CN114013307A - Vehicle charging method and device and electronic equipment - Google Patents
Vehicle charging method and device and electronic equipment Download PDFInfo
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- CN114013307A CN114013307A CN202111317514.6A CN202111317514A CN114013307A CN 114013307 A CN114013307 A CN 114013307A CN 202111317514 A CN202111317514 A CN 202111317514A CN 114013307 A CN114013307 A CN 114013307A
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- charging port
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- charging gun
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- 238000004364 calculation method Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000013136 deep learning model Methods 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
- B60L53/10—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
- B60L53/35—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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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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 provides a vehicle charging method, a vehicle charging device and electronic equipment, and relates to the technical field of vehicle charging, wherein the vehicle charging method comprises the steps of driving a mechanical arm to drive a charging gun head to move left and right along the horizontal direction, and controlling an acquisition module on the charging gun head to shoot a plurality of initial images, wherein the acquisition module comprises a monocular camera; identifying the outline of the vehicle charging port and the three-dimensional coordinates of a marker arranged on the vehicle charging port based on the initial image; driving the mechanical arm to drive the charging gun head to move to the front of the vehicle charging port according to the three-dimensional coordinate, so that the charging gun head is overlapped with a horizontal central axis of the vehicle charging port; the drive arm drives the rifle head that charges and inserts the vehicle mouth that charges, charges to the vehicle, through the monocular camera, when reducing the cost, guarantees the accuracy of mouthful location that charges to the higher, the relatively poor technical problem of precision of cost that exists has been alleviated among the prior art.
Description
Technical Field
The present invention relates to the field of vehicle charging technologies, and in particular, to a vehicle charging method and apparatus, and an electronic device.
Background
At present, the charging mode of a vehicle is generally a manual gun inserting charging mode, and the charging experience of the mode is poor. In order to bring more pleasurable charging experience to users, an automatic charging mode is adopted to replace manual gun insertion.
However, the binocular positioning adopted by the automatic charging robot nowadays determines the position information of the vehicle charging port, the cost is high, and if the binocular positioning equipment is not selected, the positioning accuracy is poor.
Disclosure of Invention
The invention aims to provide a vehicle charging method, a vehicle charging device and electronic equipment.
In a first aspect, an embodiment of the present invention provides a vehicle charging method, including:
the driving mechanical arm drives the charging gun head to move left and right along the horizontal direction, and controls an acquisition module on the charging gun head to shoot a plurality of initial images, wherein the acquisition module comprises a monocular camera;
identifying a contour of a vehicle charging port and three-dimensional coordinates of a marker disposed on the vehicle charging port based on the initial image;
driving the mechanical arm to drive a charging gun head to move to the front of the vehicle charging port according to the three-dimensional coordinate, so that the charging gun head is overlapped with a horizontal central axis of the vehicle charging port;
and driving the mechanical arm to drive the charging gun head to be inserted into the vehicle charging port to charge the vehicle.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where before the step of driving the mechanical arm to drive the charging gun head to be inserted into the charging port of the vehicle to charge the vehicle, the method further includes:
controlling the mechanical arm to drive the charging gun head to extend along the horizontal central axis according to a first preset speed, and judging whether an obstacle object exists between the vehicle charging port and the charging gun head;
if yes, stopping the movement of the mechanical arm;
if not, controlling the mechanical arm to drive the charging gun head to move according to a second preset speed, and controlling the mechanical arm to drive the charging gun head to move according to a third preset speed when the distance between the mechanical arm and the front of the charging port of the vehicle reaches a first preset distance threshold value.
With reference to the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, where both the first preset speed and the second preset speed are greater than the third preset speed.
With reference to the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, where the step of controlling the mechanical arm to drive the charging gun head to move according to a third preset speed when a distance between the mechanical arm and the front of the charging port of the vehicle reaches a first preset distance threshold value further includes:
controlling the mechanical arm to drive the charging gun head to move according to a third preset speed, and controlling the monocular camera to shoot various target images, wherein the target images comprise the vehicle charging port;
and acquiring a target three-dimensional coordinate corresponding to a marker on the vehicle charging port based on the target image, and driving the mechanical arm to drive the charging gun head to be inserted into the vehicle charging port according to the target three-dimensional coordinate to charge the vehicle.
With reference to the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, where the step of determining whether an obstacle object exists between the vehicle charging port and the charging gun head further includes:
in the process that the mechanical arm drives the charging gun head, the monocular camera is controlled to shoot a plurality of calibration images;
identifying a target position of the vehicle charging port in the calibration image, and comparing the calibration image corresponding to the target position with a preset image;
judging whether the comparison result meets the requirement or not;
if the comparison result meets the requirement, no obstacle object exists between the vehicle charging port and the charging gun head;
and if the comparison result does not meet the requirement, an obstacle object exists between the vehicle charging port and the charging gun head.
With reference to the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, where the acquisition module further includes a time-of-flight ranging lens, and the method further includes:
acquiring three-dimensional profile data of the vehicle charging port through the flight time ranging lens, and determining a multiplexing three-dimensional coordinate corresponding to a marker on the vehicle charging port based on the profile data;
and checking the accuracy of the three-dimensional coordinates acquired based on the monocular camera according to the multiplexing three-dimensional coordinates.
With reference to the first aspect, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, where the method further includes:
when the distance between the vehicle charging port and the charging gun head exceeds a second preset distance threshold value, controlling the flight time ranging lens to acquire three-dimensional profile data of the vehicle charging port;
and when the distance between the vehicle charging port and the charging gun head is smaller than a second preset distance threshold value, controlling the monocular camera to acquire image data of the vehicle charging port.
In a second aspect, an embodiment of the present invention further provides a vehicle charging apparatus, including:
the acquisition module drives the mechanical arm to drive the charging gun head to move left and right along the horizontal direction and controls the acquisition module on the charging gun head to shoot a plurality of initial images, and the acquisition module comprises a monocular camera;
the identification module identifies the outline of a vehicle charging port and three-dimensional coordinates of a marker arranged on the vehicle charging port on the basis of the initial image;
the moving module drives the mechanical arm to drive the charging gun head to move to the front of the vehicle charging port according to the three-dimensional coordinate, so that the charging gun head is overlapped with a horizontal central axis of the vehicle charging port;
and the charging module drives the mechanical arm to drive the charging gun head to be inserted into the vehicle charging port to charge the vehicle.
In a third aspect, an embodiment provides an electronic device, including a memory and a processor, where the memory stores a computer program operable on the processor, and the processor implements the steps of the method described in any one of the foregoing embodiments when executing the computer program.
In a fourth aspect, embodiments provide a machine-readable storage medium having stored thereon machine-executable instructions that, when invoked and executed by a processor, cause the processor to carry out the steps of the method of any preceding embodiment.
The embodiment of the invention provides a vehicle charging method and device, a charging gun head is driven by a control mechanical arm and a low-cost monocular camera is used for positioning a vehicle charging port, and then the vehicle charging port is moved to the front position of the vehicle charging port according to the coordinate of the vehicle charging port, so that accurate vehicle charging is realized.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
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 description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a method for charging a vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a charging gun head according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a vehicle charging port according to an embodiment of the present invention;
FIG. 4 is a schematic view of a time-of-flight ranging lens mounting structure according to an embodiment of the present invention;
FIG. 5 is a schematic view of another installation structure of a time-of-flight ranging lens according to an embodiment of the present invention;
fig. 6 is a functional block diagram of a vehicle charging device according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a hardware architecture of an electronic device according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the current vehicle charging port positioning technology, equipment with high precision is generally adopted to position a charging port, but the cost is high, the wide application is not facilitated, or monocular equipment with low relative cost is adopted to position, but the positioning effect is poor, the vehicle charging port cannot be accurately identified, and the charging safety of a vehicle cannot be guaranteed.
Based on the above, the vehicle charging method, the vehicle charging device and the electronic equipment provided by the embodiment of the invention can ensure the positioning accuracy of the vehicle charging port under the condition of low cost, so that the vehicle charging reliability is improved.
For the convenience of understanding the present embodiment, a vehicle charging method disclosed in the embodiment of the present invention will be described in detail first, and can be applied to a vehicle controller.
Fig. 1 is a flowchart of a vehicle charging method according to an embodiment of the present invention.
Referring to fig. 1, the method may include the steps of:
and S102, driving the mechanical arm to drive the charging gun head to move left and right in the horizontal direction, and controlling an acquisition module on the charging gun head to shoot a plurality of initial images, wherein the acquisition module comprises a monocular camera.
Wherein, control the arm about through the control arm and remove repeatedly to drive the rifle head motion of charging and gather the image simultaneously, it is limited to have solved the collection scope of monocular camera, the problem of view angle restriction promptly. As shown in fig. 4, the robot arm includes an upper arm, a lower arm, a left arm, a right arm, and a front arm, and the three arms are spatially distributed in three axes XYZ, that is, the upper arm, the lower arm, the left arm, the right arm, and the front arm are perpendicular to each other.
It should be noted that in fig. 2, an alternative charging gun head structure is shown, and a monocular camera may be arranged at the center of a cross-sectional circle of the charging gun head, namely, a black solid point shown as the circle center in fig. 2.
And step S104, identifying the outline of the vehicle charging port and the three-dimensional coordinates of the marker arranged on the vehicle charging port based on the initial image.
As shown in fig. 3, the vehicle charging port is provided with four dot-shaped markers and two strip-shaped markers. In order to ensure positioning accuracy under the condition of saving cost, when the charging gun head is far away from a vehicle charging port, a strip-shaped marker in an initial image can be identified to further determine the position of the vehicle charging port, and the defect that a small marker cannot be seen clearly in a long distance by a monocular camera is overcome; when the charging gun head is close to the vehicle charging port, the punctiform markers in the initial image are identified to further determine the position of the vehicle charging port, and the purpose of acquiring the more accurate position of the vehicle charging port through identification of the accurate markers is achieved.
As an alternative embodiment, the following steps may be used to achieve precise positioning of the vehicle charging port:
step 1.1), carrying out fisheye distortion correction on an image obtained by photographing the monocular camera by utilizing the known internal reference, external reference and distortion parameters of the monocular camera.
Step 1.2), carrying out target detection on the corrected vehicle charging port profile and the marker image by using a deep learning model to obtain a 2D coordinate of the vehicle charging port profile and the marker in the graph, which are detected by the deep learning model;
and step 1.3), converting the 2D coordinates of the vehicle charging port contour and the marker in the image and the 3D coordinates of the vehicle charging port contour and the marker in the real world to obtain a translation matrix and a rotation matrix of the vehicle charging port in the 3D world of the distance camera.
And S106, driving the mechanical arm to drive the charging gun head to move to the front of the vehicle charging port according to the three-dimensional coordinates, so that the charging gun head is overlapped with the horizontal central axis of the vehicle charging port.
Illustratively, the distance deviation of the vehicle charging port from the monocular camera in the X direction, the Y direction and the Z direction can be obtained by utilizing the translation matrix obtained by the calculation in the above steps, the angle deviation of the vehicle charging port from the monocular camera in the X direction, the Y direction and the Z direction can be obtained by utilizing the rotation matrix obtained by the calculation in the above steps, and then the charging gun head is controlled to move to the position right in front of the vehicle charging port.
And S108, driving the mechanical arm to drive the charging gun head to be inserted into a charging port of the vehicle to charge the vehicle.
In a preferred embodiment of practical application, a mechanical arm is controlled to drive a charging gun head and a low-cost monocular camera to position a vehicle charging port, and then the vehicle charging port is moved to the front position of the vehicle charging port according to the coordinates of the vehicle charging port, so that accurate vehicle charging is realized.
In some embodiments, to further improve the positioning accuracy of the lower cost camera, before step S108, the method further includes:
and 2.1) controlling the mechanical arm to drive the charging gun head to extend along the horizontal central axis according to the first preset speed, and judging whether an obstacle object exists between the vehicle charging port and the charging gun head.
Step 2.2), if yes, stopping the motion of the mechanical arm;
and 2.3) if the distance between the charging gun head and the front of the vehicle charging port reaches a first preset distance threshold, controlling the mechanical arm to drive the charging gun head to move according to a third preset speed.
The first preset speed and the second preset speed are both greater than the third preset speed.
It should be noted that, when the vehicle charging port appears in the visual field range of the monocular camera, the controller drives the mechanical arm to drive the charging gun head to move to the front of the vehicle charging port, the charging gun head is controlled to extend forwards at a first preset speed (100 mm in 1 second action), in the extending process, whether a foreign matter exists between the vehicle charging port and the gun head is judged, and when the gun head moves to the front end of the charging port and is away from a first preset distance threshold (10cm), the vehicle charging port and the gun head move to decelerate, slowly move, and take pictures for many times and locate. And outputting the coordinate information with higher precision. It can be understood that the charging gun head moves at a relatively fast speed to ensure the charging efficiency of the vehicle, and then starts to slow down at a preset position to ensure the positioning accuracy.
In some embodiments, in order to ensure positioning accuracy during the slow down movement, step 2.3), further comprising:
step 3.1), controlling the mechanical arm to drive the charging gun head to move according to a third preset speed, and controlling a monocular camera to shoot various target images, wherein the target images comprise a vehicle charging port;
it will be appreciated that, through the foregoing steps, the current charging gun head is already located directly in front of the vehicle charging port, which is necessarily included in the image of the object acquired today.
And 3.2) acquiring a target three-dimensional coordinate corresponding to a marker on the vehicle charging port based on the target image, and driving the mechanical arm to drive the charging gun head to be inserted into the vehicle charging port according to the target three-dimensional coordinate to charge the vehicle.
In some embodiments, the foreign object can be accurately identified during the deceleration movement to ensure the charging reliability, and the step 2.1) may further include the following steps:
step 4.1), in the process that the mechanical arm drives the charging gun head, controlling a monocular camera to shoot a plurality of calibration images;
step 4.2), identifying a target position of the vehicle charging port in the calibration image, and comparing the calibration image corresponding to the target position with a preset image;
step 4.3), judging whether the comparison result meets the requirement or not;
step 4.4), if the comparison result meets the requirement, no obstacle object exists between the vehicle charging port and the charging gun head;
and 4.5) if the comparison result does not meet the requirement, an obstacle object exists between the vehicle charging port and the charging gun head.
It should be noted that, a user may need to perform image acquisition on a key portion of the vehicle charging port that is not shielded by the obstacle to form a preset image, such as an image of a position where the marker is located, an image corresponding to a center position of the charging port, and the like, and compare similarity with the calibration image acquired at this time with reference to the preset image, if the similarity reaches a required threshold, there is no obstacle object between the vehicle charging port and the charging gun head, and vice versa, which is not described herein again.
In some embodiments, in order to further ensure the accuracy of the charging positioning, the acquisition module further includes a time-of-flight ranging lens, and the method further includes:
step 5.1), acquiring three-dimensional contour data of the vehicle charging port through a flight time ranging lens, and determining a multiplexing three-dimensional coordinate corresponding to a marker on the vehicle charging port based on the contour data;
and 5.2) checking the accuracy of the three-dimensional coordinates acquired based on the monocular camera according to the multiplexing three-dimensional coordinates.
It should be noted that, in the using process, the monocular camera may be damaged or may not be accurately collected under the influence of strong sunlight, rain, snow, dust, and the like, the embodiment of the present invention further adopts a Time of Flight (TOF) lens to verify the accuracy of the monocular camera, and if the difference between the two is large and does not meet the expectation, the vehicle charging port is positioned by using the three-dimensional coordinate collected by the TOF lens, so as to ensure the reliability of vehicle charging.
As shown in fig. 4, the TOF can be arranged on the upper and lower support arms of the mechanical arm, so that the charging equipment is more attractive under the condition of ensuring the acquisition precision of the monocular camera; as another alternative, as shown in fig. 5, the TOF may also be disposed on the front and rear arms of the robot arm through a support, so as to ensure a collecting field of view of the TOF, and a situation that the TOF is occasionally shielded by a monocular camera does not occur.
In some embodiments, the camera for collecting data can be switched by different distances between the charging gun head and the charging port of the vehicle, so as to ensure the accuracy of positioning, and the method further comprises:
and 6.1) controlling the flight time distance measuring lens to acquire three-dimensional profile data of the vehicle charging port when the distance between the vehicle charging port and the charging gun head exceeds a second preset distance threshold value.
Wherein, the TOF can acquire three-dimensional profile data of the vehicle charging port by emitting laser light.
And 6.2) controlling the monocular camera to acquire image data of the vehicle charging port when the distance between the vehicle charging port and the charging gun head is smaller than a second preset distance threshold.
Illustratively, at longer distances, TOF acquisition is more accurate, and at relatively closer distances, monocular cameras are used to locate the vehicle charging port.
As shown in fig. 6, an embodiment of the present invention provides a vehicle charging apparatus, including:
the acquisition module drives the mechanical arm to drive the charging gun head to move left and right along the horizontal direction and controls the acquisition module on the charging gun head to shoot a plurality of initial images, and the acquisition module comprises a monocular camera;
the identification module identifies the outline of a vehicle charging port and three-dimensional coordinates of a marker arranged on the vehicle charging port on the basis of the initial image;
the moving module drives the mechanical arm to drive the charging gun head to move to the front of the vehicle charging port according to the three-dimensional coordinate, so that the charging gun head is overlapped with a horizontal central axis of the vehicle charging port;
and the charging module drives the mechanical arm to drive the charging gun head to be inserted into the vehicle charging port to charge the vehicle.
In this embodiment, the electronic device may be, but is not limited to, a Computer device with analysis and processing capabilities, such as a Personal Computer (PC), a notebook Computer, a monitoring device, and a server.
As an exemplary embodiment, referring to fig. 7, the electronic device 110 includes a communication interface 111, a processor 112, a memory 113, and a bus 114, wherein the processor 112, the communication interface 111, and the memory 113 are connected by the bus 114; the memory 113 is used for storing a computer program for supporting the processor 112 to execute the image sharpening method, and the processor 112 is configured to execute the program stored in the memory 113.
A machine-readable storage medium as referred to herein may be any electronic, magnetic, optical, or other physical storage device that can contain or store information such as executable instructions, data, and the like. For example, the machine-readable storage medium may be: a RAM (random Access Memory), a volatile Memory, a non-volatile Memory, a flash Memory, a storage drive (e.g., a hard drive), any type of storage disk (e.g., an optical disk, a dvd, etc.), or similar storage medium, or a combination thereof.
The non-volatile medium may be non-volatile memory, flash memory, a storage drive (e.g., a hard drive), any type of storage disk (e.g., an optical disk, dvd, etc.), or similar non-volatile storage medium, or a combination thereof.
It can be understood that, for the specific operation method of each functional module in this embodiment, reference may be made to the detailed description of the corresponding step in the foregoing method embodiment, and no repeated description is provided herein.
The computer-readable storage medium provided in the embodiments of the present invention stores a computer program, and when executed, the computer program code may implement the … … method described in any of the above embodiments, and for specific implementation, reference may be made to the method embodiment, which is not described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein.
Claims (10)
1. A method of charging a vehicle, the method comprising:
the driving mechanical arm drives the charging gun head to move left and right along the horizontal direction, and controls an acquisition module on the charging gun head to shoot a plurality of initial images, wherein the acquisition module comprises a monocular camera;
identifying a contour of a vehicle charging port and three-dimensional coordinates of a marker disposed on the vehicle charging port based on the initial image;
driving the mechanical arm to drive a charging gun head to move to the front of the vehicle charging port according to the three-dimensional coordinate, so that the charging gun head is overlapped with a horizontal central axis of the vehicle charging port;
and driving the mechanical arm to drive the charging gun head to be inserted into the vehicle charging port to charge the vehicle.
2. The method according to claim 1, wherein before the step of driving the mechanical arm to drive the charging gun head to be inserted into the vehicle charging port to charge the vehicle, the method further comprises the following steps:
controlling the mechanical arm to drive the charging gun head to extend along the horizontal central axis according to a first preset speed, and judging whether an obstacle object exists between the vehicle charging port and the charging gun head;
if yes, stopping the movement of the mechanical arm;
if not, controlling the mechanical arm to drive the charging gun head to move according to a second preset speed, and controlling the mechanical arm to drive the charging gun head to move according to a third preset speed when the distance between the mechanical arm and the front of the charging port of the vehicle reaches a first preset distance threshold value.
3. The method of claim 2, wherein the first and second preset speeds are each greater than the third preset speed.
4. The method according to claim 2, wherein the step of controlling the mechanical arm to drive the charging gun head to move according to a third preset speed when the distance from the front of the vehicle charging port reaches a first preset distance threshold value further comprises:
controlling the mechanical arm to drive the charging gun head to move according to a third preset speed, and controlling the monocular camera to shoot various target images, wherein the target images comprise the vehicle charging port;
and acquiring a target three-dimensional coordinate corresponding to a marker on the vehicle charging port based on the target image, and driving the mechanical arm to drive the charging gun head to be inserted into the vehicle charging port according to the target three-dimensional coordinate to charge the vehicle.
5. The method of claim 2, wherein the step of determining whether an obstruction exists between the vehicle charging port and the charging gun head further comprises:
in the process that the mechanical arm drives the charging gun head, the monocular camera is controlled to shoot a plurality of calibration images;
identifying a target position of the vehicle charging port in the calibration image, and comparing the calibration image corresponding to the target position with a preset image;
judging whether the comparison result meets the requirement or not;
if the comparison result meets the requirement, no obstacle object exists between the vehicle charging port and the charging gun head;
and if the comparison result does not meet the requirement, an obstacle object exists between the vehicle charging port and the charging gun head.
6. The method of claim 2, wherein the acquisition module further comprises a time-of-flight ranging lens, the method further comprising:
acquiring three-dimensional profile data of the vehicle charging port through the flight time ranging lens, and determining a multiplexing three-dimensional coordinate corresponding to a marker on the vehicle charging port based on the profile data;
and checking the accuracy of the three-dimensional coordinates acquired based on the monocular camera according to the multiplexing three-dimensional coordinates.
7. The method of claim 6, further comprising:
when the distance between the vehicle charging port and the charging gun head exceeds a second preset distance threshold value, controlling the flight time ranging lens to acquire three-dimensional profile data of the vehicle charging port;
and when the distance between the vehicle charging port and the charging gun head is smaller than a second preset distance threshold value, controlling the monocular camera to acquire image data of the vehicle charging port.
8. A vehicle charging apparatus, characterized in that the apparatus comprises:
the acquisition module drives the mechanical arm to drive the charging gun head to move left and right along the horizontal direction and controls the acquisition module on the charging gun head to shoot a plurality of initial images, and the acquisition module comprises a monocular camera;
the identification module identifies the outline of a vehicle charging port and three-dimensional coordinates of a marker arranged on the vehicle charging port on the basis of the initial image;
the moving module drives the mechanical arm to drive the charging gun head to move to the front of the vehicle charging port according to the three-dimensional coordinate, so that the charging gun head is overlapped with a horizontal central axis of the vehicle charging port;
and the charging module drives the mechanical arm to drive the charging gun head to be inserted into the vehicle charging port to charge the vehicle.
9. An electronic device comprising a memory, a processor, and a program stored on the memory and executable on the processor, the processor implementing the method of any one of claims 1 to 7 when executing the program.
10. A computer-readable storage medium, characterized in that a computer program is stored in the readable storage medium, which computer program, when executed, implements the method of any of claims 1-7.
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