CN114013307B - Vehicle charging method and device and electronic equipment - Google Patents
Vehicle charging method and device and electronic equipment Download PDFInfo
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- CN114013307B CN114013307B CN202111317514.6A CN202111317514A CN114013307B CN 114013307 B CN114013307 B CN 114013307B CN 202111317514 A CN202111317514 A CN 202111317514A CN 114013307 B CN114013307 B CN 114013307B
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- 238000000034 method Methods 0.000 title claims abstract description 49
- 239000003550 marker Substances 0.000 claims description 20
- 239000011159 matrix material Substances 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 7
- 238000013519 translation Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000013136 deep learning model Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004313 glare Effects 0.000 description 1
- 238000003707 image sharpening Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
- B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention provides a vehicle charging method, a device and electronic equipment, which relate to the technical field of vehicle charging, and comprise 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 based on the initial image and the three-dimensional coordinates of the markers arranged on the vehicle charging port; driving the mechanical arm according to the three-dimensional coordinates to drive the charging gun head to move to the front of the charging port of the vehicle so as to enable the horizontal central axes of the charging gun head and the charging port of the vehicle to coincide; the driving mechanical arm drives the charging gun head to insert into the charging port of the vehicle to charge the vehicle, and the monocular camera reduces the cost and ensures the positioning accuracy of the charging port at the same time, so as to alleviate the technical problems of higher cost and poor precision in 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, device and electronic equipment.
Background
At present, the charging mode of a vehicle is generally a manual gun charging mode, and the charging experience of the mode is poor. In order to bring more pleasant charging experience to users, an automatic charging mode is adopted to replace manual gun insertion.
However, the current automatic charging robot adopts binocular positioning to determine the position information of the charging port of the vehicle, so that 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 device and electronic equipment, which reduce cost and ensure the accuracy of positioning a charging port through a monocular camera so as to alleviate the technical problems in the prior art.
In a first aspect, an embodiment of the present invention provides a vehicle charging method, including:
the method comprises the steps that a mechanical arm is driven to drive a charging gun head to move left and right along the horizontal direction, an acquisition module on the charging gun head is controlled to shoot a plurality of initial images, and the acquisition module comprises a monocular camera;
identifying the outline of a vehicle charging port based on the initial image and the three-dimensional coordinates of a marker arranged on the vehicle charging port;
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 as to enable the horizontal central axes of the charging gun head and the vehicle charging port to coincide;
the mechanical arm is driven to drive the charging gun head to be inserted into the charging port of the vehicle 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 a charging gun head to insert 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;
and 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, the embodiment of the present invention provides a second possible implementation manner of the first aspect, where the first preset speed and the second preset speed are both 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 when a distance from a front of the charging port of the vehicle reaches a first preset distance threshold, the step of controlling, according to a third preset speed, the mechanical arm to drive the charging gun head to move 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, so as to drive the mechanical arm to drive the charging gun head to insert into the vehicle charging port according to the target three-dimensional coordinate, and charging 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 charging port of the vehicle and the charging gun head further includes:
controlling the monocular camera to shoot a plurality of calibration images in the process that the mechanical arm drives the charging gun head;
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;
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 contour data of the vehicle charging port through the time-of-flight ranging lens, and determining multiplexing three-dimensional coordinates corresponding to the markers on the vehicle charging port based on the contour data;
and verifying 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, controlling the flight time ranging lens to acquire three-dimensional contour 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, 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 is used for 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;
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 coordinates so as to enable the horizontal central axes of the charging gun head and the vehicle charging port to coincide;
and the charging module is used for driving the mechanical arm to drive the charging gun head to be inserted into the charging port of the vehicle so as to charge the vehicle.
In a third aspect, an embodiment provides an electronic device, including a memory, a processor, where the memory stores a computer program executable on the processor, and where the processor implements the steps of the method according to any of the foregoing embodiments when the computer program is executed.
In a fourth aspect, embodiments provide a machine-readable storage medium storing machine-executable instructions that, when invoked and executed by a processor, cause the processor to implement the steps of the method of any of the preceding embodiments.
The embodiment of the invention provides a vehicle charging method and device, wherein a mechanical arm is controlled to drive a charging gun head and a monocular camera with lower cost to position a vehicle charging port, and then the monocular camera 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.
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 above objects, features and advantages of the present invention more 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 that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a vehicle charging method 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 diagram of an installation structure of a time-of-flight ranging lens according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of another installation structure of a time-of-flight ranging lens according to an embodiment of the present invention;
fig. 6 is a schematic 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
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, 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 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.
In the existing vehicle charging port positioning technology, equipment with higher precision is generally used for positioning a charging port, but the cost is higher, so that the vehicle charging port positioning technology is unfavorable for wide application, or monocular equipment with lower relative cost is used for positioning, but the positioning effect is poor, the vehicle charging port cannot be accurately identified, and the charging safety of the 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 accuracy of positioning the vehicle charging port under the condition of lower cost, thereby improving the vehicle charging reliability.
For the convenience of understanding the present embodiment, a vehicle charging method disclosed in the embodiment of the present invention is described in detail first, and may 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:
step S102, driving the mechanical arm to drive the charging gun head to move left and right along the horizontal direction, and controlling the acquisition module on the charging gun head to shoot a plurality of initial images, wherein the acquisition module comprises a monocular camera.
The left support arm and the right support arm of the mechanical arm are controlled to repeatedly move so as to drive the charging gun head to move and collect images at the same time, and the problem that the acquisition range of the monocular camera is limited, namely the field angle is limited is solved. As shown in fig. 4, the mechanical arm includes upper and lower support arms, left and right support arms, and front and rear support arms, and the three support arms are spatially distributed in XYZ three axes, i.e., the upper and lower support arms, the left and right support arms, and the front and rear support arms are perpendicular to each other.
It should be noted that, fig. 2 shows an alternative charging gun head structure, and the monocular camera may be disposed at the center of the cross-sectional circle of the charging gun head, that is, the black solid point shown in the center of the circle in fig. 2.
Step S104, recognizing the outline of the vehicle charging port and the three-dimensional coordinates of the markers set on the vehicle charging port based on the initial image.
The vehicle charging port is shown in fig. 3, and four dot-shaped markers and two strip-shaped markers are arranged on the vehicle charging port. In order to ensure positioning accuracy under the condition of saving cost, when the charging gun head is far away from the charging port of the vehicle, the strip-shaped markers in the initial image are identified to further determine the position of the charging port of the vehicle, so that the defect that the smaller markers cannot be seen clearly at the long distance of the monocular camera is overcome; when the charging gun head is closer to the vehicle charging port, point-shaped markers in the initial image are identified to further determine the position of the vehicle charging port, and the purpose of obtaining more accurate vehicle charging port positions through identification of accurate markers is achieved.
As an alternative embodiment, the following steps may be used to achieve accurate positioning of the vehicle charging port:
step 1.1), performing fisheye distortion correction on an image obtained by photographing the monocular camera by utilizing known internal parameters, external parameters and distortion parameters of the monocular camera.
Step 1.2), performing target detection on the corrected vehicle charging port outline and the marker image by using a deep learning model to obtain 2D coordinates of the vehicle charging port outline and the marker detected by the deep learning model in the graph;
step 1.3), converting the 2D coordinates of the vehicle charging port outline and the marker in the image and the 3D coordinates of the vehicle charging port outline 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 camera.
And S106, driving the mechanical arm to drive the charging gun head to move to the front of the charging port of the vehicle according to the three-dimensional coordinates so as to enable the horizontal central axes of the charging gun head and the charging port of the vehicle to coincide.
The translation matrix obtained by the calculation in the steps can be used for obtaining the distance deviation of the vehicle charging port from the monocular camera in the X direction, the Y direction and the Z direction, and the rotation matrix obtained by the calculation in the steps can be used for obtaining the angle deviation of the vehicle charging port from the monocular camera in the X direction, the Y direction and the Z direction, so that the charging gun head is controlled to move to the right front of the vehicle charging port.
Step S108, the mechanical arm is driven to drive the charging gun head to be inserted into the charging port of the vehicle, and the vehicle is charged.
In a preferred embodiment of practical application, the mechanical arm is controlled to drive the charging gun head and the monocular camera with lower cost to position the charging port of the vehicle, and then the monocular camera is moved to the front position of the charging port of the vehicle according to the coordinates of the charging port of the vehicle, so that accurate vehicle charging is realized.
In some embodiments, to further improve the positioning accuracy of the lower cost camera, the method further includes, prior to step S108:
step 2.1), 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 charging port of the vehicle and the charging gun head.
Step 2.2), if yes, stopping the movement of the mechanical arm;
and 2.3) if not, controlling the mechanical arm to drive the charging gun head to move according to the second preset speed, and controlling the mechanical arm to drive the charging gun head to move according to the third preset speed when the distance between the mechanical arm and the front of the charging port of the vehicle reaches the first preset distance threshold value.
Wherein, 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 of the monocular camera, the controller drives the mechanical arm to drive the charging gun head to move to the position right in front of the vehicle charging port, controls the charging gun head to extend forward at a first preset speed (1 second for 100 mm), judges whether foreign matters exist between the vehicle charging port and the gun head in the extending process, and moves to the front end of the charging port at a distance of about a first preset distance threshold (10 cm), and decelerates and slowly moves to take photos for a plurality of times. And outputting coordinate information with higher precision. It can be understood that the charging gun head moves at a faster speed, so that the charging efficiency of the vehicle can be ensured, and then the charging gun head starts to slow down at a preset position, so as to ensure the positioning accuracy.
In some embodiments, to ensure positioning accuracy during slow down movements, 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 the 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 charging port of the vehicle, which is necessarily included in the target image acquired today.
And 3.2) acquiring a target three-dimensional coordinate corresponding to the marker on the charging port of the vehicle based on the target image, so as to drive the mechanical arm to drive the charging gun head to insert into the charging port of the vehicle according to the target three-dimensional coordinate, and charging the vehicle.
In some embodiments, the foreign matter may be accurately identified during the deceleration movement to ensure the charging reliability, and the step 2.1) may further include the steps of:
step 4.1), controlling the monocular camera to shoot a plurality of calibration images in the process that the mechanical arm drives the charging gun head;
step 4.2), identifying a target position of a 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;
step 4.4), if the comparison result meets the requirement, no obstacle object exists between the charging port of the vehicle and the charging gun head;
step 4.5), if the comparison result does not meet the requirement, an obstacle object exists between the charging port of the vehicle and the charging gun head.
It should be noted that, the user may need to collect images of the key parts of the charging port of the vehicle, which are not blocked by the obstacle, to form a preset image, for example, an image of the position of the marker, an image corresponding to the center position of the charging port, and the like, and compare the similarity with the calibration image collected at this time based on the preset image, if the similarity degree reaches the required threshold, no obstacle object exists between the charging port and the charging gun head of the vehicle, and vice versa, which is not described herein again.
In some embodiments, to further ensure accuracy of the charging location, the acquisition module further includes a time-of-flight ranging lens, the method further includes:
step 5.1), acquiring three-dimensional contour data of a vehicle charging port through a flight time ranging lens, and determining multiplexing three-dimensional coordinates 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 use process, the monocular camera may be damaged or the monocular camera may be acquired inaccurately under the influence of sun glare, rain, snow, dust, etc., and the embodiment of the invention further adopts a Time of Flight (TOF) ranging lens to check the precision of the monocular camera, and if the difference between the two is larger and does not meet the expectation, the vehicle charging port is positioned by using the three-dimensional coordinates acquired by the TOF lens, so as to ensure the reliability of vehicle charging.
As shown in fig. 4, the TOF may be disposed on the upper and lower arms of the mechanical arm, so that the charging device is more attractive under the condition of ensuring the acquisition accuracy of the monocular camera; as another alternative embodiment, as shown in fig. 5, the TOF can also be arranged on the front and rear support arms of the mechanical arm through a bracket, so that the acquisition field of view of the TOF is ensured, and the condition that the TOF is shielded by a monocular camera occasionally 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 to ensure the accuracy of positioning, and the method further comprises:
and 6.1), when the distance between the charging opening of the vehicle and the charging gun head exceeds a second preset distance threshold, controlling the flight time ranging lens to acquire three-dimensional contour data of the charging opening of the vehicle.
The TOF can acquire three-dimensional profile data of a charging port of the vehicle by emitting laser.
And 6.2), when the distance between the charging port of the vehicle and the charging gun head is smaller than a second preset distance threshold value, controlling the monocular camera to acquire image data of the charging port of the vehicle.
Illustratively, TOF acquisition is more accurate at far distances and monocular cameras are used to locate the vehicle charging port at relatively close distances.
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 is used for 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;
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 coordinates so as to enable the horizontal central axes of the charging gun head and the vehicle charging port to coincide;
and the charging module is used for driving the mechanical arm to drive the charging gun head to be inserted into the charging port of the vehicle so as to charge the vehicle.
In the embodiment of the present invention, the electronic device may be, but is not limited to, a personal computer (Personal Computer, PC), a notebook computer, a monitoring device, a server, and other computer devices with analysis and processing capabilities.
As an exemplary embodiment, referring to fig. 7, an electronic device 110 includes a communication interface 111, a processor 112, a memory 113, and a bus 114, the processor 112, the communication interface 111, and the memory 113 being connected by the bus 114; the memory 113 is used for storing a computer program 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.
The machine-readable storage medium 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, or the like. For example, a machine-readable storage medium may be: RAM (Radom Access Memory, random access memory), volatile memory, non-volatile memory, flash memory, a storage drive (e.g., hard drive), any type of storage disk (e.g., optical disk, dvd, etc.), or a similar storage medium, or a combination thereof.
The non-volatile medium may be a non-volatile memory, a flash memory, a storage drive (e.g., hard drive), any type of storage disk (e.g., optical disk, dvd, etc.), or a similar non-volatile storage medium, or a combination thereof.
It can be understood that the specific operation method of each functional module in this embodiment may refer to the detailed description of the corresponding steps in the above method embodiment, and the detailed description is not repeated here.
The embodiment of the present invention provides a computer readable storage medium, in which a computer program is stored, where the computer program code can implement the method … … described in any of the above embodiments when executed, and the specific implementation can refer to the method embodiment and is not repeated herein.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system and apparatus may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again.
In addition, in the description of embodiments of the present invention, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific 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 examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.
Claims (10)
1. A method of charging a vehicle, the method comprising:
the method comprises the steps that a mechanical arm is driven to drive a charging gun head to move left and right along the horizontal direction, an acquisition module on the charging gun head is controlled to shoot a plurality of initial images, and the acquisition module comprises a monocular camera;
identifying the outline of a vehicle charging port based on the initial image and the three-dimensional coordinates of a marker arranged on the vehicle charging port;
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 as to enable the horizontal central axes of the charging gun head and the vehicle charging port to coincide;
driving the mechanical arm to drive a charging gun head to be inserted into the vehicle charging port so as to charge the vehicle;
the method further comprises the steps of:
acquiring a 2D coordinate of a vehicle charging port outline and a marker in an image;
converting the 2D coordinates of the vehicle charging port outline and the marker in the image and the 3D coordinates of the vehicle charging port outline 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 camera;
obtaining distance deviations of the vehicle charging port from the X direction, the Y direction and the Z direction of the monocular camera based on the translation matrix; calculating the angle deviation of the vehicle charging port from the X direction, the Y direction and the Z direction of the monocular camera based on the rotation matrix; and controlling the charging gun head to move to the right front of the charging port of the vehicle according to the distance deviation and the angle deviation.
2. The method of claim 1, wherein prior to the step of driving the robotic arm to insert a charging gun head into the vehicle charging port to charge the vehicle, the method further comprises:
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;
and 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 both greater than the third preset speed.
4. The method of claim 2, wherein when the distance to the front of the charging port of the vehicle reaches a first preset distance threshold, the step of controlling the mechanical arm to drive the charging gun head to move according to a third preset speed 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, so as to drive the mechanical arm to drive the charging gun head to insert into the vehicle charging port according to the target three-dimensional coordinate, and charging the vehicle.
5. The method of claim 2, wherein the step of determining whether an obstacle object exists between the vehicle charging port and the charging gun head, further comprises:
controlling the monocular camera to shoot a plurality of calibration images in the process that the mechanical arm drives the charging gun head;
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;
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 contour data of the vehicle charging port through the time-of-flight ranging lens, and determining multiplexing three-dimensional coordinates corresponding to the markers on the vehicle charging port based on the contour data;
and verifying 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, wherein the method further comprises:
when the distance between the vehicle charging port and the charging gun head exceeds a second preset distance threshold, controlling the flight time ranging lens to acquire three-dimensional contour 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, 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 is used for 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;
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 coordinates so as to enable the horizontal central axes of the charging gun head and the vehicle charging port to coincide;
the charging module drives the mechanical arm to drive the charging gun head to be inserted into the charging port of the vehicle to charge the vehicle;
the device is also used for obtaining the 2D coordinates of the vehicle charging port outline and the marker in the image; converting the 2D coordinates of the vehicle charging port outline and the marker in the image and the 3D coordinates of the vehicle charging port outline 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 camera;
obtaining distance deviations of the vehicle charging port from the X direction, the Y direction and the Z direction of the monocular camera based on the translation matrix; calculating the angle deviation of the vehicle charging port from the X direction, the Y direction and the Z direction of the monocular camera based on the rotation matrix; and controlling the charging gun head to move to the right front of the charging port of the vehicle according to the distance deviation and the angle deviation.
9. An electronic device comprising a memory, a processor and a program stored on the memory and capable of running 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 the 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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| CN115871492B (en) * | 2022-06-06 | 2023-10-31 | 武汉路特斯科技有限公司 | Charging equipment control method, device, equipment and storage medium |
| CN114932825B (en) * | 2022-06-22 | 2023-11-07 | 阿维塔科技(重庆)有限公司 | Charging device and electric vehicle charging method |
| CN116118544B (en) * | 2022-12-21 | 2024-09-13 | 国广顺能(上海)能源科技有限公司 | Automatic charging system and method for vehicle |
| CN117141270B (en) * | 2023-02-24 | 2024-07-05 | 武汉路特斯科技有限公司 | Charging self-adaptive device, charging robot and control method thereof |
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