CN113022358B - Automatic charging control method, system and charging device - Google Patents
Automatic charging control method, system and charging device Download PDFInfo
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- CN113022358B CN113022358B CN202110393189.5A CN202110393189A CN113022358B CN 113022358 B CN113022358 B CN 113022358B CN 202110393189 A CN202110393189 A CN 202110393189A CN 113022358 B CN113022358 B CN 113022358B
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- 238000000034 method Methods 0.000 title claims abstract description 41
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- 238000012545 processing Methods 0.000 claims description 8
- 230000000877 morphologic effect Effects 0.000 claims description 6
- 238000003672 processing method Methods 0.000 claims description 4
- 238000003708 edge detection Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000003032 molecular docking Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
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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
- B60L53/60—Monitoring or controlling charging stations
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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
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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
- B60L53/31—Charging columns specially adapted for electric vehicles
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- 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
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- 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
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- 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
Abstract
The invention relates to an automatic charging control method, an automatic charging control system and a charging device. According to the automatic charging control method, the system and the charging device, the charging port position of the vehicle to be charged is determined through the obtained charging port image, then, accurate butt joint of the charging gun head and the charging port is completed according to the determined charging port position, and the whole charging device adopts the motor, the telescopic rod and other parts to complete telescopic rotation of charging, so that the problems of complex structure, large occupied space, insufficient degree of freedom, overlarge space required by working and the like of the existing charging device can be solved, and the automatic charging requirements of private users or in narrow spaces are further met.
Description
Technical Field
The present invention relates to the field of charging control technologies, and in particular, to an automatic charging control method, system, and charging device.
Background
At present, few automatic charging devices are put into use, and several automatic charging device schemes proposed by researchers exist: (1) the structure is numerous and complicated, and the occupied space is large; (2) insufficient degrees of freedom; (3) The problem that the space area required by work is too large and the like cannot meet the automatic charging requirements of private users or in narrow spaces.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an automatic charging control method, an automatic charging control system and a charging device.
In order to achieve the above object, the present invention provides the following solutions:
an automatic charge control method, comprising:
acquiring a charging port image of a vehicle to be charged;
processing the charging port image to obtain a charging port contour point coordinate;
determining world coordinates of a charging port center point according to the charging port contour point coordinates;
and the world coordinate of the center point of the charging port is adopted to control the charging device to complete the butt joint with the charging port of the vehicle to be charged.
Preferably, the processing the charging port image to obtain charging port contour point coordinates specifically includes:
determining a gray level image of the charging port according to the charging port image;
obtaining an edge profile of the charging port according to the gray level image by adopting a morphological processing method;
and obtaining the charging port contour point coordinates according to the edge contour map by adopting a findcontours function of Opencv.
Preferably, a camera is used to acquire an image of the charging port of the vehicle to be charged.
Preferably, the determining world coordinates of the charging port center point according to the charging port contour point coordinates specifically includes:
acquiring internal parameters and external parameters of a camera;
and converting the coordinates of the outline point of the charging port into world coordinates of the center point of the charging port according to the internal parameters and the external parameters of the camera.
Corresponding to the automatic charging control method provided by the invention, the invention also provides the following technical scheme:
an automatic charge control system, comprising:
the image acquisition module is used for acquiring a charging port image of the vehicle to be charged;
the contour point coordinate determining module is used for processing the charging port image to obtain charging port contour point coordinates;
the world coordinate determining module is used for determining world coordinates of the center point of the charging port according to the coordinates of the outline point of the charging port;
and the charging module is used for controlling the charging device to be in butt joint with the charging port of the vehicle to be charged by adopting the world coordinates of the center point of the charging port.
An automatic charging device, comprising:
the camera is used for acquiring a charging port image of the vehicle to be charged;
the control box is electrically connected with the video camera, and the automatic charging control method provided by the above is implanted in the control box and is used for generating a control instruction according to the charging port image;
and the charging mechanical arm is electrically connected with the control box and is used for completing the butt joint with a charging port of the vehicle to be charged according to the control instruction.
Preferably, the control box includes:
the slave control unit is electrically connected with the camera and used for determining the charging port position of the vehicle to be charged according to the charging port image;
the main control unit is electrically connected with the secondary control unit and the charging mechanical arm and is used for generating a control instruction according to the position of the charging port.
Preferably, the charging mechanical arm includes: the charging device comprises a first motor, a charging mechanical arm and a second motor;
the first motor is respectively and electrically connected with the charging mechanical arm and the main control unit; the second motor is respectively and electrically connected with the charging mechanical arm and the main control unit;
the first motor is used for driving the charging mechanical arm to move in the x-axis and Z-axis directions according to the control instruction; and the second motor is used for driving the charging mechanical arm to move in the y-axis and Z-axis directions according to the control instruction.
Preferably, the charging mechanical arm includes: the electric push rod, the third motor, the swing joint and the charging gun head;
the electric push rod is mechanically connected with the rotor of the second motor; the stator of the third motor is mechanically connected with the electric push rod; the rotor of the third motor is mechanically connected with the swing joint; the charging gun head is mechanically connected with the swing joint;
the third motor is electrically connected with the control unit; and the third motor is used for driving the swing joint to move according to the control instruction.
Preferably, the control process of the main control unit is as follows:
at the time T1, a control instruction is sent to the first motor, and the first motor drives the charging mechanical arm to rotate by 90 degrees along the YZ plane from an initial state;
at the time T2, a control instruction is sent to the first motor, the first motor drives the charging mechanical arm to move to the position with the height h from the ground along the negative direction of the Z axis, the camera collects an image of a charging port of a vehicle to be charged, and meanwhile, the first motor drives the charging mechanical arm to move along the negative direction of the X axis until the charging port of the vehicle to be charged in the image collected by the camera is positioned in the central area of the image, and the charging mechanical arm stops moving;
at the time T3, the main control unit sends a control instruction to the second motor, and the second motor drives the electric push rod in the charging mechanical arm to extend so as to enable the charging gun head in the charging mechanical arm to move towards the charging port;
in the moving process, the charging gun head moves towards the charging port and acquires a charging port image through a camera, and the slave control unit acquires the depth value of a charging port plane in the charging port image in real time and sends the depth value to the master control unit; after determining the difference of depth values of all positions in a charging port plane in real time, the main control unit sends a control instruction according to the difference of depth values of all positions in an image plane to control the first motor, the second motor and the third motor to move, and adjust the angle of the charging gun head in space until the depth values of the charging port plane in a charging port image acquired by the next frame of the camera are consistent, at this time, the main control unit controls the electric push rod to extend and put, so that the charging gun head and the charging port are in butt joint.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the automatic charging control method, the system and the charging device, the charging port position of the vehicle to be charged is determined through the obtained charging port image, then, accurate butt joint of the charging gun head and the charging port is completed according to the determined charging port position, and the whole charging device adopts the motor, the telescopic rod and other parts to complete telescopic rotation of charging, so that the problems of complex structure, large occupied space, insufficient degree of freedom, overlarge space required by working and the like of the existing charging device can be solved, and the automatic charging requirements of private users or in narrow spaces are further met.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of an automatic charge control method provided by the invention;
fig. 2 is a schematic structural diagram of an automatic charging control system provided by the present invention;
FIG. 3 is a block diagram of an automatic charging device according to the present invention;
fig. 4 is a schematic structural diagram of an automatic charging device provided by the present invention;
fig. 5 is a schematic structural diagram of the automatic charging device provided by the invention in an initial state;
fig. 6 is a schematic view of an automatic charging device provided by the invention arranged in a parking space;
symbol description:
the device comprises a 200 image acquisition module, a 201 contour point coordinate determination module, a 202 world coordinate determination module, a 203 charging module, a 1 supporting column, a 2 charging pile, a 3 control box, a 4 electric sliding rail, a 5 first motor mounting seat, a 6 second motor mounting seat, a 7 electric push rod, a 8 third motor mounting seat, a 9 swing joint, a 10 camera and a 11 charging gun head.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide an automatic charging control method, an automatic charging control system and a charging device, which are used for solving the problems of complicated structure, large occupied space, insufficient degree of freedom, overlarge space domain required by work and the like of the existing charging device, and further meeting the automatic charging requirements of private users or in narrow spaces.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
As shown in fig. 1, the automatic charging control method provided by the invention includes:
step 100: and acquiring a charging port image of the vehicle to be charged. In the present invention, a camera is preferably used to acquire an image of the charging port of the vehicle to be charged. The camera preferably employs a single/binocular camera.
Step 101: and processing the charging port image to obtain the coordinates of the charging port contour points.
Step 102: and determining world coordinates of the center point of the charging port according to the coordinates of the contour point of the charging port.
Step 103: and the world coordinate of the center point of the charging port is adopted to control the charging device to complete the butt joint with the charging port of the vehicle to be charged.
In order to improve the accuracy of the determination of the charging port position, the step 101 specifically includes:
and determining a gray level image of the charging port according to the charging port image. Specifically, the present invention preferably obtains a grayscale image of an image by performing preprocessing such as grayscale conversion and gaussian filtering on a charging port image.
And obtaining an edge profile of the charging port according to the gray level image by adopting a morphological processing method. Specifically, the invention utilizes an edge detection algorithm (such as a Canny operator) to extract the outline of the image, and obtains an edge outline map of a better charging port by matching with morphological treatments such as corrosion, expansion and the like.
And obtaining the charging port contour point coordinates according to the edge contour map by adopting a findcontours function of Opencv.
After determining the charging port contour point coordinates, charging port center coordinates (m, n) can be further obtained, where (m, n) is pixel coordinates.
Further, in order to facilitate the automatic control of the butt joint of the charging gun port and the charging port, the step 102 specifically includes:
and acquiring internal parameters and external parameters of the camera. Wherein, the internal parameter is K, and the external parameter is [ R|T ].
And converting the coordinates of the outline point of the charging port into world coordinates (x, y, z) of the central point of the charging port according to the internal parameters and the external parameters of the camera.
Corresponding to the above provided automatic charging control method, the present invention also provides an automatic charging control system, as shown in fig. 2, which includes: an image acquisition module 200, a contour point coordinate determination module 201, a world coordinate determination module 202, and a charging module 203.
The image acquisition module 200 is used for acquiring a charging port image of a vehicle to be charged.
The contour point coordinate determining module 201 is configured to process the charging port image to obtain charging port contour point coordinates.
The world coordinate determination module 202 is configured to determine world coordinates of a charging port center point according to the charging port contour point coordinates.
The charging module 203 is configured to control the charging device to complete docking with the charging port of the vehicle to be charged by using world coordinates of the center point of the charging port.
Because the automatic charging control system and the automatic charging control method provided by the invention are corresponding technical schemes, the wider description places in the system can be seen from each other.
In addition, the present invention also provides an automatic charging device, as shown in fig. 3 to 5, comprising: a camera 10, a control box 3 and a charging robot arm (specific reference numerals are not given in the figures).
Wherein the camera 10 is used for acquiring a charging port image of a vehicle to be charged.
The control box 3 is electrically connected with the camera 10, the automatic charging control method provided above is implanted in the control box 3, and the control box 3 is used for generating a control instruction according to the charging port image.
The charging mechanical arm is electrically connected with the control box 3, and the charging mechanical arm is used for completing the butt joint with a charging port of the vehicle to be charged according to the control instruction.
The specific structure of the automatic charging device provided above will be described in detail.
As shown in fig. 3, the control box 3 provided above includes: the device comprises a slave control unit and a master control unit.
The slave control unit is electrically connected with the camera 10, and is used for determining the charging port position of the vehicle to be charged according to the charging port image.
The main control unit is electrically connected with the secondary control unit and the charging mechanical arm, and the main control unit is used for generating a control instruction according to the position of the charging port.
The charging mechanical arm provided above includes: the charging gun comprises a first motor, a charging gun joint and a second motor;
the first motor is respectively and electrically connected with the charging gun joint and the main control unit; the second motor is respectively and electrically connected with the charging gun joint and the main control unit;
the first motor is used for driving the charging gun joint to move in the x-axis and Z-axis directions according to the control instruction; and the second motor is used for driving the charging gun joint to move in the y-axis and Z-axis directions according to the control instruction.
Further, in order to increase flexibility in the charging process of the charging mechanical arm, as shown in fig. 4 and fig. 5, the charging mechanical arm provided by the present invention further includes: the electric push rod 7, a third motor, a swinging joint 9 and a charging gun head 11.
The electric push rod 7 is mechanically connected with the rotor of the second motor. The stator of the third motor is mechanically connected with the electric push rod 7. The rotor of the third motor is mechanically connected to the swing joint 9. The charging gun head 11 is mechanically connected with the swing joint 9.
The third motor is electrically connected with the control unit. The third motor is used for driving the swing joint 9 to move according to the control instruction.
Based on the automatic charging control method, the system and the charging device provided by the invention, the control process of the main control unit is as follows:
at the time T1, a control instruction is sent to the first motor, and the first motor drives the charging gun joint to rotate by 90 degrees along the YZ plane from an initial state.
At the time T2, a control instruction is sent to the first motor, the first motor drives the charging gun joint to move to the position with the height h from the ground along the negative direction of the Z axis, the camera 10 collects the image of the charging port of the vehicle to be charged, and meanwhile, the first motor drives the charging gun joint to move along the negative direction of the X axis until the charging port of the vehicle to be charged in the image collected by the camera 10 is located in the central area of the image, and the charging gun joint stops moving.
At the time T3, the main control unit sends a control instruction to the second motor, and the second motor drives the electric push rod 7 in the charging gun joint to extend, so that the charging gun head 11 in the charging gun joint moves towards the charging port.
In the motion process, the charging gun head 11 moves towards the charging port and acquires the charging port image through the camera 10, and the slave control unit acquires the depth value of the charging port plane in the charging port image in real time and sends the depth value to the master control unit. After determining the difference of the depth values of each place in the plane of the charging port in real time, the main control unit sends a control instruction according to the difference of the depth values of each place in the plane of the charging port to control the first motor, the second motor and the third motor to move, adjust the angle of the charging gun head 11 in space until the depth values of the plane of the charging port in the image of the charging port acquired by the next frame of the camera 10 are consistent, at this time, the main control unit controls the electric push rod 7 to extend and put, so that the charging gun head 11 and the charging port are in butt joint.
The advantages of the automatic charging control method, system and charging device provided by the invention are described in the following with a specific embodiment. In the present invention, the charging device of the automatic charging control method is mainly the structure shown in fig. 4 and 5, and in the practical application process, the automatic charging control method provided by the present invention may also be implemented by adopting other charging device structures.
The camera transmits the acquired vehicle image information to the slave control unit, and the slave control unit identifies and calculates the position of the charging port according to the acquired information and transmits the acquired position information to the master control unit. And the main control unit sends control instructions to each driving motor module according to the information. The driving motor module comprises a charging mechanical arm motor (a first motor, a second motor and a third motor) and an electric slide rail driving motor, and is used for respectively controlling the expansion and rotation of a joint of the charging gun and controlling the plane movement of the electric slide rail 4. The charging gun head 11 can reach the working position by combining the movement of the charging mechanical arm and the movement of the electric sliding rail 4. The joint head of the charging gun is provided with a charging gun head 11 which can be in butt joint with a charging port, and the charging state information is transmitted to a system main control unit through a communication interface on the charging gun.
Specifically, in order to simplify the structure and improve the degree of freedom, in this embodiment, the connection relationship and the function of each part structure of the automatic charging device provided by the invention are as follows:
the support upright 1 is arranged on a parking space line and is used as a carrier of the whole charging device. The charging pile 2 is an ac charging pile widely used in the market, and is internally provided with a charging wire, which is fixed on the support column 1 for normal power transmission and other works.
The control box 3 is fixed on the support upright 1, and a control module such as a circuit board is arranged in the control box 3 and is used for receiving state information of moving parts of the whole charging device and sending instructions to control the movement of the whole charging device.
The electric slide rail 4 adopts an industrially mature electric slide rail 4 module which is arranged on the supporting upright 1, and can realize movement in the direction by motor drive, and a sliding platform can realize movement in the X direction by motor drive.
The bottom of the first motor mounting seat 5 is mounted on a sliding platform of the electric sliding rail 4, and can drive the charging gun joint to move in the X and Z directions, the first motor is mounted at the other end of the first motor mounting seat 5, and the first motor mounting seat 5 is mechanically connected with a stator part of the first motor.
One end of the second motor mounting seat 6 is mechanically connected with the rotor part of the first motor, forms a rotary matching relation with the first motor mounting seat 5, and realizes the rotation in the YZ plane. The other end of the second motor mounting seat 6 is provided with a second motor, and the second motor mounting seat 6 is mechanically connected with a stator part of the second motor.
The electric push rod 7 is a product in the market, and the expansion and contraction of the multiple sections of rod pieces are realized through motor driving and screw transmission, so that the charging device has an expansion and contraction function to adapt to different charging port positions. The base of the electric push rod 7 is mechanically connected with the rotor part of the second motor inside the second motor mounting seat 6, the base and the rotor part form a rotary matching relationship, and the electric push rod 7 can rotate in the axial direction of the second motor mounting seat 6 so as to drive the charging gun head 11 to rotate to match the charging port position of the vehicle.
The third motor mount 8 is mechanically connected with the electric putter 7 at base department, follows the motion of electric putter 7, and the third motor is installed to the other end of third motor mount 8, and third motor mount 8 is mechanically connected with the stator part of third motor.
The swinging joint 9 is mechanically connected with a rotor part of the third motor, forms a rotary matching relation with the third motor mounting seat 8, and realizes rotation in a plane. Meanwhile, the swing joint 9 also plays a role of a mounting carrier for the camera and the charging gun head 11.
The camera 10 adopts a monocular/binocular camera and is arranged on the swing joint 9 to realize image recognition and determine the position of a charging port of the vehicle.
The charging gun head 11 is a standard alternating current charging head and is arranged on the swing joint 9, and when the whole device works, the charging gun head has 6 degrees of freedom (3 movement+3 rotation) and can meet the butt joint task with a vehicle charging port.
As shown in fig. 5, when the automatic charging device is not working, the guide rail is located at the top of the support column 1, the end of the charging mechanical arm located at the guide rail is close to the support column 1, the whole joint is drooping downwards along the negative direction of the Z axis (i.e. the charging gun head 11 is downwards), the electric push rod 7 is in the shortest shrinkage state, the occupied space of the whole charging device is minimum, and the state at this time is recorded as the initial state.
When the automatic charging device is installed at a parking position, in order to reduce occupied space and meet the charging requirements of private users or in narrow spaces, the specific installation position is shown in fig. 6.
Based on this, the overall control logic of the automatic charging device provided by the invention is as follows:
step 1: the vehicle to be charged is parked in the charging parking space.
Step 2: the camera acquires an image of a charging port of the vehicle.
Step 3: and identifying and positioning the position of the charging port of the vehicle.
Step 4: the charging mechanical arm is automatically abutted with the charging port.
Step 5: the charging device self-tests and starts charging.
Step 6: the charging device finishes charging and returns to the initial position.
Specifically, in step 1:
since the application object of the automatic charging device is a vehicle in a single parking space, the installation position of the whole device relative to the parking space is fixed (left rear or right rear of the parking space), and therefore the vehicle is required to approach the area where the charging port is located to the automatic charging device when parking, so that the charging port is within the working range of the device.
Specifically, in step 2, the specific procedure of the camera capturing the image of the charging port of the vehicle is as follows:
2.1, pre-entering vehicle information: if the user object is a public user, information of existing new energy automobiles (including electric automobiles and hybrid electric automobiles) on the market, including vehicle types, the height h and the angle alpha of a charging port relative to the ground, pictures of areas near the charging port and the like, is pre-recorded in a control system of the automatic charging device, and relevant information of new vehicle types on the market is added by updating the information base in real time. If the user object is a private user, only relevant information of one/two new energy automobiles which need to be charged is needed to be recorded.
2.2, starting the charging device: after the vehicle to be charged is parked in the parking space, the vehicle owner selects a vehicle type in the man-machine interaction system, starts charging, invokes pre-stored vehicle information in the control system according to the vehicle type, obtains the height h and the angle alpha, and all executing mechanisms (including cameras, motors and the like) are electrified and started in a communication mode, and meanwhile, the protecting outer cover of the charging port of the vehicle is opened.
2.3, adjusting the acquisition position of the camera: according to the height h and the angle alpha information, the control system sends an instruction to control the electric sliding rail 4 to move to the area where the height of the charging opening is located, the camera starts to collect image information of the charging opening of the vehicle, SIFT feature matching is carried out on the shot image and the charging opening images of the vehicles of corresponding vehicle types stored in the system, the pre-stored images are used as original images, the collected images are used as comparison images, the charging opening and the position of the charging opening in the image are identified by extracting and matching important feature points, and the movement of the electric sliding rail 4 in the XZ plane is adjusted through the position, so that the charging opening is located in the central area of the image obtained by the camera.
2.4, collecting images: the camera collects the charging port image at the moment to be used as an input image of the step 3.
Specifically, in step 3, the specific procedure of identifying and positioning the charging port of the vehicle is as follows:
3.1, image processing: and (3) carrying out preprocessing processes such as graying conversion, gaussian filtering and the like on the image acquired in the step (2.4) to obtain a gray level image of the image.
3.2, edge extraction: and 3, according to the gray level map obtained in the step 3.1, performing contour extraction on the image by utilizing an edge detection algorithm such as a Canny operator, and obtaining an edge contour map of a better charging port by matching with morphological processing methods such as corrosion, expansion and the like.
3.3, positioning a charging port: according to the edge profile obtained in 3.2, the coordinates of the contour points of the charging port in the image can be determined by utilizing the findcontours function of Opencv, and then the obtained coordinates (m, n), (m, n) of the center of the charging port are pixel coordinates, and the internal parameters K and the external parameters [ R|T ] of the camera can be obtained through the calibration of a camera in the earlier stage, and the world coordinates (x, y, z) of the center of the charging port can be obtained through the coordinate conversion.
And 3.4, according to the coordinate value of 3.3, the control unit sends an instruction to the driving motor, the charging gun head 11 moves towards the charging port and acquires an image, the depth value of the plane of the charging port in the image is acquired, the angle of the charging gun head 11 is adjusted according to the difference of the depth values until the depth values are consistent, at the moment, the charging gun is accurately opposite to the charging port, and the charging mechanical arm continues to move to finish butt joint.
Specifically, in step 4, the specific process of automatic docking between the charging mechanical arm and the charging port is as follows:
after the charging device is started, the control unit starts planning the motion trail of the charging mechanical arm according to the following sequence according to the information of the height h, the angle alpha and the like obtained in the step 2.
Firstly, a command is sent to a first motor at the time T1, and the charging mechanical arm is integrally rotated by 90 degrees along the YZ plane from an initial state under the drive of the first motor, so that the integral joint is perpendicular to the XZ plane.
At the moment T2, the electric slide rail 4 is driven by the servo motor to drive the charging mechanical arm to move to the position of the ground clearance height h along the negative direction of the Z axis, and the camera starts to collect images and simultaneously moves along the negative direction of the X axis until the charging port is positioned in the central area of the images.
At time T3, the spatial position of the charging gun head 11 can be known according to the length data of the charging mechanical arm with known design, and the charging port position coordinates (x, y and z) are obtained in the step 3, so that the main control unit sends an instruction to control the electric push rod 7 to extend and put, and the charging gun head 11 moves towards the charging port.
In the moving process of the charging gun, the charging gun head 11 moves towards the charging port and acquires images, depth values of a plane of the charging port in the images are acquired and sent back to the controller, and according to differences of the depth values of all positions in the image plane, the controller sends instructions to control movement of the first motor, the second motor and the third motor, so that the charging gun head 11 can adjust angles in space until the depth values of the plane of the charging port in the images acquired in the next frame are consistent, and the charging gun is opposite to the charging port.
After alignment, the main control unit controls the electric push rod 7 to extend, so that the charging gun head 11 approaches to and is in butt joint with a charging port, and if a fine position deviation exists due to the problem of camera positioning accuracy, the electric push rod is adjusted in the X, Y direction through the movement of the electric slide rail 4 and the first motor mounting seat 5, so that the butt joint of the charging gun head 11 and the charging port is ensured.
Specifically, the specific flow of step 5 is as follows:
the charging device self-tests (the charging gun head 11 is connected with the charging port in a butt joint mode, and then the circuit is firstly connected, the necessary steps of communication (CAN communication) detection, insulation detection and the like are carried out, and if potential safety hazards such as leakage and the like are detected, the controller controls the charging gun to break away and stop working, and feeds back error information to the control center. If no potential safety hazard exists, the charging gun works normally, the automatic charging device is electrified at high voltage to start charging the vehicle, and the charging state is transmitted to the system monitoring platform in real time through CAN communication.
Specifically, the specific flow of step 6 is as follows:
when the charging device receives a charging completion (including the conditions of full charge, no full charge but the situation that a vehicle owner takes a vehicle in advance, fails and the like) command, the high voltage is powered off, all joints of the charging device move sequentially according to the sequence of the electric push rod 7, all rotating joints and the electric sliding rail 4 to return to an initial home position and state (all parts are set at the initial home position during debugging), and the whole device returns to the initial position to wait for the next charging.
The above-listed specific embodiments are detailed procedures for implementing the technical solutions provided by the present invention, and the descriptions are simpler and refer to each other.
In addition, the above technical solution provided by the present invention can adjust the arrangement of a part of structures according to actual requirements, for example:
1. if a wall body is arranged beside the parking space, the supporting upright post can be omitted, and the electric sliding rail is directly fixed on the wall body.
2. Adopting a single upright post supporting form and the like
3. The form of charging arm can have multiple, as long as satisfy the function can, for example telescopic link and rotary joint's arrangement position can be adjusted according to actual conditions.
4. The charging mechanical arm does not have to have 6 degrees of freedom, as long as the functions are satisfied.
5. The camera can adopt a plurality of cameras such as monocular cameras, binocular cameras and the like to achieve the same effect.
6. There is more than one edge detection algorithm, and there are gradient-based edge detection (including Roberts operator, sobel operator, prewitt operator, canny operator, etc.), transform domain-based edge detection (including wavelet transform, multi-scale geometric analysis, mathematical morphological transform, fuzzy theory, etc.), intelligent computation-based edge detection (including genetic algorithm, ant colony algorithm, artificial fish swarm, bee colony algorithm, neural network, etc.).
7. The positioning method of the position coordinates of the charging port is more than one, and the algorithm adjustment can be carried out according to actual requirements.
In summary, the technical scheme provided by the invention also has the following advantages:
first, automated charging can be achieved: the position of the charging port of the vehicle is identified through the camera, the controller controls the charging gun head of the charging device to move, and automatic docking charging of the charging gun head and the charging port can be realized.
Second, the degree of freedom is high: the charging docking requirements of any parking posture can be met by multiple degrees of freedom of movement and multiple degrees of freedom of rotation.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (9)
1. An automatic charge control method, comprising:
acquiring a charging port image of a vehicle to be charged;
processing the charging port image to obtain a charging port contour point coordinate;
determining world coordinates of a charging port center point according to the charging port contour point coordinates;
the world coordinate of the center point of the charging port is adopted to control the charging device to complete the butt joint with the charging port of the vehicle to be charged;
acquiring a charging port image of a vehicle to be charged by using a camera;
adjusting the acquisition position of a camera: the camera starts to collect image information of a charging port of the vehicle, the shot image is subjected to SIFT feature matching with a stored charging port image of the vehicle of the corresponding vehicle type, a pre-stored image is used as an original image, the collected image is used as a comparison image, the charging port and the position thereof in the image are identified by extracting matching important feature points, and the movement of the electric sliding rail in an XZ plane is adjusted through the position, so that the charging port is located in the central area of the image obtained by the camera.
2. The automatic charging control method according to claim 1, wherein the processing the charging port image to obtain charging port contour point coordinates specifically includes:
determining a gray level image of the charging port according to the charging port image;
obtaining an edge profile of the charging port according to the gray level image by adopting a morphological processing method;
and obtaining the charging port contour point coordinates according to the edge contour map by adopting a findcontours function of Opencv.
3. The automatic charge control method according to claim 1, wherein the determining world coordinates of a charging port center point according to the charging port contour point coordinates specifically includes:
acquiring internal parameters and external parameters of a camera;
and converting the coordinates of the outline point of the charging port into world coordinates of the center point of the charging port according to the internal parameters and the external parameters of the camera.
4. An automatic charge control system, comprising:
the image acquisition module is used for acquiring a charging port image of the vehicle to be charged; acquiring a charging port image of a vehicle to be charged by using a camera; adjusting the acquisition position of a camera: the camera starts to collect image information of a charging port of the vehicle, the shot image is subjected to SIFT feature matching with a stored charging port image of the vehicle of the corresponding vehicle type, a pre-stored image is taken as an original image, the collected image is taken as a comparison image, the charging port and the position thereof in the image are identified by extracting matching important feature points, and the movement of the electric sliding rail in an XZ plane is adjusted through the position, so that the charging port is positioned in the central area of the image obtained by the camera;
the contour point coordinate determining module is used for processing the charging port image to obtain charging port contour point coordinates;
the world coordinate determining module is used for determining world coordinates of the center point of the charging port according to the coordinates of the outline point of the charging port;
and the charging module is used for controlling the charging device to be in butt joint with the charging port of the vehicle to be charged by adopting the world coordinates of the center point of the charging port.
5. An automatic charging device, comprising:
the camera is used for acquiring a charging port image of the vehicle to be charged; adjusting the acquisition position of a camera: the camera starts to collect image information of a charging port of the vehicle, the shot image is subjected to SIFT feature matching with a stored charging port image of the vehicle of the corresponding vehicle type, a pre-stored image is taken as an original image, the collected image is taken as a comparison image, the charging port and the position thereof in the image are identified by extracting matching important feature points, and the movement of the electric sliding rail in an XZ plane is adjusted through the position, so that the charging port is positioned in the central area of the image obtained by the camera;
the control box is electrically connected with the video camera, and an automatic charging control method as set forth in any one of claims 1-3 is implanted in the control box and used for generating a control instruction according to the charging port image;
and the charging mechanical arm is electrically connected with the control box and is used for completing the butt joint with a charging port of the vehicle to be charged according to the control instruction.
6. The automatic charging device of claim 5, wherein the control box comprises:
the slave control unit is electrically connected with the camera and used for determining the charging port position of the vehicle to be charged according to the charging port image;
the main control unit is electrically connected with the secondary control unit and the charging mechanical arm and is used for generating a control instruction according to the position of the charging port.
7. The automatic charging device of claim 6, wherein the charging robot comprises: the charging device comprises a first motor, a charging mechanical arm and a second motor;
the first motor is respectively and electrically connected with the charging mechanical arm and the main control unit; the second motor is respectively and electrically connected with the charging mechanical arm and the main control unit;
the first motor is used for driving the charging mechanical arm to move in the x-axis and Z-axis directions according to the control instruction; and the second motor is used for driving the charging mechanical arm to move in the y-axis and Z-axis directions according to the control instruction.
8. The automatic charging device of claim 7, wherein the charging robot comprises: the electric push rod, the third motor, the swing joint and the charging gun head;
the electric push rod is mechanically connected with the rotor of the second motor; the stator of the third motor is mechanically connected with the electric push rod; the rotor of the third motor is mechanically connected with the swing joint; the charging gun head is mechanically connected with the swing joint;
the third motor is electrically connected with the main control unit; and the third motor is used for driving the swing joint to move according to the control instruction.
9. The automatic charging device according to claim 8, wherein the control process of the main control unit is:
at the time T1, a control instruction is sent to the first motor, and the first motor drives the charging mechanical arm to rotate by 90 degrees along the YZ plane from an initial state;
at the time T2, a control instruction is sent to the first motor, the first motor drives the charging mechanical arm to move to the position with the height h from the ground along the negative direction of the Z axis, the camera collects an image of a charging port of a vehicle to be charged, and meanwhile, the first motor drives the charging mechanical arm to move along the negative direction of the X axis until the charging port of the vehicle to be charged in the image collected by the camera is positioned in the central area of the image, and the charging mechanical arm stops moving;
at the time T3, the main control unit sends a control instruction to the second motor, and the second motor drives the electric push rod in the charging mechanical arm to extend so as to enable the charging gun head in the charging mechanical arm to move towards the charging port;
in the moving process, the charging gun head moves towards the charging port and acquires a charging port image through a camera, and the slave control unit acquires the depth value of a charging port plane in the charging port image in real time and sends the depth value to the master control unit; after determining the difference of depth values of all positions in a charging port plane in real time, the main control unit sends a control instruction according to the difference of depth values of all positions in an image plane to control the first motor, the second motor and the third motor to move, and adjust the angle of the charging gun head in space until the depth values of the charging port plane in a charging port image acquired by the next frame of the camera are consistent, at this time, the main control unit controls the electric push rod to extend and put, so that the charging gun head and the charging port are in butt joint.
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| CN113642847B (en) * | 2021-07-15 | 2023-08-04 | 中国农业大学 | Method and device for estimating prawn quality |
| CN113696767A (en) * | 2021-09-03 | 2021-11-26 | 上海博泰悦臻电子设备制造有限公司 | Method for charging vehicle, in-vehicle electronic apparatus, vehicle, and medium |
| CN113787923B (en) * | 2021-09-03 | 2023-09-08 | 博泰车联网科技(上海)股份有限公司 | Method for charging a vehicle, electronic device, mobile charging device and medium |
| CN114013307B (en) * | 2021-11-09 | 2024-02-09 | 青岛特来电新能源科技有限公司 | Vehicle charging method and device and electronic equipment |
| CN114043888B (en) * | 2021-12-09 | 2024-02-13 | 同辉电子科技股份有限公司 | Charging gun charging self-adaptive auxiliary system and using method |
| CN114670690B (en) * | 2022-03-11 | 2023-04-18 | 常州信息职业技术学院 | Vehicle automatic charging method and system based on OpenMV |
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