y), and vehicle roof is divided into the first rectangle cog region, the second rectangle cog region 10
With third rectangle cog region 11:
It include first row pantograph electrode in first rectangle cog region, and demarcation rectangular cog region coordinate (x1, y2, w1, h1),
Wherein x1, y1 are the coordinate position of the upper left angle point of the first rectangle cog region, and w1 is the width of the first rectangle cog region, h1 the
The height of one rectangle cog region；
It include second row pantograph electrode in second rectangle cog region 10, and demarcation rectangular cog region coordinate (x2, y2, w2,
H2), wherein x2, y2 are the coordinate position of the upper left angle point of the second rectangle cog region, and w2 is the width of the first rectangle cog region, h2
For the height of the first rectangle cog region；
It include identification marking in third rectangle cog region 11, and demarcation rectangular cog region coordinate (x3, y3, w3, h3), wherein
X3, y3 are the coordinate position of the upper left angle point of third rectangle cog region, and w3 is the width of the first rectangle cog region, and h3 is the first square
The height of shape cog region；
S2, video processing controller obtain the image of camera shooting, according to rectangle cog region coordinate (x1, y1, w1, h1), benefit
The edge line segment in the first rectangle region is identified with Hough transformation, filters out and is greater than 15 degree or long with transversely and horizontally wire clamp angle
Degree differs 10% or more edge line segment with pantograph electrode length, if remaining edge line segment is in left and right arrangement and left and right sides
The quantity of edge line segment is 1 ~ 2, while left side edge line segment is located at the pixel of left end and right side edge line segment is located at most
Spacing between the pixel of right end is greater than the center of two pantograph electrodes in the first rectangle region away from 700 mm, then is judged as knowledge
Substantially inaccurate, weight variable adds 1, if spacing is greater than 980mm, is judged as that identification is very accurate, weight variable adds 2；
S3, video processing controller obtain obtain camera shooting image, according to rectangle cog region coordinate (x2, y2, w2,
H2), the edge line segment in the second rectangle region is identified using Hough transformation, filters out and is greater than 15 with transversely and horizontally wire clamp angle
Degree or length exceed the edge line segment of this value range of 396 ~ 616mm, if remaining edge line segment is in left and right arrangement and left and right sides
The quantity of edge line segment be 1 ~ 2, while left side edge line segment is located at the pixel of left end and right side edge line segment is located at most
Spacing between the pixel of right end is greater than the center of two pantograph electrodes in the second rectangle region away from f, then is judged as identification base
This is accurate, and weight variable adds 1, if spacing is greater than 950mm, is judged as that identification is very accurate, weight variable adds 2；
S4, video processing controller 4.2 obtain camera module shooting image, according to rectangle cog region coordinate (x3, y3, w3,
H3), the edge line segment in third rectangle region 11 is identified using Hough transformation, filters out edge line segment and transversely and horizontally line
Angle be greater than 15 degree or length with the edge line segment that identifies strip length and differ 10% or more, the quantity of remaining edge line segment greater than etc.
Add 2 in 2 weight variables, recognizing 1 line segment, then weight variable adds 1；
S5, video processing controller 4.2 obtain camera module shooting image, according to rectangle cog region coordinate (x3, y3, w3,
H3), the edge line segment in third rectangle region 11 is identified using Hough transformation, filters out edge line segment and transversely and horizontally line
Angle is greater than 15 degree, and length differs 10% or more edge with mark strip length, and the quantity of remaining edge line segment is more than or equal to 2
Weight variable adds 2, and recognizing 1 line segment, then weight variable adds 1；
S6, finally, by the weight addition of variables in step S3, S4, S5, if weight variable is greater than 3, send vehicle to host computer
Quasi- message is stopped, has otherwise sent vehicle and do not stop quasi- message.
It is disclosed by the invention charging bow recognition positioning method the utility model has the advantages that present invention employs artificial intelligence technology, make
Whether location determination, which can carry out charging bow charging, is carried out to vehicle after obtaining image information with camera, does not need artificial observation view
Frequency image sends license, simplifies charging operations, improves efficiency.
Further, in step s 6, when charging bow host computer reception does not stop quasi- message, charging bow PC control is auxiliary
It helps headlamp to open, and repeats step S2-S5, recognition effect is improved by assist illuminator.
Further, in step sl, two in the four edges of the first rectangle cog region and the first rectangle cog region
The spacing of the adjacent parallel sides of a pantograph electrode is 150mm, the four edges and the second square of the second rectangle cog region
The spacing of the adjacent parallel sides of two pantograph electrodes in shape cog region is 150mm, the third rectangle cog region
The spacing of the adjacent parallel sides of the rectangle identification patch of four edges and mark band composition is 150mm.
Testing surface, the position deviation for the bow that charges still ensure that the pantograph of charging bow and vehicle bottom within 150mm
Between have good contact.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that charging bow identification positioning system is mounted on charging bow bracket；
Fig. 2 is camera to charging vehicle visual field cog region area map；
Fig. 3 identifies showing for line segment by first row pantograph electrode, second row pantograph electrode, identification marking in the ideal situation
It is intended to；
Fig. 4 is control system schematic diagram.
Specific embodiment
The present invention provides a kind of charging bow identification positioning system and method, identifies for the pantograph to charging vehicle
With positioning.
As shown in Fig. 2, being provided with first row pantograph electrode 1 and second row pantograph in the width direction at the top of charging vehicle
Electrode 2, first row pantograph electrode 1 and second row pantograph electrode 2 include two pantograph electrodes, two of first row by
The length of pantograph electrode 1 is 560mm, and width is 60mm, the pantograph positioned at vehicle front side of second row pantograph electrode 2
Electrode length is 560mm, and width is 60mm, and the pantograph electrode length positioned at vehicle rear-side is 440mm, and width is
The center of 60mm, first row pantograph electrode 1 and second row pantograph electrode 2 is away from for e, e=700mm, first row pantograph electrode
1, the center of two pantograph electrodes of second row pantograph electrode 2 is away from being f, f=700mm.
Identification marking 3, identification mark are pasted on roof between first row pantograph electrode 1, second row pantograph electrode 2
Knowing 3 includes the black four alternate mark bands 3.1 of Huang with first, second row's pantograph electrode runs parallel arrangement, adjacent mark band 3.1
Adjacent edge to form rectangle identification patch 12 along being bonded to each other, the length of four mark bands 3.1 is 300mm, and mark band 3.1 uses
But it is not limited to the 471 model 50mm money yellow and logos adhesive tape of the production of 3M company.
As shown in Fig. 1,4, charging bow identification positioning system include camera module 4, assist illuminator 5, control switch 6,
Charging bow host computer 7, camera module 4, assist illuminator 5 are installed in the shelf 8 of charging bow, the mirror of camera module 4
The light of head and assist illuminator 6 is arranged downward.
Camera module 1 use 5V power supply power supply, camera module 1 include camera 4.1, video processing controller 4.2,
TTL turns RS485 module 4.3, and the weight variable that initial value is 0, camera 4.1 and view are provided in video processing controller 4.2
Frequency processing controller 4.2 connects, and video processing controller 4.2 turns RS485 module 4.3 by TTL and communicates with charging bow host computer 7
Connection, floor light 2 use white LED lamp, and floor light 2 concatenates with control switch 6 and connect 220V power supply, control switch 6
Control terminal connection charging bow host computer 7, control switch 6 can use well known relay.
The camera lens of camera 4.1 selects the M12 camera lens of undistorted wide-angle optical filter containing 650nm, 2.8mm focal length, undistorted
Wide-angle lens is to identify that accurately, raising identification range is wide, and 650nm optical filter is suitble to charge for anti-Qiang Guang, 2.8mm focal length
Bow positioning shooting distance, the STM32 single-chip microcontroller that video processing controller 4.2 is increased income using software and hardware.
As the further explanation of the present embodiment, camera module 1 is locked in transparent casing.
As shown in Figs 1-4, the present embodiment also discloses a kind of charging bow recognition positioning method, includes the following steps:
After S1, charging vehicle are stopped in place, charging bow host computer 7 controls video processing controller 4.2 with 4.1 shooting figure of camera
The upper left angle point of picture is that origin establishes coordinate system (x, y), vehicle roof is divided into the first rectangle cog region 9, the second rectangle is known
Other area 10 and third rectangle cog region 11:
It include first row pantograph electrode 1 in first rectangle cog region 9, and demarcation rectangular cog region coordinate (x1, y2, w1,
H1), wherein x1, y1 are the coordinate position of the upper left angle point of the first rectangle cog region, and w1 is the width of the first rectangle cog region, h1
For the height of the first rectangle cog region；
It include second row pantograph electrode 2 in second rectangle cog region 10, and demarcation rectangular cog region coordinate (x2, y2,
W2, h2), wherein x2, y2 are the coordinate position of the upper left angle point of the second rectangle cog region, and w2 is the width of the first rectangle cog region
Degree, h2 are the height of the first rectangle cog region；
It include identification marking 3 in third rectangle cog region 11, and demarcation rectangular cog region coordinate (x3, y3, w3, h3), wherein
X3, y3 are the coordinate position of the upper left angle point of third rectangle cog region, and w3 is the width of the first rectangle cog region, and h3 is the first square
The height of shape cog region；
S2, video processing controller 4.2 obtain camera 4.1 shoot image, according to rectangle cog region coordinate (x1, y2, w1,
H1), the edge line segment A in the first rectangle region 9 is identified using Hough transformation, filters out and is greater than with transversely and horizontally wire clamp angle
15 degree or length differ 10% or more edge line segment with pantograph electrode length, as shown in figure 3, if residue edge line segment A is in a left side
Right arrangement and the quantity of the edge line segment A of left and right sides are 1 ~ 2, and (Fig. 3 is perfect condition, and left and right sides has two edges respectively
Line segment A), while left side edge line segment A is located at the pixel of left end and right side edge line segment A is located between the pixel of right end
Spacing g is greater than the center of two pantograph electrodes in the first rectangle region 9 away from f, then is judged as and identifies substantially accurate, weight variable
Add 1, if spacing is greater than 980mm, is judged as that identification is very accurate, weight variable adds 2；
S4, video processing controller 4.2 obtain camera 4.1 shoot image, according to rectangle cog region coordinate (x2, y2, w2,
H2), the edge line segment B in the second rectangle region 10 is identified using Hough transformation, is filtered out big with transversely and horizontally wire clamp angle
Exceed the edge line segment of this value range of 396 ~ 616mm in 15 degree or length, as shown in figure 3, if residue edge line segment B is in left and right
Arrangement and the quantity of the edge line segment B of left and right sides are 1 ~ 2, and (Fig. 3 is perfect condition, and left and right sides has two edge lines respectively
Section B), while left side edge line segment B is located at the pixel of left end and between right side edge line segment B is located between the pixel of right end
Center away from j greater than two pantograph electrodes in the second rectangle region 10 is then judged as away from f and identifies substantially accurate, weight variable
Add 1, if spacing is greater than 950mm, is judged as that identification is very accurate, weight variable adds 2；
S5, video processing controller 4.2 obtain camera 4.1 shoot image, according to rectangle cog region coordinate (x3, y3, w3,
H3), the edge line segment C in third rectangle region 11 is identified, filters out edge line segment C with transversely and horizontally wire clamp angle and is greater than 15
Degree or length differ 10% or more edge line segment with mark strip length, and remaining edge line segment C(Fig. 3 is perfect condition, all surplus
Remaining edge line segment C is identified) quantity be more than or equal to 2 weight variables and add 2, recognize 1 edge line segment C then weight variable
Add 1；
S6, finally, by the weight addition of variables in step S3, S4, S5, if weight variable is greater than 3, send vehicle to host computer
Stop quasi- message, has otherwise sent vehicle and do not stop quasi- message, when charging bow host computer reception does not stop quasi- message, charging bow host computer
7 control assist illuminators 5 are opened, and repeat step S2-S5.
As the further explanation of the present embodiment, after opening assist illuminator 5, still receive when not stopping quasi- message, department
Machine can require to enter manual mode.
As the further explanation of the present embodiment, the four edges and the first rectangle cog region 9 of the first rectangle cog region 9
The spacing of the adjacent parallel sides of two interior pantograph electrodes is k, k=150mm, and the four of the second rectangle cog region 10
The spacing of the adjacent parallel sides of two pantograph electrodes in side and the second rectangle cog region is l, l=150mm, third
The spacing of the adjacent parallel sides for the rectangle identification patch 12 that the four edges of rectangle cog region 11 and mark band 3.1 form is m, and m=
150mm。
As the further explanation of the present embodiment, transversely and horizontally line is Fig. 3 view direction described in above-mentioned steps S2-5
Horizontal line.
Claims (10)
1. a kind of charging bow identification positioning system, it is characterised in that: including camera module, charging bow host computer, camera mould
Group includes camera and video processing controller, and downward, camera is connect the camera lens of camera with video processing controller, video
Processing controller and charging bow host computer communication connection.
2. a kind of charging bow identification positioning system according to claim 1, it is characterised in that: the video processing controller
Using STM32 single-chip microcontroller, the weight variable that initial value is 0 is provided in video processing controller, video processing controller passes through
TTL turns RS485 module and charging bow host computer communication connection.
3. a kind of charging bow identification positioning system according to claim 1, it is characterised in that: further include have control switch and
Power supply, the control terminal of control switch are connected after light assist illuminator directed downwardly, the assist illuminator and control switch concatenation
Connection charging bow host computer.
4. a kind of charging bow identification positioning system according to claim 1, it is characterised in that: the camera module is taken the photograph
As head angle adjustable.
5. a kind of charging bow identification positioning system according to claim 1, it is characterised in that: the top of charging vehicle is along width
Degree direction is provided with two rows of pantograph electrodes, and every row's pantograph electrode includes two pantograph electrodes, two rows of pantograph electrodes it
Between roof on be pasted with identification marking.
6. a kind of charging bow identification positioning system according to claim 5, it is characterised in that: wherein two of a row are by electricity
The length for bending electrode is 560mm, and width is 60mm, and one of pantograph electrode length of another row is 560mm, width
Be 60mm, another pantograph electrode length be 440mm, width is 60mm, the center between two rows of pantograph electrodes away from
For 700mm, the center of two pantograph electrodes of two rows of pantograph electrodes is away from respectively 700mm.
7. a kind of charging bow identification positioning system according to claim 5, it is characterised in that: the identification marking includes Huang
The adjacent edge of four mark bands black alternate and with pantograph electrode runs parallel, adjacent mark band to form rectangle knowledge along being bonded to each other
It does not paste.
8. recognition positioning method is bent in a kind of charging, which comprises the steps of:
After S1, charging vehicle are stopped in place, charging bow PC control video processing controller is with a left side for camera shooting image
Upper angle point is that origin establishes coordinate system (x, y), and vehicle roof is divided into the first rectangle cog region, 10 and of the second rectangle cog region
Third rectangle cog region 11:
It include first row pantograph electrode in first rectangle cog region, and demarcation rectangular cog region coordinate (x1, y2, w1, h1),
Wherein x1, y1 are the coordinate position of the upper left angle point of the first rectangle cog region, and w1 is the width of the first rectangle cog region, h1 the
The height of one rectangle cog region；
It include second row pantograph electrode in second rectangle cog region 10, and demarcation rectangular cog region coordinate (x2, y2, w2,
H2), wherein x2, y2 are the coordinate position of the upper left angle point of the second rectangle cog region, and w2 is the width of the first rectangle cog region, h2
For the height of the first rectangle cog region；
It include identification marking in third rectangle cog region 11, and demarcation rectangular cog region coordinate (x3, y3, w3, h3), wherein
X3, y3 are the coordinate position of the upper left angle point of third rectangle cog region, and w3 is the width of the first rectangle cog region, and h3 is the first square
The height of shape cog region；
S2, video processing controller obtain the image of camera shooting, according to rectangle cog region coordinate (x1, y1, w1, h1), benefit
The edge line segment in the first rectangle region is identified with Hough transformation, filters out and is greater than 15 degree or long with transversely and horizontally wire clamp angle
Degree differs 10% or more edge line segment with pantograph electrode length, if remaining edge line segment is in left and right arrangement and left and right sides
The quantity of edge line segment is 1 ~ 2, while left side edge line segment is located at the pixel of left end and right side edge line segment is located at most
Spacing between the pixel of right end is greater than the center of two pantograph electrodes in the first rectangle region away from 700 mm, then is judged as knowledge
Substantially inaccurate, weight variable adds 1, if spacing is greater than 980mm, is judged as that identification is very accurate, weight variable adds 2；
S3, video processing controller obtain obtain camera shooting image, according to rectangle cog region coordinate (x2, y2, w2,
H2), the edge line segment in the second rectangle region is identified using Hough transformation, filters out and is greater than 15 with transversely and horizontally wire clamp angle
Degree or length exceed the edge line segment of this value range of 396 ~ 616mm, if remaining edge line segment is in left and right arrangement and left and right sides
The quantity of edge line segment be 1 ~ 2, while left side edge line segment is located at the pixel of left end and right side edge line segment is located at most
Spacing between the pixel of right end is greater than the center of two pantograph electrodes in the second rectangle region away from 700 mm, then is judged as knowledge
Substantially inaccurate, weight variable adds 1, if spacing is greater than 950mm, is judged as that identification is very accurate, weight variable adds 2；
S4, video processing controller 4.2 obtain camera module shooting image, according to rectangle cog region coordinate (x3, y3, w3,
H3), the edge line segment in third rectangle region 11 is identified using Hough transformation, filters out edge line segment and transversely and horizontally line
Angle be greater than 15 degree or length with the edge line segment that identifies strip length and differ 10% or more, the quantity of remaining edge line segment greater than etc.
Add 2 in 2 weight variables, recognizing 1 line segment, then weight variable adds 1；
S5, finally, by the weight addition of variables in step S3, S4, S5, if weight variable is greater than 3, send vehicle to host computer
Quasi- message is stopped, has otherwise sent vehicle and do not stop quasi- message.
9. recognition positioning method is bent in a kind of charging according to claim 8, it is characterised in that: in step s 6, work as charging
When bow host computer reception does not stop quasi- message, charging bow PC control assist illuminator is opened, and repeats step S2-S5.
10. recognition positioning method is bent in a kind of charging according to claim 8, it is characterised in that: in step sl, described the
The four edges of one rectangle cog region and the spacing of the adjacent parallel sides of two pantograph electrodes in the first rectangle cog region are equal
For 150mm, the adjacent flat of the four edges of the second rectangle cog region and two pantograph electrodes in the second rectangle cog region
The spacing of row side is 150mm, the phase for the rectangle identification patch that four edges and the mark band of the third rectangle cog region form
The spacing of adjacent parallel sides is 150mm.
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