CN112124128A - Automatic alignment charging method depending on vision - Google Patents
Automatic alignment charging method depending on vision Download PDFInfo
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- CN112124128A CN112124128A CN202011014009.XA CN202011014009A CN112124128A CN 112124128 A CN112124128 A CN 112124128A CN 202011014009 A CN202011014009 A CN 202011014009A CN 112124128 A CN112124128 A CN 112124128A
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- CN
- China
- Prior art keywords
- sweeper
- charging seat
- driving wheel
- wheel frame
- unmanned
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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
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
-
- 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
- B60L2200/00—Type of vehicles
- B60L2200/40—Working 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
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
- Y02T90/167—Systems integrating technologies related to power network operation and communication or information technologies for supporting the interoperability of electric or hybrid vehicles, i.e. smartgrids as interface for battery charging of electric vehicles [EV] or hybrid vehicles [HEV]
-
- 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
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S30/00—Systems supporting specific end-user applications in the sector of transportation
- Y04S30/10—Systems supporting the interoperability of electric or hybrid vehicles
- Y04S30/12—Remote or cooperative charging
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an automatic alignment charging method depending on vision, which comprises an unmanned sweeper and a sweeper charging seat; the rear end part of a frame of the unmanned sweeper is provided with a left driving wheel frame and a right driving wheel frame in a screwed mode, the lower end parts of the left driving wheel frame and the right driving wheel frame are respectively provided with a hub motor, and the frame is further provided with a controller, a power supply battery, a camera and a sweeper touch bar; the front surface of the charging seat of the sweeper is provided with a charging seat touch bar and two pattern marks; the vision-dependent automatic alignment charging method comprises the following steps: a. starting a camera; b. adjusting the telemechanical movement; c. the controller judges whether the camera acquires a pattern mark of a charging seat of the sweeper or not; d. detecting the direction range of a charging seat of the sweeper relative to the unmanned sweeper; e. adjusting the movement; f. the controller judges whether the left pattern mark and the right pattern mark are symmetrically distributed in the center of the image or not; g. retreating; h. the controller judges whether the contact strip of the sweeper contacts with the contact strip of the charging seat. Through the design, the unmanned sweeper can be simply and quickly charged.
Description
Technical Field
The invention relates to the technical field of unmanned sweeping vehicles, in particular to an automatic alignment charging method depending on vision.
Background
The sweeper generally refers to a driving type commercial sweeper, and the electric sweeper is the most common sweeper, and the sweeper on a municipal road is generally gasoline or diesel; the electric sweeper is mainly used for occasions such as property districts, factory workshops, hotel cleaning, municipal sanitation and the like. Along with the continuous development and progress of the automatic driving technology, the unmanned sweeper comes along, and various unmanned sweeper products exist in the prior art.
However, for the existing unmanned sweeper, the defect of complicated charging process is commonly existed, which may affect the sweeping efficiency of the unmanned sweeper.
Disclosure of Invention
The invention aims to provide a vision-dependent automatic alignment charging method aiming at the defects of the prior art, and the vision-dependent automatic alignment charging method can realize simple and quick charging of an unmanned sweeper.
In order to achieve the above object, the present invention is achieved by the following technical solutions.
An automatic alignment charging method depending on vision comprises an unmanned sweeper and a sweeper charging seat used for charging the unmanned sweeper;
the unmanned sweeper comprises a frame, wherein a left driving wheel frame and a right driving wheel frame are screwed at the rear end part of the frame, the left driving wheel frame is positioned at the left end side of the right driving wheel frame, the left driving wheel frame and the right driving wheel frame are oppositely arranged at intervals, a left hub motor is arranged at the lower end part of the left driving wheel frame, and a right hub motor is arranged at the lower end part of the right driving wheel frame; the frame is also provided with a controller, a power supply battery, a camera and a sweeper touch bar which are respectively positioned at the tail part of the frame, and the left hub motor, the right hub motor, the power supply battery, the camera and the sweeper touch bar are respectively and electrically connected with the controller;
the front surface of the charging seat of the sweeper is provided with two pattern marks which are arranged at intervals left and right and are bilaterally and symmetrically about the contact strip of the charging seat;
the vision-dependent automatic alignment charging method comprises the following steps:
a. starting a camera, and transmitting image data to a controller in real time by the camera;
b. the unmanned sweeper is adjusted to move remotely;
c. the controller judges whether the camera acquires a pattern mark of a charging seat of the sweeper or not; when the camera successfully acquires the pattern mark of the charging seat of the sweeper, carrying out the subsequent steps; when the camera does not acquire the pattern mark of the charging seat of the sweeper, the step b is carried out again;
d. detecting the direction range of a charging seat of the sweeper relative to the unmanned sweeper;
e. adjusting movement of the unmanned sweeper;
f. the controller judges whether the left pattern mark and the right pattern mark are symmetrically distributed in the center of the image or not; when the left and right pattern marks are symmetrically distributed in the center of the image, carrying out the subsequent steps; when the left and right pattern marks are not symmetrically distributed in the center of the image, the step e is carried out again;
g. the unmanned sweeper linearly retreats;
h. the controller judges whether the contact strip of the sweeper is contacted with the contact strip of the charging seat; when the contact strip of the sweeper is contacted with the contact strip of the charging seat, the unmanned sweeper is charged; and g, when the contact strip of the sweeper is not in contact with the contact strip of the charging seat, the step g is carried out again.
Wherein, the pattern mark is a two-dimensional code mark.
Wherein, the front end of the frame is screwed with a universal wheel frame, and the lower end of the universal wheel frame is provided with a movable universal wheel.
The invention has the beneficial effects that: the invention relates to an automatic alignment charging method depending on vision, which comprises an unmanned sweeper and a sweeper charging seat used for charging the unmanned sweeper; the unmanned sweeper comprises a frame, wherein a left driving wheel frame and a right driving wheel frame are screwed at the rear end part of the frame, the left driving wheel frame is positioned at the left end side of the right driving wheel frame, the left driving wheel frame and the right driving wheel frame are oppositely arranged at intervals, a left hub motor is arranged at the lower end part of the left driving wheel frame, and a right hub motor is arranged at the lower end part of the right driving wheel frame; the frame is also provided with a controller, a power supply battery, a camera and a sweeper touch bar which are respectively positioned at the tail part of the frame, and the left hub motor, the right hub motor, the power supply battery, the camera and the sweeper touch bar are respectively and electrically connected with the controller; the front surface of the charging seat of the sweeper is provided with two pattern marks which are arranged at intervals left and right and are bilaterally and symmetrically about the contact strip of the charging seat; the vision-dependent automatic alignment charging method comprises the following steps: a. starting a camera, and transmitting image data to a controller in real time by the camera; b. the unmanned sweeper is adjusted to move remotely; c. the controller judges whether the camera acquires a pattern mark of a charging seat of the sweeper or not; when the camera successfully acquires the pattern mark of the charging seat of the sweeper, carrying out the subsequent steps; when the camera does not acquire the pattern mark of the charging seat of the sweeper, the step b is carried out again; d. detecting the direction range of a charging seat of the sweeper relative to the unmanned sweeper; e. adjusting movement of the unmanned sweeper; f. the controller judges whether the left pattern mark and the right pattern mark are symmetrically distributed in the center of the image or not; when the left and right pattern marks are symmetrically distributed in the center of the image, carrying out the subsequent steps; when the left and right pattern marks are not symmetrically distributed in the center of the image, the step e is carried out again; g. the unmanned sweeper linearly retreats; h. the controller judges whether the contact strip of the sweeper is contacted with the contact strip of the charging seat; when the contact strip of the sweeper is contacted with the contact strip of the charging seat, the unmanned sweeper is charged; and g, when the contact strip of the sweeper is not in contact with the contact strip of the charging seat, the step g is carried out again. Through the design, the unmanned sweeper can be simply and quickly charged.
Drawings
The invention will be further described with reference to the drawings to which, however, the embodiments shown in the drawings do not constitute any limitation.
FIG. 1 is a schematic structural diagram of the present invention.
FIG. 2 is a schematic view of another embodiment of the present invention.
FIG. 3 is a schematic view of another embodiment of the present invention.
FIG. 4 is a flow chart of alignment charging according to the present invention.
Fig. 1 to 4 include:
1-unmanned sweeping vehicle 11-vehicle frame
12-left drive wheel carrier 13-right drive wheel carrier
14-left side in-wheel Motor 15-right side in-wheel Motor
16-floor sweeper tentacle 17-universal wheel carrier
18-movable universal wheel 2-sweeping car charging seat
21-charging dock bar 22-pattern designation.
Detailed Description
The present invention will be described below with reference to specific embodiments.
As shown in fig. 1 to 4, an automatic alignment charging method by vision includes an unmanned sweeper 1 and a sweeper charging stand 2 for charging the unmanned sweeper 1.
The unmanned sweeper 1 comprises a frame 11, wherein a left driving wheel frame 12 and a right driving wheel frame 13 are screwed at the rear end part of the frame 11, the left driving wheel frame 12 is positioned at the left end side of the right driving wheel frame 13, the left driving wheel frame 12 and the right driving wheel frame 13 are oppositely arranged at intervals left and right, a left hub motor 14 is arranged at the lower end part of the left driving wheel frame 12, and a right hub motor 15 is arranged at the lower end part of the right driving wheel frame 13; the frame 11 has still installed controller, power supply battery and is located camera, the street sweeper feeler 16 of 11 afterbody of frame respectively, and left side in-wheel motor 14, right side in-wheel motor 15, power supply battery, camera and street sweeper feeler 16 are respectively with controller electric connection.
Furthermore, the front of the charging seat 2 of the sweeper is provided with a charging seat contact strip 21, and the front of the charging seat 2 of the sweeper is provided with two pattern marks 22 which are arranged at left and right intervals and are symmetrically arranged on the left and right of the charging seat contact strip 21. It should be noted that the sweeper bar 16 and the charging seat bar 21 of the present invention are metal bars, respectively, and when the sweeper bar 16 contacts the charging seat bar 21, it indicates that the unmanned sweeper 1 and the sweeper charging seat 2 are powered on and are performing charging operation.
It should be noted that the automatic alignment charging method based on vision includes the following steps:
a. starting a camera, and transmitting image data to a controller in real time by the camera;
b. the unmanned sweeper 1 is adjusted to move remotely;
c. the controller judges whether the camera acquires the pattern mark 22 of the charging seat 2 of the sweeper or not; when the camera successfully acquires the pattern mark 22 of the charging seat 2 of the sweeper, carrying out the subsequent steps; when the camera does not acquire the pattern mark 22 of the charging seat 2 of the sweeper, the step b is carried out again;
d. detecting the direction range of the sweeper charging seat 2 relative to the unmanned sweeper 1;
e. the unmanned sweeping vehicle 1 adjusts the movement;
f. the controller judges whether the left and right pattern marks 22 are symmetrically distributed at the center of the image; when the left and right pattern marks 22 are symmetrically distributed in the center of the image, the subsequent steps are performed; when the left and right pattern marks 22 are not symmetrically distributed in the center of the image, the step e is performed again;
g. the unmanned sweeper 1 linearly retreats;
h. the controller judges whether the sweeper touch bar 16 is in contact with the charging seat touch bar 21; when the sweeper touch bar 16 is in contact with the charging seat touch bar 21, the unmanned sweeper 1 is charged; when the sweeper antenna 16 is not in contact with the charging dock antenna 21, step g is repeated.
Preferably, the pattern 22 is a two-dimensional code.
In addition, a universal wheel frame 17 is screwed to the front end of the frame 11, and a movable universal wheel 18 is mounted to the lower end of the universal wheel frame 17.
When the unmanned sweeper 1 disclosed by the invention travels, the controller controls the left hub motor 14 and the right hub motor 15 to act, and the left hub motor 14 and the right hub motor 15 are used as driving wheel structures and are used for driving the whole sweeper to travel; when the unmanned sweeper works, the controller can control forward and backward movement and steering control through the rotating directions and rotating speeds of the left hub motor 14 and the right hub motor 15, and further movement adjustment of the unmanned sweeper 1 is achieved.
Through the structure and the method steps, the unmanned sweeper 1 can be simply and quickly charged.
The above description is only a preferred embodiment of the present invention, and for those skilled in the art, the present invention should not be limited by the description of the present invention, which should be interpreted as a limitation.
Claims (3)
1. A vision-dependent self-aligning charging method, comprising: the automatic sweeper comprises an unmanned sweeper (1) and a sweeper charging seat (2) for charging the unmanned sweeper (1);
the unmanned sweeper (1) comprises a sweeper frame (11), wherein a left driving wheel frame (12) and a right driving wheel frame (13) are screwed at the rear end of the sweeper frame (11), the left driving wheel frame (12) is positioned at the left end side of the right driving wheel frame (13), the left driving wheel frame (12) and the right driving wheel frame (13) are oppositely arranged at intervals left and right, a left hub motor (14) is arranged at the lower end of the left driving wheel frame (12), and a right hub motor (15) is arranged at the lower end of the right driving wheel frame (13); the frame (11) is also provided with a controller, a power supply battery, a camera and a sweeper contact strip (16), wherein the camera and the sweeper contact strip (16) are respectively positioned at the tail part of the frame (11), and the left hub motor (14), the right hub motor (15), the power supply battery, the camera and the sweeper contact strip (16) are respectively and electrically connected with the controller;
the front of the sweeper charging seat (2) is provided with a charging seat contact strip (21), and the front of the sweeper charging seat (2) is provided with two pattern marks (22) which are spaced left and right and are symmetrically arranged left and right relative to the charging seat contact strip (21) at the side of the charging seat contact strip (21);
the vision-dependent automatic alignment charging method comprises the following steps:
a. starting a camera, and transmitting image data to a controller in real time by the camera;
b. the unmanned sweeper (1) is adjusted to move remotely;
c. the controller judges whether the camera acquires a pattern mark (22) of a charging seat (2) of the sweeper or not; when the camera successfully acquires the pattern mark (22) of the sweeper charging seat (2), carrying out the subsequent steps; when the camera does not acquire the pattern mark (22) of the charging seat (2) of the sweeper, the step b is carried out again;
d. detecting the direction range of the sweeper charging seat (2) relative to the unmanned sweeper (1);
e. the unmanned sweeping vehicle (1) adjusts movement;
f. the controller judges whether the left and right pattern marks (22) are symmetrically distributed in the center of the image; when the left and right pattern marks (22) are symmetrically distributed in the center of the image, performing the subsequent steps; when the left and right pattern marks (22) are not symmetrically distributed in the center of the image, the step e is carried out again;
g. the unmanned sweeping vehicle (1) linearly retreats;
h. the controller judges whether the sweeper touch bar (16) is in contact with the charging seat touch bar (21); when the sweeper contact strip (16) is in contact with the charging seat contact strip (21), the unmanned sweeper (1) is charged; and G, when the sweeper touch bar (16) is not in contact with the charging seat touch bar (21), the step is carried out again.
2. A visually self-aligning charging method as claimed in claim 1, wherein: the pattern mark (22) is a two-dimensional code mark.
3. A visually self-aligning charging method as claimed in claim 1, wherein: the front end part of the frame (11) is provided with a universal wheel frame (17) in a screw mode, and the lower end part of the universal wheel frame (17) is provided with a movable universal wheel (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011014009.XA CN112124128A (en) | 2020-09-24 | 2020-09-24 | Automatic alignment charging method depending on vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011014009.XA CN112124128A (en) | 2020-09-24 | 2020-09-24 | Automatic alignment charging method depending on vision |
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| CN112124128A true CN112124128A (en) | 2020-12-25 |
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| CN202011014009.XA Pending CN112124128A (en) | 2020-09-24 | 2020-09-24 | Automatic alignment charging method depending on vision |
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Application publication date: 20201225 |