CN110962611B - Charging bow and pantograph connecting method and device and electronic equipment - Google Patents

Charging bow and pantograph connecting method and device and electronic equipment Download PDF

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CN110962611B
CN110962611B CN201811158369.XA CN201811158369A CN110962611B CN 110962611 B CN110962611 B CN 110962611B CN 201811158369 A CN201811158369 A CN 201811158369A CN 110962611 B CN110962611 B CN 110962611B
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pantograph
image
charging
edge
pixel point
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CN110962611A (en
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于士友
李贞国
郭占栋
栾永明
孙健
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QINGDAO HARDHITTER ELECTRIC CO Ltd
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QINGDAO HARDHITTER ELECTRIC CO Ltd
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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
    • B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
    • B60L5/18—Current collectors for power supply lines of electrically-propelled vehicles using bow-type collectors in contact with trolley wire
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
    • B60M1/00—Power supply lines for contact with collector on vehicle
    • B60M1/02—Details
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/13—Edge detection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/215—Motion-based segmentation
    • 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
    • Y02T90/14—Plug-in electric vehicles

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  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
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Abstract

The invention provides a method and a device for connecting a charging bow and a pantograph as well as an electronic device. By the embodiment of the invention, the reliable connection of the charging pantograph and the pantograph can be ensured.

Description

Connection method and device of charging pantograph and electronic equipment
Technical Field
The invention relates to the field of electric vehicle charging, in particular to a method and a device for connecting a charging pantograph and a pantograph and electronic equipment.
Background
With the popularization and application of new energy electric vehicle technology, a high-power charging bow technology capable of meeting the requirement of electric vehicle rapid charging is gradually developed. The charging using a high power charging bow is premised on a reliable physical connection of the charging bow and the pantograph.
Therefore, a method for achieving reliable physical connection between a charging pantograph and a pantograph is needed.
Disclosure of Invention
In view of the above, the present invention provides a method, an apparatus and an electronic device for connecting a charging bow and a pantograph, so as to solve the problem of an urgent need for a method for realizing reliable physical connection between a charging bow and a pantograph.
In order to solve the technical problem, the invention adopts the following technical scheme:
a method of connecting a charging bow to a pantograph, comprising:
acquiring an image including pantograph imaging of an electric vehicle;
identifying pantograph position information in the image;
determining a movement track of a charging pantograph based on the pantograph position information, wherein the movement track is used for enabling the charging pantograph to move and is connected with the pantograph;
and controlling the charging bow to move according to the motion trail.
Preferably, identifying pantograph position information in the image comprises:
carrying out color conversion on the image or extracting a gray component from the image to obtain a gray image;
detecting edge lines and straight lines in the gray level image;
determining the electrode edge of a charging bow based on the detected edge line and straight line in the gray image;
determining the pantograph position information based on the electrode edge; the pantograph position information includes a center position of the pantograph and a rotation angle of an electrode of the pantograph with respect to a preset direction.
Preferably, detecting an edge line in the grayscale image includes:
calculating the gradient of each pixel point in the gray level image;
carrying out non-maximum suppression calculation on the gradient value of each pixel point to obtain the gradient value processed by each pixel point;
screening out pixel points of which the corresponding processed gradient values are smaller than a first preset value or larger than a second preset value;
classifying all the screened pixel points according to the gradient direction to obtain a preset number of pixel point sets;
and connecting the pixel points in each pixel point set, and connecting the pixel points positioned at the boundary position in the adjacent pixel point sets to obtain the edge line in the gray image.
Preferably, determining the electrode edge of the charging bow based on the detected edge line and the straight line in the grayscale image includes:
determining a pixel point forming the edge line and a common pixel point of the pixel points forming the straight line, and using the pixel points as seed points;
carrying out region growth on the seed points to obtain initial electrode edges;
performing morphological treatment on the initial electrode edge to obtain a middle electrode edge;
and screening out a straight line which accords with a preset electrode edge screening rule from the edge of the middle electrode as the electrode edge.
Preferably, determining a motion trajectory of a charging pantograph based on the pantograph position information includes:
calculating a positional deviation of the center position from an image center position of the image;
determining the actual deviation of the central point of the pantograph from the installation position of the camera shooting device for shooting the image according to the position deviation;
and generating a motion track of the charging bow according to the actual deviation and the rotation angle.
Preferably, the controlling the charging bow to move according to the motion track includes:
and controlling a motion driving device to drive the charging pantograph to move right above the pantograph according to the motion track, and pressing down the charging pantograph to be connected with the pantograph.
A connecting device of a charging bow and a pantograph, comprising:
the image acquisition module is used for acquiring an image including pantograph imaging of the electric automobile;
the image processing module is used for identifying pantograph position information in the image;
a track determining module, configured to determine a motion track of a charging pantograph based on the pantograph position information, where the motion track is used for moving the charging pantograph and is connected to the pantograph;
and the motion control module is used for controlling the charging bow to move according to the motion track.
Preferably, the image processing module includes:
the image processing submodule is used for carrying out color conversion on the image or extracting a gray component from the image to obtain a gray image;
the line detection submodule is used for detecting edge lines and straight lines in the gray level image;
the edge determining submodule is used for determining the electrode edge of the charging arch based on the detected edge line and the detected straight line in the gray level image;
a data determination sub-module for determining the pantograph position information based on the electrode edge; the pantograph position information includes a center position of the pantograph and a rotation angle of an electrode of the pantograph with respect to a preset direction.
Preferably, the line detection submodule includes:
the gradient calculation unit is used for calculating the gradient of each pixel point in the gray level image;
the numerical value processing unit is used for carrying out non-maximum suppression calculation on the gradient value of each pixel point to obtain the gradient value processed by each pixel point;
the screening unit is used for screening out corresponding pixel points of which the processed gradient values are smaller than a first preset value or larger than a second preset value;
the classification unit is used for classifying all the screened pixel points according to the gradient direction to obtain a preset number of pixel point sets;
and the connecting unit is used for connecting the pixel points in each pixel point set and connecting the pixel points positioned at the boundary position in the adjacent pixel point sets to obtain the edge line in the gray image.
An electronic device, comprising: a memory and a processor;
wherein the memory is used for storing programs;
the processor invokes the program and is used to:
acquiring an image including pantograph imaging of an electric vehicle;
identifying pantograph position information in the image;
determining a movement track of a charging pantograph based on the pantograph position information, wherein the movement track is used for enabling the charging pantograph to move and is connected with the pantograph;
and controlling the charging bow to move according to the motion trail.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a method and a device for connecting a charging bow and a pantograph as well as an electronic device. By the embodiment of the invention, the reliable connection of the charging pantograph and the pantograph can be ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a method for connecting a charging pantograph and a pantograph according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for connecting a charging pantograph and a pantograph according to another embodiment of the present invention;
fig. 3 is a flowchart of a method for connecting a charging pantograph and a pantograph according to another embodiment of the present invention;
fig. 4 is a flowchart of a method for connecting a charging pantograph and a pantograph according to another embodiment of the present invention;
fig. 5 is a flowchart of a fifth method for connecting a charging pantograph and a pantograph according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a connecting device of a charging bow and a pantograph according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
An embodiment of the present invention provides a method for connecting a charging pantograph and a pantograph, which is applied to a controller, and with reference to fig. 1, the method may include:
s11, acquiring an image including pantograph imaging of the electric automobile;
specifically, a camera device, such as a camera, is installed on the charging pantograph, and the image can be obtained by taking a picture of the pantograph through the camera device.
It should be noted that the image is acquired only once, and need not be acquired multiple times, but the image needs to include at least partial imaging of all electrodes of the pantograph.
S12, identifying pantograph position information in the image;
the pantograph position information may include a center position of the pantograph and a rotation angle of an electrode of the pantograph in the image with respect to a preset direction.
The relative preset direction may be an x-axis or a y-axis of an image coordinate system of the image.
In addition, the presence or absence of foreign matter on the pantograph can be recognized from the image.
S13, determining a motion track of the charging pantograph based on the pantograph position information;
wherein the motion track is used for enabling the charging bow to move and is connected with the pantograph.
Specifically, the central position and the rotation angle of the pantograph are known, the actual positions of the pantograph and the imaging device can be deduced, and the actual relative position of the pantograph and the charging pantograph can be deduced, so that the motion track of the charging pantograph can be generated.
And S14, controlling the charging arch to move according to the motion track.
Optionally, on the basis of this embodiment, step S14 may include:
and controlling a motion driving device to drive the charging pantograph to move right above the pantograph according to the motion track, and pressing down the charging pantograph to be connected with the pantograph.
Specifically, the movement driving control structures are arranged in the vertical, left-right and front-back axial directions of the charging bow, the rotation driving mechanism capable of rotating around the vertical axis is arranged, the charging bow can accurately move according to control in a certain range in the three-axis direction, and the charging bow can rotate in a controlled manner for 360 degrees around the vertical axis. The motion driving device comprises a motion driving control structure and a rotation driving mechanism which are arranged in the vertical, left-right and front-back axial directions.
And after the motion trail is obtained, the left and right axial motion and the front and back axial motion and the rotation operation are started synchronously. After the movements are finished, the pantograph pressing operation in the vertical axial direction is carried out, so that the damage of the charging pantograph or the pantograph body caused by other axial movements after the charging pantograph and the pantograph are contacted is prevented.
The mechanical structure design of the motion driving device is utilized to ensure that the charging pantograph body can automatically complete the quick and reliable butt joint with the pantograph body under the control of the controller.
In this embodiment, first, pantograph position information is determined based on a captured image, a movement trajectory of the charging pantograph is determined based on the pantograph position information, and the charging pantograph is controlled to move according to the movement trajectory and to be connected to the pantograph. By the embodiment of the invention, the reliable connection of the charging pantograph and the pantograph can be ensured.
In addition, a moving mechanism in the front-back direction and the left-right direction is additionally arranged on the charging bow, an axial rotating mechanism is additionally arranged on the charging bow mechanism which moves up and down to enable the charging bow to rotate around the axial direction, a real-time image is acquired through a camera device arranged on the charging bow, and the image processing result is automatically positioned, rotated and moved according to an image processing algorithm, so that the aim of accurately and reliably butting the quick charging bow and the pantograph can be fulfilled, and automatic charging is realized.
Thirdly, the camera device has a monitoring function, and can assist a driver to stop and monitor the conditions of the pantograph and the pantograph.
Optionally, on the basis of any of the above embodiments, referring to fig. 2, step S12 may include:
s21, carrying out color conversion on the image or extracting a gray component from the image to obtain a gray image;
specifically, the process of performing color conversion on the image to obtain a grayscale image may be:
converting the color image into a gray image according to the conversion relation between the RGB [ red (R), green (G), blue (B) ] image and the YIQ color space, according to the following formula:
Y＝0.299·R+0.587·G+0.114·B。
wherein Y represents a gray scale value.
In addition, a grayscale component can be extracted from the image to obtain a grayscale image.
S22, detecting edge lines and straight lines in the gray level image;
the edge line is a boundary between two different colors, and the straight line is a straight line in the gray image.
Optionally, on the basis of this embodiment, edge information in the image is extracted by using an improved CANNY edge detection algorithm, and the pantograph electrode is quickly positioned by using the edge information. Specifically referring to fig. 3, detecting an edge line in the grayscale image includes:
s31, calculating the gradient of each pixel point in the gray level image;
calculating the gradient G (i, j) of each pixel point in the image
G(i,j)＝g x (i,j)+g y (i,j)
g x (i,j)＝I(i+1,j)-I(i,j)
g y (i,j)＝I(i,j+1)-I(i,j)
Wherein g is x (i,j)，g y (I, j) is the orthogonal decomposition of the gradient G (I, j) of the image I at the pixel point (I, j), respectively. I (I +1, j) represents the grayscale value at (I +1, j), I (I, j) represents the grayscale value at (I, j), and I (I, j + 1) represents the grayscale value at (I, j + 1).
S32, performing non-maximum suppression calculation on the gradient value of each pixel point to obtain the gradient value of each pixel point after processing;
and carrying out non-maximum suppression on the gradient value of each pixel point. Non-maxima suppression will yield preliminary results of edge detection in between.
G o (i,j)＝Max{G(i,j),M(i,j),N(i,j)}
Wherein theta is the angle of gradient unit vector and is the remainder of 180 DEG, and when theta is more than or equal to 0 DEG and less than 45 DEG
When theta is more than or equal to 0 degree and less than 45 degrees
M(i,j)＝G(i+1,j-1)·tanθ+G(i+1,j)·(1-tanθ)
N(i,j)＝G(i-1,j+1)·tanθ+G(i-1,j)·(1-tanθ)
When theta is more than or equal to 45 degrees and less than 90 degrees
M(i,j)＝G(i+1,j-1)·tan(θ-45°)+G(i,j-1)·(1-tan(θ-45°))
N(i,j)＝G(i+1,j+1)·tan(θ-45°)+G(i,j+1)·(1-tan(θ-45°))
When theta is more than or equal to 90 degrees and less than 135 degrees
M(i,j)＝G(i-1,j-1)·tan(θ-90°)+G(i,j+1)·(1-tan(θ-90°))
N(i,j)＝G(i+1,j+1)·tan(θ-90°)+G(i,j+1)·(1-tan(θ-90°))
When the theta is more than or equal to 135 degrees and less than 180 degrees
M(i,j)＝G(i-1,j-1)·tan(θ-135°)+G(i-1,j)·(1-tan(θ-135°))
N(i,j)＝G(i+1,j+1)·tan(θ-135°)+G(i+1,j)·(1-tan(θ-135°))
Through the calculation, the gradient value of each pixel after processing can be obtained.
S33, screening out corresponding pixel points of which the gradient values after the processing are smaller than a first preset value or larger than a second preset value;
specifically, two thresholds are set, one threshold is used to detect strong edge points, and the other threshold is used to detect weak edge points. The first preset value corresponds to a weak edge point and the second preset value corresponds to a strong edge point. The double-threshold detection can ensure that the fuzzy edge information influenced by light can be effectively extracted.
S34, classifying all the screened pixel points according to the gradient direction to obtain a preset number of pixel point sets;
the detected edge points, i.e., the screened pixel points, are classified into four pixel point sets according to gradient direction angles ([ 0,45 °), [45 °,90 °), [90 °,135 °), and [135 °,180 °). And if the angle in the gradient direction is greater than or equal to 180 degrees, the 180 degrees are subjected to remainder.
S35, connecting the pixel points in each pixel point set, and connecting the pixel points located at the boundary position in the adjacent pixel point set to obtain the edge line in the gray image.
Specifically, it is obvious that each pixel point set has a relatively approaching direction, edge connection is performed according to a gradient direction, and then edges connected by the four sets are further connected to obtain a detected edge profile.
The improved edge detection algorithm can well identify weak edges caused by the influence of light factors, can keep the continuity of the edges in morphology, and can improve the stability and consistency of the edge detection of the electrode on the pantograph.
It should be noted that the improved CANNY edge detection algorithm may not be improved in the case of high image quality, or other algorithms such as SOBEL, LOG, zero-crossing edge detection, etc. may be used to detect edge lines in the grayscale image.
Optionally, on the basis of this embodiment, a process of detecting a straight line in the grayscale image may be as follows:
because the pantograph electrode is made of a group of copper bars or graphite and has a rectangular shape with regular straight line edges, the invention adopts a method for detecting straight lines to preliminarily position the electrode in a gray level image, and finally identifies the electrode from the detected straight lines, thereby identifying the position of the pantograph. The adopted Line detection method is LSD (a Line Segment Detector), the algorithm has fast convergence and good parameter consistency, and the parameters do not need to be adjusted. The LSD line detection algorithm steps are roughly as follows:
1. carrying out Gaussian down-sampling on the acquired gray level image at a fixed scale of 0.8;
2. calculating the gradient value and direction of each point in the gray level image;
3. and performing descending arrangement according to the size of the gradient values.
4. And (4) gradient filtering, namely eliminating the rho points with gradient values smaller than a given threshold value.
5. And traversing the rest pixels according to the gradient value, taking each unprocessed point as a seed point, adding the points which satisfy the homogeneity (the angle error satisfies the angle error pi/8) around the seed point into the same area, and generating an area containing all the points. And checking the homogeneity of the region, and if the threshold condition is not met, truncating the region until the threshold condition is met.
It should be noted that the used line detection algorithm may be replaced by other line detection algorithms such as HOUGH, FREEMAN, etc.
S23, determining the electrode edge of the charging bow based on the detected edge line and the detected straight line in the gray image;
optionally, on the basis of this embodiment, referring to fig. 4, step S23 may include:
s41, determining a pixel point forming the edge line and a common pixel point of pixel points forming the straight line, and taking the pixel points and the common pixel points as seed points;
specifically, the LSD algorithm is high in line detection efficiency, but a local algorithm is likely to cause continuous edge breaking, and in order to keep the continuity of a line morphologically, the obtained line segments are clustered by taking an intersection of the obtained edge line and the obtained line segment, that is, a common pixel point is used as a seed point.
S42, carrying out region growth on the seed points to obtain initial electrode edges;
and respectively carrying out region growing on the edge lines and the straight lines by using the seed points, and then merging the growing results of the two regions to obtain straight line clusters.
S＝I∩E
I o ＝g(I,S)
E o ＝g(E,S)
L＝E o ∪I o
Wherein I is a straight line, E is an edge line, S is a seed point used by a region growing algorithm, I o Shows the results obtained by region growing using seeds S for I, E o The result of region growing using the seed S for E is shown, g (,) shows the region growing operation, and L is the final straight-line clustering result, i.e., the initial electrode edge obtained.
S43, performing morphological processing on the initial electrode edge to obtain a middle electrode edge;
in order to obtain the electrode edge of the single pixel level and further reduce the discontinuity of the detected edge of the electrode, the invention carries out morphological processing on the straight line clustering result. The method mainly comprises two morphological operations:
1. morphological dilation. By the morphological dilation operation, discrete edges within the dilation range will be connected. The edges close in distance will merge, indirectly eliminating the influence of part of the false edges.
Figure BDA0001819443410000101
Wherein the content of the first and second substances,
Figure BDA0001819443410000102
for the morphological dilation operator, I is the input image including the initial electrode edges obtained in step S42, I o As a result of the operation, the size of the B-structure element mask is set according to the specific size of the image captured by the camera.
2. And (4) morphological corrosion. The purpose of thinning the edge is achieved through morphological corrosion, the edge with the width larger than 1 pixel is thinned to be 1 pixel, an accurate edge position is obtained, and the accurate determination of the position of the pantograph electrode in the follow-up process is facilitated.
I o ＝IΘB
Theta is the morphological erosion operator, IImages obtained for morphological dilation, I o As a result of the operation, the size of the B-structuring element mask is set according to the specific size of the image captured by the camera.
S44, screening out straight lines which accord with preset electrode edge screening rules from the edges of the middle electrodes to serve as the electrode edges.
Specifically, the preset electrode edge screening rule includes:
the length of the electrode edge is larger than the preset threshold length, the number of the electrode edges is closest to the number of the electrode edges to be identified, and the distance and the width of the straight line segments of the electrode edges are closest to the distance and the width of the electrode to be identified.
Specifically, the edge length of each intermediate electrode is calculated, and since the straight line segments are refined to one pixel by morphological operations, the length of the straight line is simplified and solved to count the pixels in each straight line segment and mark the pixels.
And screening according to the preset threshold length, discarding the straight line sections which do not meet the threshold requirement, and only keeping the straight line sections which meet the threshold requirement. Specifically, the leaves with the number of the pixels larger than the preset number are discarded with the number not larger than the preset number.
Establishing a rectangular coordinate system by taking an image edge as a reference, and solving the slope { k } of a plurality of, such as M, middle electrode edge straight-line segments 1 ,k 2 ,k 3 ,...,k M }。
And clustering the straight line segments according to the slope. Clustering adopts a statistical-based clustering method, and firstly all the straight-line segments are distributed according to a slope statistical slope { h } 1 ,h 2 ,h 3 ,...,h N And then grouping and clustering are carried out according to the statistical result to obtain a plurality of cluster sets
Figure BDA0001819443410000103
And extracting the straight line segments with the number closest to the edge number of the electrode to be identified and the straight line segment intervals closest to the electrode interval to be identified and the electrode width in the clustering set to serve as the electrode edges.
find(D x ≈d 1 ,D x+1 ≈d 2 ,D x+2 ≈d 3 ,...，D x+N ≈d N )
If the edge of the electrode cannot be extracted successfully, it indicates that the electrode is covered by a foreign object or the pantograph position is not within the camera range, and the image can be fed back to the driver by an image feedback method, and step S11 is executed again.
S24, determining the position information of the pantograph based on the electrode edge;
the pantograph position information includes a center position of the pantograph and a rotation angle of an electrode of the pantograph with respect to a preset direction.
Specifically, determining the center position of the pantograph based on the electrode edge includes:
extending all the electrode edge straight line segments to enable any two of the straight lines where all the electrode edge straight line segments and four sides of the gray image are located to have intersection points { P } 1,1 ,P 2,1 ,P 3,1 ,..P x,1 And { P } 1,2 ,P 2,2 ,P 3,2 ,..P x,2 }。
According to the parallel property of the straight lines, the proportional relation between the intersection point of the central axis of the pantograph parallel to the edge of the electrode and the four sides of the image and the intersection point of the edge and the four sides of the image is kept unchanged, so that the axial central axis of the electrode can be determined according to the intersection points, namely:
P c,1 ＝f({P 1,1 ,P 2,1 ,P 3,1 ,..P x,1 })
P c,2 ＝f({P 1,2 ,P 2,2 ,P 3,2 ,..P x,2 })
wherein P is x,1 Denotes the point of intersection of the extension of the straight line segment with one side, P x,2 The method comprises the steps of representing the intersection point of an extension line of a straight line section and a parallel edge, and f (the.) represents a method for calculating a center by using the intersection point, wherein the point P can be simplified into a proportional relation function according to the relation among the electrode width, the electrode distance and the electrode arrangement mode c,1 And P c,2 The connecting line of (a) is the axial central axis of the electrode.
And respectively projecting all the electrode straight-line segments to the central shaft, and determining the middle point of the projection on the central shaft, wherein the middle point is the central position of the pantograph.
Determining a rotation angle of an electrode of the pantograph relative to a preset direction based on the electrode edge, including:
the angle between the edge of the electrode and the coordinate system is recorded as { phi 1 ,Φ 2 ,Φ 3 ,...，Φ N }。
Taking the average value of all included angle values as the rotation angle of the pantograph in the horizontal direction
Figure BDA0001819443410000111
And determining whether the electrodes are reversed or not according to the proportional relation of the electrode spacing when the electrodes are asymmetrically arranged, and if the electrodes are reversed, adding 180 degrees to the rotation angle.
Figure BDA0001819443410000112
Specifically, with the completely symmetrical arrangement of the pantograph electrodes, the reverse direction of the pantograph (the parking direction of the electric vehicle is different by 180 degrees) cannot be detected before the pantograph body is connected, and bidirectional parking charging cannot be performed. Therefore, the pantograph can adopt a scheme of asymmetric arrangement, so that the reverse direction of the pantograph can be automatically recognized through images before the pantograph body is connected.
The position deviation of the pantograph in the actual space is further obtained through the center position of the pantograph, and the angle rotation can control the charging pantograph to adjust the position and the angle of the pantograph body according to the results, so that the reliable butt joint of the charging pantograph and the pantograph is ensured.
In the embodiment, a method for identifying the center position of the pantograph in the image and determining the rotation angle of the electrode of the pantograph in the image relative to the preset direction is provided, and further, by the method in the embodiment, the center position of the pantograph and the rotation angle of the electrode of the pantograph in the preset direction are identified, so that the motion track of the charging pantograph can be generated, the charging pantograph is moved and connected with the pantograph, and the pantograph is charged.
In addition, the reverse direction of the pantograph can be recognized, and the reverse direction of the pantograph can be automatically adjusted to adapt to the reverse parking charging of the vehicle by matching with the charging pantograph rotating mechanism.
Optionally, on the basis of the embodiment corresponding to fig. 2, referring to fig. 5, step S13 may include:
s51, calculating the position deviation between the central position and the image central position of the image;
specifically, the image center position of the image is known, the center position of the pantograph is determined by the above method, and the positional deviation of the two position points is obtained, which is expressed as (p) x ,p y )。
S52, determining the actual deviation of the central point of the pantograph from the installation position of the camera shooting device for shooting the image according to the position deviation;
the image pickup device may be a camera, and the positional deviation in the image is mapped to a positional deviation f (p) of a center point of the pantograph and a camera mounting position x ,p y )＝(X,Y)。
And S53, generating a motion track of the charging arch according to the actual deviation and the rotation angle.
Specifically, after the actual deviation of the central point of the pantograph from the installation position of the camera for shooting the image is known, the camera device is known to be installed on the charging pantograph, so that the relative positions of the charging pantograph and the camera device are known, and further the relative positions of the charging pantograph and the pantograph can be deduced according to the relative positions of the charging pantograph and the camera device and the actual deviation of the central point of the pantograph from the installation position of the camera for shooting the image, so that the motion track of the charging pantograph can be determined according to the relative positions of the charging pantograph and the pantograph.
The charging bow is provided with a three-axis movement mechanism, and the vehicle can be allowed to stop and charge in a wide tolerance range in front, back, left and right of the position of the charging bow. The charging bow has a 360 degree swivel mechanism that can allow for tilted parking charging of the vehicle about the parking space.
In this embodiment, can automated inspection pantograph and camera mounted position deviation, can automatic adjustment bow position that charges, automatic accurate butt joint pantograph.
Alternatively, on the basis of the above embodiment of the method for connecting a charging pantograph and a pantograph, another embodiment of the present invention provides a connecting device for a charging pantograph and a pantograph, and with reference to fig. 6, the method may include:
an image acquisition module 101, configured to acquire an image including pantograph imaging of an electric vehicle;
an image processing module 102, configured to identify pantograph position information in the image;
a trajectory determination module 103, configured to determine a motion trajectory of a charging pantograph based on the pantograph position information, where the motion trajectory is used for moving the charging pantograph and is connected to the pantograph;
and the motion control module 104 is used for controlling the charging bow to move according to the motion track.
Optionally, on the basis of this embodiment, when the motion control module 104 is configured to control the charging bow to move according to the motion trajectory, specifically, the motion control module is configured to:
and controlling a motion driving device to drive the charging pantograph to move right above the pantograph according to the motion track, and pressing down the charging pantograph to be connected with the pantograph.
In this embodiment, first, pantograph position information is determined based on a captured image, a movement trajectory of the charging pantograph is determined based on the pantograph position information, and the charging pantograph is controlled to move according to the movement trajectory and to be connected to the pantograph. By the embodiment of the invention, the reliable connection of the charging pantograph and the pantograph can be ensured.
It should be noted that, for the working process of each module in this embodiment, please refer to the corresponding description in the above embodiments, which is not described herein again.
Optionally, on the basis of any one of the above embodiments of the connection device for a charging pantograph and a pantograph, the image processing module includes:
the image processing submodule is used for carrying out color conversion on the image or extracting a gray component from the image to obtain a gray image;
the line detection submodule is used for detecting an edge line and a straight line in the gray level image;
the edge determining submodule is used for determining the electrode edge of the charging arch based on the detected edge line and the detected straight line in the gray level image;
a data determination sub-module for determining the pantograph position information based on the electrode edge; the pantograph position information includes a center position of the pantograph and a rotation angle of an electrode of the pantograph with respect to a preset direction.
Further, the line detection submodule includes:
the gradient calculation unit is used for calculating the gradient of each pixel point in the gray level image;
the numerical value processing unit is used for carrying out non-maximum suppression calculation on the gradient value of each pixel point to obtain the gradient value of each pixel point after processing;
the screening unit is used for screening out corresponding pixel points of which the processed gradient values are smaller than a first preset value or larger than a second preset value;
the classification unit is used for classifying all the screened pixel points according to the gradient direction to obtain a preset number of pixel point sets;
and the connecting unit is used for connecting the pixel points in each pixel point set and connecting the pixel points positioned at the boundary position in the adjacent pixel point sets to obtain the edge line in the gray image.
Further, the edge determination sub-module includes:
a pixel point determining unit for determining a pixel point constituting the edge line and a common pixel point of pixel points constituting the straight line, and taking the pixel points as seed points;
the growth unit is used for carrying out region growth on the seed points to obtain initial electrode edges;
the processing unit is used for carrying out morphological processing on the initial electrode edge to obtain a middle electrode edge;
and the screening unit is used for screening out a straight line which accords with a preset electrode edge screening rule from the edge of the middle electrode as the electrode edge.
It should be noted that, for the working processes of each module, sub-module, and unit in this embodiment, please refer to the corresponding description in the above embodiments, which is not described herein again.
Optionally, on the basis of the above embodiment of the second connection device, the track determining module includes:
a deviation calculation sub-module for calculating a positional deviation of the center position from an image center position of the image;
the deviation determining submodule is used for determining the actual deviation of the central point of the pantograph from the installation position of the camera shooting device for shooting the image according to the position deviation;
and the track generation submodule is used for generating a motion track of the charging bow according to the actual deviation and the rotation angle.
In this embodiment, can automated inspection pantograph and camera mounted position deviation, can the automatic adjustment bow position that charges, automatic accurate butt joint pantograph.
It should be noted that, for the working processes of each module and sub-module in this embodiment, please refer to the corresponding description in the above embodiments, which is not described herein again.
Optionally, on the basis of the above embodiment of the method and apparatus for connecting a charging pantograph and a pantograph, another embodiment of the present invention provides an electronic device, which may include: a memory and a processor;
wherein the memory is used for storing programs;
the processor calls a program and is used to:
acquiring an image including pantograph imaging of an electric vehicle;
identifying pantograph position information in the image;
determining a movement track of a charging pantograph based on the pantograph position information, wherein the movement track is used for enabling the charging pantograph to move and is connected with the pantograph;
and controlling the charging bow to move according to the motion trail.
In this embodiment, first, pantograph position information is determined based on a captured image, a movement trajectory of the charging pantograph is determined based on the pantograph position information, and the charging pantograph is controlled to move according to the movement trajectory and to be connected to the pantograph. By the embodiment of the invention, the reliable connection of the charging pantograph and the pantograph can be ensured.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (6)

1. A method for connecting a charging pantograph to a pantograph, comprising:
acquiring an image including pantograph imaging of an electric vehicle;
identifying pantograph position information in the image;
determining a movement track of a charging pantograph based on the pantograph position information, wherein the movement track is used for enabling the charging pantograph to move and is connected with the pantograph;
controlling the charging bow to move according to the motion trail; the charging bow is provided with a motion driving control structure in the vertical, left-right and front-back axial directions, and is provided with a rotation driving mechanism capable of rotating around the vertical axis direction;
wherein identifying pantograph position information in the image comprises: carrying out color conversion on the image or extracting a gray component from the image to obtain a gray image;
detecting edge lines and straight lines in the gray level image;
determining the electrode edge of a charging bow based on the detected edge line and straight line in the gray image;
determining the pantograph position information based on the electrode edge; the pantograph position information comprises the central position of the pantograph and the rotation angle of the electrode of the pantograph relative to a preset direction;
wherein detecting edge lines in the grayscale image comprises:
calculating the gradient of each pixel point in the gray level image;
carrying out non-maximum suppression calculation on the gradient value of each pixel point to obtain the gradient value processed by each pixel point;
screening out pixel points of which the corresponding processed gradient values are smaller than a first preset value or larger than a second preset value;
classifying all the screened pixel points according to the gradient direction to obtain a preset number of pixel point sets;
and connecting the pixel points in each pixel point set, and connecting the pixel points positioned at the boundary position in the adjacent pixel point sets to obtain the edge line in the gray image.
2. The connection method according to claim 1, wherein determining an electrode edge of a charging arch based on the detected edge line and the straight line in the grayscale image includes:
determining a pixel point which forms the edge line and a common pixel point which forms a pixel point of the straight line, and taking the pixel point and the common pixel point as seed points;
carrying out region growth on the seed points to obtain initial electrode edges;
performing morphological treatment on the initial electrode edge to obtain a middle electrode edge;
and screening out a straight line which accords with a preset electrode edge screening rule from the edge of the middle electrode as the electrode edge.
3. The connection method according to claim 1, wherein determining a movement trajectory of a charging pantograph based on the pantograph position information includes:
calculating a positional deviation of the center position from an image center position of the image;
determining the actual deviation of the central point of the pantograph from the installation position of a camera shooting device for shooting the image according to the position deviation;
and generating a motion track of the charging bow according to the actual deviation and the rotation angle.
4. The method of claim 1, wherein controlling the charging bow to move according to the motion profile comprises:
and controlling a motion driving device to drive the charging pantograph to move right above the pantograph according to the motion track, and pressing down the charging pantograph to be connected with the pantograph.
5. A connecting device of a charging pantograph and a pantograph, comprising:
the image acquisition module is used for acquiring an image including pantograph imaging of the electric automobile;
the image processing module is used for identifying pantograph position information in the image;
a track determining module, configured to determine a motion track of a charging pantograph based on the pantograph position information, where the motion track is used for moving the charging pantograph and is connected to the pantograph;
the motion control module is used for controlling the charging bow to move according to the motion track; the charging bow is provided with a motion driving control structure in three axial directions of vertical, left-right and front-back, and is provided with a rotation driving mechanism capable of rotating around the vertical axis direction;
wherein the image processing module comprises:
the image processing submodule is used for carrying out color conversion on the image or extracting a gray component from the image to obtain a gray image;
the line detection submodule is used for detecting edge lines and straight lines in the gray level image;
the edge determining submodule is used for determining the electrode edge of the charging arch based on the detected edge line and the detected straight line in the gray level image;
a data determination sub-module for determining the pantograph position information based on the electrode edge; the pantograph position information comprises the central position of the pantograph and the rotation angle of the electrode of the pantograph relative to the preset direction;
wherein the line detection submodule includes:
the gradient calculation unit is used for calculating the gradient of each pixel point in the gray level image;
the numerical value processing unit is used for carrying out non-maximum suppression calculation on the gradient value of each pixel point to obtain the gradient value processed by each pixel point;
the screening unit is used for screening out the corresponding pixel points of which the processed gradient values are smaller than a first preset value or larger than a second preset value;
the classification unit is used for classifying all the screened pixel points according to the gradient direction to obtain a preset number of pixel point sets;
and the connecting unit is used for connecting the pixel points in each pixel point set and connecting the pixel points positioned at the boundary position in the adjacent pixel point sets to obtain the edge line in the gray image.
6. An electronic device, comprising: a memory and a processor;
wherein the memory is used for storing programs;
the processor calls a program and is used to:
acquiring an image including pantograph imaging of an electric vehicle;
identifying pantograph position information in the image;
determining a movement track of a charging pantograph based on the pantograph position information, wherein the movement track is used for enabling the charging pantograph to move and is connected with the pantograph;
controlling the charging bow to move according to the motion trail; the charging bow is provided with a motion driving control structure in three axial directions of vertical, left-right and front-back, and is provided with a rotation driving mechanism capable of rotating around the vertical axis direction;
wherein identifying pantograph position information in the image comprises:
carrying out color conversion on the image or extracting a gray component from the image to obtain a gray image;
detecting edge lines and straight lines in the gray level image;
determining the electrode edge of a charging bow based on the detected edge line and straight line in the gray image;
determining the pantograph position information based on the electrode edge; the pantograph position information comprises the central position of the pantograph and the rotation angle of the electrode of the pantograph relative to a preset direction;
wherein, detecting the edge line in the gray image comprises:
calculating the gradient of each pixel point in the gray level image;
carrying out non-maximum suppression calculation on the gradient value of each pixel point to obtain the gradient value processed by each pixel point;
screening out pixel points of which the corresponding processed gradient values are smaller than a first preset value or larger than a second preset value;
classifying all the screened pixel points according to the gradient direction to obtain a preset number of pixel point sets;
and connecting the pixel points in each pixel point set, and connecting the pixel points positioned at the boundary position in the adjacent pixel point sets to obtain the edge line in the gray image.
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