CN115871492A - Charging equipment control method, device, equipment and storage medium - Google Patents
Charging equipment control method, device, equipment and storage medium Download PDFInfo
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Abstract
The application provides a charging device control method, a charging device control device, a charging device and a storage medium. The method comprises the following steps: acquiring a first real-time image of a charging area, wherein the first real-time image comprises a charging port; carrying out image recognition processing on a charging port in the first real-time image to obtain a first charging port posture and a first charging port position of the charging port; predicting the posture and the position of the mechanical arm based on the posture and the position of the first charging port respectively to obtain a target posture and a target predicted position of the mechanical arm; and controlling the mechanical arm to move according to the target posture and the target predicted position so as to drive the charging gun to be inserted into the charging port. In this application, can be earlier according to the gesture of target gesture adjustment arm to make the arm drive the gesture of adjusting the rifle that charges. After the posture of the mechanical arm is adjusted to the target posture, the mechanical arm can be controlled to move, so that the charging gun can be accurately inserted into the charging port.
Description
Technical Field
The invention relates to the technical field of charging equipment, in particular to a charging equipment control method, a charging equipment control device, charging equipment and a storage medium.
Background
With the popularization of green travel and low-carbon consumption concepts, the new energy automobile industry develops rapidly in recent years, and the charging terminal is widely concerned by consumers and enterprises as a matching infrastructure of a pure electric automobile. The charging gun of the automatic charging terminal can be automatically inserted into the charging port, so that the vehicle can be charged.
In the existing automatic charging terminal technology, the charging gun is difficult to accurately control to be inserted into a charging port, so that the charging service efficiency is low, and the charging gun and the charging port are easily damaged.
Disclosure of Invention
The application provides a charging equipment control method, a charging equipment control device, equipment and a storage medium, and at least solves the technical problem that in the prior art, a charging gun is difficult to accurately control to be inserted into a charging port.
According to an aspect of the present application, there is provided a charging device control method including:
acquiring a first real-time image of a charging area, wherein the first real-time image comprises a charging port;
performing image recognition processing on the charging port in the first real-time image to obtain a first charging port posture and a first charging port position of the charging port;
predicting the posture and the position of the mechanical arm based on the posture of the first charging port and the position of the first charging port respectively to obtain a target posture and a target predicted position of the mechanical arm;
and controlling the mechanical arm to move according to the target posture and the target prediction position so as to drive the charging gun to be inserted into the charging port.
In a possible implementation manner, the first real-time image further includes a reference object, where the reference object is an object around the charging port;
the image recognition processing of the charging port in the first real-time image to obtain a first charging port posture and a first charging port position of the charging port comprises:
performing position identification processing on an image area where the reference object is located in the first real-time image, and determining offset information of the reference object;
and matching the offset information with an image area where the charging port is located in the first real-time image, and determining the posture of the first charging port and the position of the first charging port.
In a possible implementation manner, before the obtaining the first real-time image of the charging area, the method further includes:
acquiring a first real-time position of the charging terminal, a second real-time image of the charging port, an environment image of a vehicle to be charged and a vehicle identification image of the vehicle to be charged;
carrying out image recognition processing on the vehicle identification image, and determining vehicle identification information corresponding to the vehicle to be charged;
predicting the position of the charging terminal based on the vehicle identification information and a second real-time image of the charging port, and determining the target position of the charging terminal;
performing target object recognition processing on the environment image to determine a target object position of a target object; the target object is an obstacle and/or the vehicle to be charged;
comparing the position of the target object with the first real-time position, and determining a first distance between the target object and the charging terminal;
determining first speed information of the charging terminal according to the first distance; wherein the first distance is positively correlated with the first speed information;
and controlling the charging terminal to move to the target position along the first direction according to the first speed information.
In a possible implementation manner, the performing target object recognition processing on the environment image, and determining a target object position of a target object includes:
performing candidate object identification processing on the environment image to obtain a candidate object and motion states of the candidate object, wherein the motion states comprise a static state and a non-static state;
screening out the candidate object corresponding to the non-static state from the candidate objects to be used as the target object;
determining the target object position of the target object.
In a possible implementation manner, the determining first speed information of the charging terminal according to the first distance includes:
determining a first preset speed as the first speed information if the first distance is greater than or equal to a first threshold;
determining a second preset speed as the first speed information if the first distance is less than the first threshold and greater than or equal to a second threshold;
determining a third preset speed as the first speed information if the second distance is less than the second threshold;
the first threshold is greater than the second threshold, the first preset speed is greater than the second preset speed, and the second preset speed is greater than the third preset speed.
In one possible implementation, before the acquiring the first real-time image of the charging area, the method further includes:
acquiring a second distance between the mechanical arm and the charging port in a second direction under the condition that the charging terminal moves to the target position, wherein the second direction is perpendicular to the first direction;
and under the condition that the second distance is smaller than a working distance threshold value, controlling the mechanical arm to move along the second direction, so that the distance between the mechanical arm and the charging port reaches the working distance threshold value.
In one possible implementation, before the controlling the robot arm to move according to the target pose and the target predicted position, the method further includes: acquiring a second real-time position of the mechanical arm;
the controlling the mechanical arm to move according to the target posture and the target predicted position comprises:
adjusting the posture of the mechanical arm to the target posture;
comparing the position of the first charging port with the position of the second real-time port, and determining a third distance between the mechanical arm and the charging port in the second direction;
determining second speed information of the mechanical arm according to the third distance; the second speed information is positively correlated with the third distance;
and controlling the mechanical arm to move to the target prediction position along the second direction according to the second speed information so as to drive a charging gun to be inserted into the charging port.
According to another aspect of the present application, there is provided a charging device control apparatus, the apparatus including:
the first acquisition module is used for acquiring a first real-time image of a charging area, wherein the first real-time image comprises a charging port;
the first image recognition module is used for carrying out image recognition processing on the charging port in the first real-time image to obtain a first charging port posture and a first charging port position of the charging port;
the first prediction module is used for predicting the posture and the position of the mechanical arm based on the posture of the first charging port and the position of the first charging port respectively to obtain a target posture and a target predicted position of the mechanical arm;
and the first control module is used for controlling the mechanical arm to move according to the target posture and the target prediction position so as to drive the charging gun to be inserted into the charging port.
According to another aspect of the present application, there is provided a charging device control device including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to perform the above method.
According to another aspect of the application, a non-transitory computer-readable storage medium is provided, having computer program instructions stored thereon, wherein the computer program instructions, when executed by a processor, implement the above-described method.
In this application, can be earlier according to the gesture of target gesture adjustment arm to make the arm drive the gesture of adjusting the rifle that charges. After the posture of the mechanical arm is adjusted to the target posture, the mechanical arm can be controlled to move, so that the mechanical arm drives the charging gun to move; when the mechanical arm moves to the target prediction position, the charging gun can be inserted into the charging port. Even if the vehicle is parked obliquely when being parked, the posture of the charging gun can be adjusted according to the posture of the charging port of the vehicle, so that the charging gun is controlled to be accurately inserted into the charging port; therefore, no matter the position and the posture of the vehicle when the vehicle is parked, the method provided by the application can self-adaptively adjust the charging gun based on the vision, and the charging gun is ensured to be accurately inserted into the charging port.
In this application, when the mouth that charges is sheltered from by the rifle that charges or the vehicle takes place to shake, the skew information of reference object can be confirmed in real time to the degree of depth camera, carries out synchronous adjustment to the arm according to the skew information to the gesture and the position of rifle that charge are charged in the adjustment. It is thus clear that even the mouth image that charges is sheltered from or because of the driver does not in time leave the vehicle and cause the vehicle shake, the rifle that charges still can be ensured to this application accurately inserts the mouth that charges.
In the application, the reserved vehicle information can be further acquired, and under the condition that the reserved vehicle information is matched with the vehicle identification information, the position of the charging terminal is subjected to prediction processing based on the vehicle identification information and the second real-time image of the charging port, and the target position of the charging terminal is accurately determined.
The moving speed of the charging terminal in the first direction can be controlled according to the first distance, the first distance is positively correlated with the first speed information, and the speed is low when the distance is small, so that the obstacle is avoided accurately and intelligently, and the charging terminal is prevented from colliding with a target object.
Other features and aspects of the present application will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
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, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flow chart illustrating a charging device control method according to an exemplary embodiment;
fig. 2 is a schematic structural view of a first side of the charging terminal;
fig. 3 is a schematic structural diagram of a second side of the charging terminal;
fig. 4 is a schematic view of the shooting ranges of the cameras of the charging terminal;
FIG. 5 is a schematic diagram of the robot arm, charging gun and seventh camera;
fig. 6 is a block diagram illustrating a charging device control apparatus according to an exemplary embodiment.
Detailed Description
Various exemplary embodiments, features and aspects of the present application will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present application. It will be understood by those skilled in the art that the present application may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present application.
The invention provides a charging equipment control method, which can at least solve the technical problem that a charging gun is difficult to accurately control to be inserted into a charging port in the prior art.
The embodiment of the specification provides a charging equipment control method, which is applied to charging equipment, wherein the charging equipment comprises a charging terminal 1, a mechanical arm 8 and a charging gun 13, the mechanical arm 8 is arranged on the charging terminal 1, the charging gun 13 is arranged on the mechanical arm 8, the charging terminal 1 can be arranged on a sliding rail 10 in a sliding mode, the charging terminal 1 can be provided with a plurality of cameras, the mechanical arm 8 can be provided with at least one camera, the camera can be a depth camera, and the camera can be a monocular camera or a binocular camera. As shown in conjunction with fig. 2 to 5, in one example, the charge terminal 1 may be provided with a first camera 2, a second camera 3, a third camera 4, a fourth camera 5, a fifth camera 6, and a sixth camera 7, and the robot arm 8 may be provided with a seventh camera 9.
With reference to fig. 1, a method for controlling a charging device provided in an embodiment of the present specification may include:
step S1: and acquiring a first real-time image of the charging area, wherein the first real-time image comprises a charging port.
In the embodiment of the present specification, the charging area may be an area around a charging port of a vehicle to be charged, and the first real-time image may be acquired by a depth camera provided on the robot arm 8.
Step S2: and carrying out image recognition processing on the charging port in the first real-time image to obtain a first charging port posture and a first charging port position of the charging port.
In this embodiment, the image recognition process may include image object detection and 3D point cloud segmentation, and the first charging port posture and the first charging port position may be obtained through the image recognition process, where the information type of the first charging port posture may be a matrix type, and the information type of the first charging port position may be a coordinate type. The first charging port attitude can characterize a current attitude of the charging port, and the first charging port position can characterize a current position of the charging port.
And step S3: and predicting the posture and the position of the mechanical arm 8 based on the posture of the first charging port and the position of the first charging port respectively to obtain a target posture and a target predicted position of the mechanical arm 8.
In this embodiment of the present description, based on the first charging port posture, the posture prediction processing may be performed on the posture of the mechanical arm 8 to obtain the target posture of the mechanical arm 8; the position prediction processing may be performed on the position of the robot arm 8 based on the first charging port position to obtain a target predicted position of the robot arm 8.
And step S4: and controlling the mechanical arm 8 to move according to the target posture and the target predicted position so as to drive the charging gun 13 to be inserted into the charging port.
In this embodiment, the posture of the robot arm 8 may be adjusted according to the target posture, so that the robot arm 8 drives the posture of the charging gun 13 to be adjusted. When the posture of the robot arm 8 is adjusted to the target posture, the length direction of the charging gun 13 is perpendicular to the plane where the charging port is located. After the posture of the mechanical arm 8 is adjusted to the target posture, the mechanical arm 8 can be controlled to move along the second direction, so that the mechanical arm 8 drives the charging gun 13 to move along the second direction; when the robot arm 8 is displaced to the target prediction position, the charging gun 13 can be inserted into the charging port. Even if the vehicle is parked obliquely when being parked, the posture of the charging gun 13 can be adjusted according to the posture of the charging port of the vehicle, so that the charging gun 13 is controlled to be accurately inserted into the charging port; it can be seen that, regardless of the position and posture of the vehicle when parked, the method provided by the embodiment of the present specification can adaptively adjust the charging gun 13 based on the vision, and ensure that the charging gun 13 is accurately inserted into the charging port.
In another example, after the posture of the robot arm 8 is adjusted to the target posture, the robot arm 8 may be controlled to be displaced to the reference position in the second direction, and the reference position may be a position at a preset distance from the charging port. After the mechanical arm 8 is displaced to the reference position, the distance between the charging port and the depth camera of the mechanical arm 8 can be acquired, and the mechanical arm 8 is controlled to be displaced to the target prediction position along the second direction according to the distance between the charging port and the depth camera of the mechanical arm 8, so that the charging gun 13 is inserted into the charging port.
In a possible implementation manner, the first real-time image further includes a reference object, and the reference object is an object around the charging port. The reference object may be an object around a charging port of a vehicle to be charged, such as a sticker, a button, a charging port cover, a tire, or the like around the charging port. The yolov5 target detection algorithm can be adopted to perform image recognition processing on the first real-time image and determine the charging port and the reference object.
The step S2 comprises the following steps:
carrying out position identification processing on an image area where the reference object is located in the first real-time image, and determining offset information of the reference object;
and matching the offset information with an image area where the charging port is located in the first real-time image, and determining the posture and the position of the first charging port.
In this embodiment, the offset information of the reference object may be determined in real time according to an image area where the reference object is located in the first real-time image. Since the positional relationship between the reference object and the charging port is constant, the offset information of the reference object can also characterize the offset of the charging port. The offset information may include position offset information and attitude offset information. The offset information may be determined based on a 3D point cloud segmentation algorithm. Further, the offset information and the image area where the charging port is located in the first real-time image can be matched to obtain a more accurate posture of the first charging port and a position of the first charging port, so that the charging gun 13 can be inserted into the charging port more accurately.
In one example, when the charging port is blocked by the charging gun 13 or the vehicle shakes, the depth camera may determine the offset information of the reference object in real time, and perform synchronous adjustment on the robot arm 8 according to the offset information, thereby adjusting the posture and position of the charging gun 13. It can be seen that even if the charging port image is blocked or the vehicle shakes because the driver does not leave the vehicle in time, the embodiments of the present description can ensure that the charging gun 13 is accurately inserted into the charging port.
In a possible implementation manner, before step S1, the method further includes:
acquiring a first real-time position of a charging terminal, a second real-time image of a charging port, an environment image of a vehicle to be charged and a vehicle identification image of the vehicle to be charged;
carrying out image recognition processing on the vehicle identification image, and determining vehicle identification information corresponding to the vehicle to be charged;
based on the vehicle identification information and the second real-time image of the charging port, the position of the charging terminal is subjected to prediction processing, and the target position of the charging terminal is determined;
carrying out target object identification processing on the environment image, and determining the target object position of a target object; the target object is an obstacle and/or a vehicle to be charged;
comparing the position of the target object with the first real-time position, and determining a first distance between the target object and the charging terminal in a first direction;
determining first speed information of the charging terminal according to the first distance; wherein the first distance is positively correlated with the first speed information;
and controlling the charging terminal to move to the target position along the first direction according to the first speed information.
In the parking process of the vehicle to be charged, after the vehicle enters a shooting range of a camera (a monocular camera and/or a binocular camera) on the charging terminal, a second real-time image of the charging port, a vehicle identification image of the vehicle to be charged and an environment image can be obtained through the camera on the charging terminal, the vehicle identification image can comprise a license plate image, a manufacturer identification image and the like, and the environment image can comprise an image of a surrounding space area of the vehicle to be charged. The vehicle identification information can be obtained based on the HyperLPR algorithm, and the vehicle identification information can comprise license plate images, manufacturer identification information and the like.
In this embodiment, the reserved vehicle information may also be acquired, and when the reserved vehicle information matches the vehicle identification information, the position of the charging terminal may be predicted based on the vehicle identification information and the second real-time image of the charging port, so as to determine the target position of the charging terminal. The rough position of the charging port may be determined based on manufacturer identification information in the vehicle identification information to determine whether the charging port is in the front or the rear of the vehicle. The precise location of the charging port can be determined by yolov5 algorithm based on the second real-time image. Further, the position of the charging terminal may be predicted based on the rough position of the charging port and the precise position of the charging port, and the target position of the charging terminal may be precisely determined, where the target position is disposed opposite to the charging port in a second direction perpendicular to the first direction.
Further, the charging terminal may be controlled to move to the target position along a first direction, the first direction may be a direction in which the sliding rail 10 is located, and the charging terminal 1 may move along the sliding rail 10. During the moving, first speed information may be determined based on the first distance. The first distance may be a distance between the target object and the charging terminal in a first direction, or may be a distance between the target object and the charging terminal in a second direction. The target object may be an obstacle or a vehicle to be charged. The embodiment of the specification can control the moving speed of the charging terminal in the first direction according to the first distance, the first distance is positively correlated with the first speed information, and the speed is low when the distance is small, so that the obstacle avoidance can be realized accurately and intelligently, and the collision between the charging terminal and a target object can be avoided. Based on a plurality of cameras on hardware and a visual environment perception method, 360-degree perception and intelligent obstacle avoidance of the charging terminal in the motion process can be achieved.
In one possible implementation, determining the first speed information of the charging terminal according to the first distance includes:
determining a first preset speed as first speed information in the case that the first distance is greater than or equal to a first threshold;
determining a second preset speed as the first speed information when the first distance is less than a first threshold and greater than or equal to a second threshold;
determining a third preset speed as the first speed information when the second distance is smaller than a second threshold;
the first threshold value is larger than the second threshold value, the first preset speed is larger than the second preset speed, and the second preset speed is larger than the third preset speed.
In one example, a first distance of the target object from the charging terminal in a first direction may be determined using a motion building stereo vision algorithm SFM and a 3D point cloud processing algorithm. When the first distance in the first direction is less than 1 meter, controlling the charging terminal to decelerate; and when the first distance in the first direction is less than 0.5 m, controlling the charging terminal to stop moving.
In another example, a first distance of the target object from the charging terminal in the second direction may be determined using a motion building stereo vision algorithm SFM and a 3D point cloud processing algorithm. And when the first distance in the first direction is less than 0.5 m, controlling the charging terminal to decelerate.
In the embodiment of the description, the corresponding first speed information is determined according to different ranges of the first distance, so that the charging terminal is effectively controlled to avoid obstacles, and meanwhile, the charging terminal can be guaranteed to move to a target position in time.
In one possible implementation, the performing a target object recognition process on the environment image, and determining a target object position of the target object includes:
performing candidate object identification processing on the environment image to obtain a candidate object and motion states of the candidate object, wherein the motion states comprise a static state and a non-static state;
screening out candidate objects corresponding to the non-static state from the candidate objects to be used as target objects;
a target object position of the target object is determined.
In this description, the target object may be an object in a non-stationary state, and the first speed information may be determined according to a first distance between the target object in the non-stationary state and the charging terminal, so that an obstacle is effectively avoided, and excessive energy is prevented from being wasted.
In a possible implementation manner, before step S1, the method further includes:
acquiring a second distance between the mechanical arm 8 and the charging port in a second direction under the condition that the charging terminal moves to the target position, wherein the second direction is vertical to the first direction;
and under the condition that the second distance is smaller than the working distance threshold, controlling the mechanical arm 8 to move along the second direction, so that the distance between the mechanical arm 8 and the charging port reaches the working distance threshold.
In the embodiment of the present specification, after the charging terminal moves to the target position, the mechanical arm 8 may be controlled to extend so that the depth camera on the mechanical arm 8 is disposed toward the charging port; and then acquire the second distance between arm 8 and the mouth that charges through the degree of depth camera on arm 8. When the second distance is less than the shortest working distance of the depth camera on the mechanical arm 8, the mechanical arm 8 may move in a direction away from the vehicle until the distance between the mechanical arm 8 and the charging port reaches the working distance threshold of the depth camera. Further, step S1 may be performed.
In another example, after the charging terminal is moved to the target position, the robot arm 8 may be controlled to extend so that the depth camera on the robot arm 8 is disposed toward the charging port, and if the acquired second distance is equal to or greater than the shortest working distance of the depth camera on the robot arm 8, step S1 may be directly performed.
In this embodiment, the position of the mechanical arm 8 is adjusted according to the second distance and the shortest working distance of the depth camera, so that the depth camera on the mechanical arm 8 can acquire the first real-time image of the charging area, and thus a more accurate posture of the first charging port and a more accurate position of the first charging port are obtained.
In a possible implementation manner, before step S4, the method may further include: acquiring a second real-time position of the mechanical arm 8;
step S4 may include:
adjusting the posture of the mechanical arm 8 to a target posture;
comparing the first charging port position with the second real-time position, and determining a third distance between the mechanical arm 8 and the charging port in the second direction;
determining second speed information of the mechanical arm 8 according to the third distance; the second speed information is positively correlated with the third distance;
and controlling the mechanical arm 8 to move to the target prediction position along the second direction according to the second speed information so as to drive the charging gun 13 to be inserted into the charging port.
In the embodiment of the present description, in the process of controlling the mechanical arm 8 to move to the target prediction position, the third distance may be obtained in real time, and the second speed information of the mechanical arm 8 is determined in real time according to the third distance, and the smaller the distance, the lower the speed, so as to accurately and stably insert the charging gun 13 into the charging port, and avoid collision between the charging gun 13 and other parts of the vehicle body.
With reference to fig. 6, an embodiment of the present specification further provides a charging device control apparatus, where the apparatus includes:
the first acquiring module 31 is configured to acquire a first real-time image of the charging area, where the first real-time image includes a charging port;
the first image recognition module 32 is configured to perform image recognition processing on the charging port in the first real-time image to obtain a first charging port posture and a first charging port position of the charging port;
the first prediction module 33 is configured to perform prediction processing on the posture and the position of the mechanical arm 8 based on the posture of the first charging port and the position of the first charging port, respectively, so as to obtain a target posture and a target prediction position of the mechanical arm 8;
and the first control module 34 is used for controlling the mechanical arm 8 to move according to the target posture and the target predicted position so as to drive the charging gun 13 to be inserted into the charging port.
In a possible implementation manner, the first real-time image further includes a reference object, and the reference object is an object around the charging port;
carrying out image recognition processing on a charging port in a first real-time image to obtain a first charging port posture and a first charging port position of the charging port, wherein the image recognition processing comprises the following steps:
carrying out position identification processing on an image area where the reference object is located in the first real-time image, and determining offset information of the reference object;
and matching the offset information with an image area where the charging port is located in the first real-time image, and determining the posture and the position of the first charging port.
In one possible implementation, the apparatus further includes:
the second acquisition module is used for acquiring a first real-time position of the charging terminal, a second real-time image of the charging port, an environment image of the vehicle to be charged and a vehicle identification image of the vehicle to be charged;
the second image recognition module is used for carrying out image recognition processing on the vehicle identification image and determining vehicle identification information corresponding to the vehicle to be charged;
the second prediction module is used for predicting the position of the charging terminal based on the vehicle identification information and a second real-time image of the charging port and determining the target position of the charging terminal;
the target object identification module is used for carrying out target object identification processing on the environment image and determining the target object position of the target object; the target object is an obstacle and/or a vehicle to be charged;
the comparison module is used for comparing the position of the target object with the first real-time position and determining a first distance between the target object and the charging terminal;
the speed determining module is used for determining first speed information of the charging terminal according to the first distance; wherein the first distance is positively correlated with the first speed information;
and the second control module is used for controlling the charging terminal to move to the target position along the first direction according to the first speed information.
In one possible implementation, the target object identification module is configured to:
performing candidate object identification processing on the environment image to obtain a candidate object and motion states of the candidate object, wherein the motion states comprise a static state and a non-static state;
screening out candidate objects corresponding to the non-static state from the candidate objects to be used as target objects;
a target object position of the target object is determined.
In one possible implementation, the speed determination module is configured to:
determining a first preset speed as first speed information in the case that the first distance is greater than or equal to a first threshold;
determining a second preset speed as the first speed information when the first distance is less than a first threshold and greater than or equal to a second threshold;
determining a third preset speed as the first speed information when the second distance is smaller than a second threshold;
the first threshold value is larger than the second threshold value, the first preset speed is larger than the second preset speed, and the second preset speed is larger than the third preset speed.
In one possible implementation, the apparatus further includes:
the distance acquisition module is used for acquiring a second distance between the mechanical arm 8 and the charging port in a second direction under the condition that the charging terminal moves to the target position, wherein the second direction is perpendicular to the first direction;
and the second control module is used for controlling the mechanical arm 8 to move along the second direction under the condition that the second distance is smaller than the working distance threshold value, so that the distance between the mechanical arm 8 and the charging port reaches the working distance threshold value.
In a possible implementation manner, the apparatus further includes a third obtaining module, configured to obtain a second real-time position of the mechanical arm 8;
the first control module is used for:
adjusting the posture of the mechanical arm 8 to a target posture;
comparing the first charging port position and the second real-time position, and determining a third distance between the mechanical arm 8 and the charging port in the second direction;
determining second speed information of the mechanical arm 8 according to the third distance; the second speed information is positively correlated with the third distance;
and controlling the mechanical arm 8 to move to the target prediction position along the second direction according to the second speed information so as to drive the charging gun 13 to be inserted into the charging port.
It should be noted that, when the apparatus provided in the foregoing embodiment implements the functions thereof, only the division of the functional modules is illustrated, and in practical applications, the functions may be distributed by different functional modules according to needs, that is, the internal structure of the apparatus may be divided into different functional modules to implement all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and specific implementation processes thereof are described in detail in the method embodiments, which are not described herein again.
An embodiment of the present specification further provides a charging device control device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to perform the above method.
Furthermore, embodiments of the present specification also provide a non-volatile computer-readable storage medium on which computer program instructions are stored, and the computer program instructions, when executed by a processor, implement the charging device control method described above.
The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for causing a processor to implement various aspects of the present application.
The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as a punch card or an in-groove protruding structure with instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.
The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.
The computer program instructions for carrying out operations of the present application may be assembler instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, the electronic circuitry can execute computer-readable program instructions to implement aspects of the present application by utilizing state information of the computer-readable program instructions to personalize the electronic circuitry, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA).
Various aspects of the present application are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The foregoing description of the embodiments of the present application has been presented for purposes of illustration and description and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. A charging device control method, characterized in that the method comprises:
acquiring a first real-time image of a charging area, wherein the first real-time image comprises a charging port;
carrying out image recognition processing on the charging port in the first real-time image to obtain a first charging port posture and a first charging port position of the charging port;
predicting the posture and the position of the mechanical arm based on the posture of the first charging port and the position of the first charging port respectively to obtain a target posture and a target predicted position of the mechanical arm;
and controlling the mechanical arm to move according to the target posture and the target prediction position so as to drive the charging gun to be inserted into the charging port.
2. The charging apparatus control method according to claim 1, wherein a reference object is further included in the first real-time image, the reference object being an object around the charging port;
the image recognition processing of the charging port in the first real-time image to obtain a first charging port posture and a first charging port position of the charging port comprises:
performing position identification processing on an image area where the reference object is located in the first real-time image, and determining offset information of the reference object;
and matching the offset information with an image area where the charging port is located in the first real-time image, and determining the posture of the first charging port and the position of the first charging port.
3. The charging device control method according to claim 1 or 2, wherein before the acquiring of the first real-time image of the charging area, the method further comprises:
acquiring a first real-time position of the charging terminal, a second real-time image of the charging port, an environment image of a vehicle to be charged and a vehicle identification image of the vehicle to be charged;
carrying out image recognition processing on the vehicle identification image, and determining vehicle identification information corresponding to the vehicle to be charged;
predicting the position of the charging terminal based on the vehicle identification information and a second real-time image of the charging port, and determining the target position of the charging terminal;
carrying out target object identification processing on the environment image, and determining the target object position of a target object; the target object is an obstacle and/or the vehicle to be charged;
comparing the position of the target object with the first real-time position, and determining a first distance between the target object and the charging terminal;
determining first speed information of the charging terminal according to the first distance; wherein the first distance is positively correlated with the first speed information;
and controlling the charging terminal to move to the target position along the first direction according to the first speed information.
4. The charging apparatus control method according to claim 3, wherein the performing of the target object recognition processing on the environment image, the determining of the target object position of the target object includes:
performing candidate object identification processing on the environment image to obtain a candidate object and motion states of the candidate object, wherein the motion states comprise a static state and a non-static state;
screening out the candidate object corresponding to the non-static state from the candidate objects to be used as the target object;
determining the target object position of the target object.
5. The charging apparatus control method according to claim 3 or 4, wherein the determining first speed information of the charging terminal according to the first distance includes:
determining a first preset speed as the first speed information if the first distance is greater than or equal to a first threshold;
determining a second preset speed as the first speed information in a case where the first distance is less than the first threshold and greater than or equal to a second threshold;
determining a third preset speed as the first speed information if the second distance is less than the second threshold;
the first threshold is greater than the second threshold, the first preset speed is greater than the second preset speed, and the second preset speed is greater than the third preset speed.
6. The charging device control method according to claim 3, wherein before the acquiring the first real-time image of the charging area, the method further comprises:
acquiring a second distance between the mechanical arm and the charging port in a second direction under the condition that the charging terminal moves to the target position, wherein the second direction is perpendicular to the first direction;
and under the condition that the second distance is smaller than a working distance threshold value, controlling the mechanical arm to move along the second direction, so that the distance between the mechanical arm and the charging port reaches the working distance threshold value.
7. The charging apparatus control method according to claim 6, wherein before the controlling of the movement of the robot arm based on the target attitude and the target predicted position, the method further comprises: acquiring a second real-time position of the mechanical arm;
the controlling the mechanical arm to move according to the target posture and the target predicted position comprises:
adjusting the posture of the mechanical arm to the target posture;
comparing the position of the first charging port with the position of the second real-time port, and determining a third distance between the mechanical arm and the charging port in the second direction;
determining second speed information of the mechanical arm according to the third distance; the second speed information is positively correlated with the third distance;
and controlling the mechanical arm to move to the target prediction position along the second direction according to the second speed information so as to drive a charging gun to be inserted into the charging port.
8. A charging device control apparatus, characterized in that the apparatus comprises:
the device comprises a first acquisition module, a second acquisition module and a charging module, wherein the first acquisition module is used for acquiring a first real-time image of a charging area, and the first real-time image comprises a charging port;
the first image recognition module is used for carrying out image recognition processing on the charging port in the first real-time image to obtain a first charging port posture and a first charging port position of the charging port;
the first prediction module is used for predicting the posture and the position of the mechanical arm based on the posture of the first charging port and the position of the first charging port respectively to obtain a target posture and a target predicted position of the mechanical arm;
and the first control module is used for controlling the mechanical arm to move according to the target posture and the target prediction position so as to drive the charging gun to be inserted into the charging port.
9. A charging device control apparatus characterized by comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to perform the method of any one of claims 1 to 7.
10. A non-transitory computer readable storage medium having computer program instructions stored thereon, wherein the computer program instructions, when executed by a processor, implement the method of any of claims 1 to 7.
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Effective date of registration: 20231206 Address after: Room 201, 2nd Floor, Building 1, No. 237 Sanqiao Road, Fuchun Street, Fuyang District, Hangzhou City, Zhejiang Province, 311401 Patentee after: Hangzhou Shanchong Juneng New Energy Co.,Ltd. Address before: A504, Building 3, No. 28, Chuanjiangchi Second Road, Wuhan Economic and Technological Development Zone, Hubei 430058 Patentee before: Wuhan Lotus Technology Co.,Ltd. |