WO2024002395A2

WO2024002395A2 - Vehicle charging port positioning method and related device

Info

Publication number: WO2024002395A2
Application number: PCT/CN2023/121985
Authority: WO
Inventors: 蒋亚西; 金梦磊; 李建朋; 岳川元; 李成杰
Original assignee: 浙江安吉智电控股有限公司
Priority date: 2022-12-02
Filing date: 2023-09-27
Publication date: 2024-01-04
Also published as: CN116051464A; WO2024002395A3

Abstract

Provided in the present application are a vehicle charging port positioning method and a related device, which are applied to a charging apparatus. The method comprises: acquiring the current pose information of an image collection device associated with a charging apparatus, wherein the current pose information comprises at least one of the current photographing angle information, the current height information and the current position information of the image collection device; acquiring, by means of the image collection device, image information of a charging port to be positioned; according to the image information and the current pose information, determining relative position information of said charging port relative to the image collection device; and determining first angle position information of said charging port on the basis of the relative position information and the current pose information. In situations such as when an image collected by an image collection device is a charging port side image, relative position information between the image collection device and a charging port to be positioned is determined, and the actual position of said charging port in a space is determined on the basis of the current pose information of the image collection device and the relative position information, such that the accuracy and practicability of vehicle charging port positioning can be improved.

Description

A vehicle charging port positioning method and related equipment

This application claims priority to the Chinese patent application submitted to the China Patent Office on December 2, 2022, with the application number 202211540463.8 and the application title "A vehicle charging port positioning method and related equipment", the entire content of which is incorporated by reference. Applying.

Technical field

The present application relates to the field of vehicle charging technology, and in particular to a vehicle charging port positioning method and related equipment.

Background technique

With the popularization of electric vehicle applications and the advancement of science and technology, automatic charging technology has emerged. The current vehicle charging port positioning is based on the location of the vehicle and the position of the charging port relative to the vehicle. The image is usually obtained through an image acquisition device, and the charging port is determined based on the match between the image and the important features of the target charging port. The location of the mouth. However, the above method can only be used to locate the vehicle charging port when important features for matching can be observed in the images collected by the image acquisition device. However, in actual application scenarios, there may be cases where the image acquisition device cannot directly collect image information containing important features for matching, such as the side image of a vehicle charging port, etc. As a result, the above image information cannot be effectively utilized and can only Continuing to collect images will increase the positioning time and difficulty, affecting the convenience and practicality of the vehicle charging port positioning method.

Application content

This application provides a vehicle charging port positioning method and related equipment to solve the problem that the current vehicle charging port positioning can only be used when important features for matching can be observed in the images collected by the image acquisition device. Due to the positioning of the vehicle charging port, the positioning of the vehicle charging port has higher requirements for the collected images, and the information in the image cannot be effectively used, resulting in the need for multiple acquisitions, increasing the acquisition time and positioning difficulty, and thus affecting the vehicle charging port. Convenience and practicality of positioning methods.

In the first aspect, this application provides a vehicle charging port positioning method for a charging device, including:

Obtain the current posture information of the image collection device associated with the charging device, wherein the current posture information includes: at least one of current shooting angle information, current height information and current location information of the image collection device;

Obtain the image information of the charging port to be located through the image acquisition device;

Determine the relative position information of the charging port to be positioned relative to the image acquisition device according to the image information and the current posture information;

Based on the relative position information and the current posture information, first angular position information of the charging port to be positioned is determined.

In one embodiment, the vehicle charging port positioning method further includes:

According to the first angular position information of the charging port to be positioned, control the image collection device to move to the front of the charging port to be positioned;

Collect the ranging depth image information of the charging port to be located directly in front of the charging port to be located by using the image acquisition device;

Based on the ranging depth image information, determine the distance information between the image acquisition device and the charging port to be located;

According to the distance information, determine the distance position information of the charging port to be located;

Based on the first angular position information and the distance position information, the position information of the charging port to be located is determined.

Obtain the first switching pose information of the image acquisition device;

Control the image acquisition device to switch to the first switching pose;

Obtain the first switching pose image information of the charging port to be located through the image acquisition device;

Determine first relative position information of the charging port to be positioned relative to the first switching posture of the image acquisition device based on the image information and the first switching pose information;

Based on the first relative position information and the first switching posture information, determine the second angular position information of the charging port to be positioned;

Based on the first angular position information and the second angular position information, target angular position information of the charging port to be located is determined.

In one embodiment, the image information includes color image information and depth image information.

In one embodiment, determining the relative position information of the charging port to be positioned relative to the image acquisition device based on the image information and the current posture information of the image includes:

According to the color image information, determine the outline position information of the charging port to be located in the color image;

Based on the depth image information and the contour position information, determine the relative angular position information of the charging port to be positioned relative to the current shooting angle of the image acquisition device;

Based on the relative angular position information, relative position information of the charging port to be positioned relative to the image acquisition device is determined.

In one embodiment, before the step of obtaining the image information of the charging port to be located through the image acquisition device, the method further includes:

Obtain the usage status information of the parking space associated with the image acquisition device;

When there is a vehicle in the parking space, obtain the parking status information of the vehicle;

Obtain the model information of the vehicle;

Based on the model information and the parking status information, the range to be located where the charging port to be located is determined.

Determine the current acquisition range of the image acquisition device according to the current pose information of the image acquisition device;

Based on the current acquisition range and the to-be-located range, determine whether the image acquisition device can obtain the image information of the charging port to be located in the current posture;

If the image acquisition device cannot obtain the image information of the charging port to be located in the current posture, the image acquisition device is controlled to move within the range to be located.

In a second aspect, this application also provides a vehicle charging port positioning device for a charging device, including:

The pose acquisition module is used to acquire the current pose information of the image acquisition device associated with the charging device, where the current pose information includes: the current shooting angle information, the current height information and the current position of the image acquisition device. at least one of the information;

An image acquisition module, configured to acquire image information of the charging port to be located through the image acquisition device;

A relative position determination module, configured to determine the relative position information of the charging port to be positioned relative to the image acquisition device based on the image information and the current posture information;

An angular position determination module, configured to determine first angular position information of the charging port to be located based on the relative position information and the current posture information.

In a third aspect, the present application also provides an electronic device, including a memory and a processor. The processor is configured to implement the vehicle charging port positioning method as described in any one of the above first aspects when executing a computer program stored in the memory. A step of.

In a fourth aspect, the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the vehicle charging port positioning method as described in any one of the first aspects is implemented. A step of.

In a fifth aspect, the present application provides a computer program, including computer readable code. When the computer readable code is run on a server, it causes the server to execute any one of the aforementioned vehicle charging port positioning methods.

In a sixth aspect, the present application provides a computer-readable medium in which a computer program for the aforementioned vehicle charging port positioning method is stored.

As can be seen from the above technical solution, the present application provides a vehicle charging port positioning method and related equipment for a charging device, including: obtaining the current position information of the image acquisition device associated with the charging device, wherein the current position The attitude information includes: at least one of the current shooting angle information, current height information and current location information of the image acquisition device; obtaining the image information of the charging port to be located through the image acquisition device; according to the image information and the Determine the relative position information of the charging port to be positioned relative to the image acquisition device based on the current pose information; determine the first angle of the charging port to be positioned based on the relative position information and the current pose information location information. Since the current positioning of the vehicle charging port can only be used to position the vehicle charging port when important features for matching can be observed in the images collected by the image acquisition device, the positioning of the vehicle charging port is not suitable for the collected images. The image requirements are high, and the information in the image cannot be effectively used, resulting in the need for multiple acquisitions, which increases the acquisition time and positioning difficulty, which in turn affects the convenience and practicality of the vehicle charging port positioning method. In this way, when the image collected by the image collection device is the side image of the charging port, the relative position information between the image collection device and the charging port to be located can be determined, and based on the image collection device The current pose information and relative position information can be used to determine the actual position of the charging port to be located in space, which can improve the accuracy and practicality of vehicle charging port positioning.

Description of drawings

In order to explain the technical solutions of the present application more clearly, the drawings required to be used in the embodiments will be briefly introduced below. Obviously, for those of ordinary skill in the art, without exerting creative efforts, Additional drawings can be obtained from these drawings.

Figure 1 is a schematic flow chart of a vehicle charging port positioning method provided by an embodiment of the present application;

Figure 2 is a schematic structural diagram of a vehicle charging port positioning device provided by an embodiment of the present application;

Figure 3 is a schematic structural diagram of an electronic device provided by an embodiment of the present application;

Figure 4 is a schematic structural diagram of a computer-readable storage medium provided by an embodiment of the present application;

Figure 5 schematically shows a block diagram of a server for executing a method according to the present application;

Figure 6 schematically shows a storage unit for holding or carrying program code for implementing the method according to the present application.

Detailed ways

An embodiment will be described in detail below, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following examples do not represent all implementations consistent with this application. are merely examples of systems and methods consistent with some aspects of the application as detailed in the claims. Among the several embodiments provided in the embodiments of this application, it should be understood that the disclosed devices and methods can also be implemented in other ways, and the device embodiments described below are only exemplary.

As shown in Figure 1, an embodiment of the present application provides a vehicle charging port positioning method. The execution subject of the method may be a server, a controller, etc., and is used for a charging device. The method includes:

Step S110: Obtain the current posture information of the image collection device associated with the charging device, where the current posture information includes: at least one of the current shooting angle information, current height information and current location information of the above image collection device. .

For example, the current pose information can be obtained through a control device associated with the image acquisition device.

Step S120: Obtain the image information of the charging port to be located through the above-mentioned image acquisition device.

Step S130: Determine the relative position information of the charging port to be positioned relative to the image collection device based on the image information and the current posture information.

For example, an image processing algorithm can be used to extract the outline of the charging port in the above image information to obtain the outline information of the charging port to be located. By collecting images of various poses of the standard charging port, an image information database of image and pose mapping can be established. The above image information of the charging port to be located can be used to The relative position information of the charging port to be positioned relative to the image collection device is determined based on the matching result between the information and the above-mentioned image information database.

Step S140: Determine the first angular position information of the charging port to be located based on the relative position information and the current posture information.

For example, the above-mentioned first angular position information is the angle of the charging port to be positioned relative to the charging device when the image acquisition device is in the current posture.

When the image collected by the image collection device is an image of the side of the charging port, etc., determine the relative position information between the image collection device and the charging port to be located, and determine based on the current posture information and relative position information of the image collection device. The actual position of the charging port to be located in space can thereby improve the accuracy and practicality of positioning the vehicle charging port.

According to some embodiments, the above vehicle charging port positioning method further includes:

The ranging depth image information of the charging port to be located is collected directly in front of the charging port to be located through the image acquisition device;

Based on the above-mentioned ranging depth image information, determine the distance information between the above-mentioned image acquisition device and the above-mentioned charging port to be located;

According to the above distance information, determine the distance position information of the above charging port to be located;

Based on the first angle position information and the distance position information, the position information of the charging port to be located is determined.

For example, the location directly in front of the charging port to be positioned can be determined based on the first angular position information, the above-mentioned image acquisition device can be clamped by a robotic arm, the above-mentioned image acquisition device can be moved directly in front of the charging port to be positioned, and the image acquisition can be obtained The current pose information of the device. The above-mentioned image acquisition device may be a 3D camera, which acquires a depth image directly in front of the charging port to be located as the above-mentioned ranging depth image information. The straight-line distance between the image collection device and the charging port to be located can be determined through an image processing algorithm based on the above-mentioned ranging depth image information, and the position information of the charging port to be located can be determined based on the above-mentioned straight-line distance and the current posture of the image collection device.

By collecting depth images directly in front of the charging port to be located, the straight-line distance between the image acquisition device and the charging port to be located can be obtained, and the actual position of the charging port to be located in space can be determined, thereby improving the accuracy of charging port positioning. and practicality.

Obtain the first switching pose information of the above-mentioned image acquisition device;

Control the above-mentioned image acquisition device to switch to the first switching pose;

Obtain the first switching pose image information of the charging port to be located through the above-mentioned image acquisition device;

Determine first relative position information of the charging port to be positioned relative to the first switching posture of the image acquisition device based on the above image information and the above first switching pose information;

Based on the above-mentioned first relative position information and the above-mentioned first switching posture information, determine the second angular position information of the above-mentioned charging port to be positioned;

Based on the first angular position information and the second angular position information, the target angular position information of the charging port to be located is determined.

For example, the above-mentioned first switching pose information may be determined based on the above-mentioned relative position information. At least one switching pose information of the image acquisition device can be obtained. The above-mentioned second angular position information is the angle of the charging port to be positioned relative to the charging device when the image collection device is in the first switching posture. The first angular position information and the second angular position information can be fitted. When the difference between the two angular positions is greater than the preset difference, the first angular position information and the second angular position information can be fitted. The position between the position information is used as the second switching pose, and the image acquisition device is controlled to obtain the second switching pose image information. According to the above-mentioned second switching pose image information, the first angular position information and the second angular position information, it is determined Target angular position information. When the difference between the two angular positions is less than or equal to the preset difference, the first angular position or the second angular position may be determined as the target angular position.

By switching the posture of the image acquisition device, and collecting images of the charging port to be positioned, the first relative position information of the charging port to be positioned relative to the first switching posture of the image acquisition device is determined, and then the first relative position information of the charging port to be positioned is determined. The second angular position information of the charging port to be located in space is determined by processing the above-mentioned first angular position information and second angular position information to determine the target angular position information. Therefore, by collecting images of the charging port to be located in the space at least twice, combined with the switching posture of the image acquisition device and the associated image information, the accuracy of the angular position information of the charging port to be located in the space can be improved. , which can improve the practicality and positioning efficiency of charging port positioning.

According to some embodiments, the above-mentioned image information includes color image information and depth image information.

By combining the current pose information with color image information and depth image information, the accuracy of the relative position information can be improved, which in turn can improve the positioning efficiency and positioning quality of the charging port positioning.

According to some embodiments, determining the relative position information of the charging port to be positioned relative to the image acquisition device based on the image information and the current posture information of the image includes:

According to the above-mentioned color image information, determine the outline position information of the above-mentioned charging port to be located in the color image;

Based on the above-mentioned depth image information and the above-mentioned contour position information, determine the relative angular position information of the above-mentioned charging port to be positioned relative to the current shooting angle of the above-mentioned image acquisition device;

Based on the relative angle position information, the relative position information of the charging port to be positioned relative to the image acquisition device is determined.

For example, a connection can be made between any two points on the outline information. According to the relative position of the connection between the above connection and the connection between the same two points on the standard charging port image, the relative position of the charging port to be positioned can be determined. Color relative position information of the above image acquisition device. According to the depth image information, the depth difference of any two points in the depth image can be compared with the depth difference of the same two points on the standard charging port image to determine the depth relative position of the charging port to be positioned relative to the image acquisition device. information. The above relative angle position information can be determined based on the above color relative position information and depth relative position information. Based on the relative angle position information and the depth image information, the relative position information can be determined.

By combining the current posture information with the color image information and depth image information, the relative angle and relative distance between the image acquisition device in the current posture and the charging port to be positioned can be determined at the same time, and then the charging port to be positioned relative to the image acquisition can be determined The relative position of the device improves the accuracy of the charging port positioning, which in turn improves the positioning efficiency and positioning quality of the charging port positioning.

According to some embodiments, before the above step of obtaining the image information of the charging port to be located through the above image acquisition device, the method further includes:

Obtain the usage status information of the parking space associated with the above-mentioned image collection device;

When there is a vehicle in the above-mentioned parking space, obtain the parking status information of the above-mentioned vehicle;

Obtain model information of the above vehicles;

Based on the above model information and the above parking status information, the to-be-located range in which the above-mentioned charging port to be located is determined.

For example, the usage status of the parking space can be determined based on the charging management system associated with the parking space. The above-mentioned parking status information includes at least one of the parking orientation and the parking angle of the vehicle in the parking space. The relative position of the charging port relative to the entire body can be determined through the vehicle model information.

By determining the model information and parking status information of the vehicle, it is possible to infer the range to be located where the vehicle charging port may be located. Collecting images within the range to be located can avoid collecting invalid images, save positioning time, and improve positioning efficiency.

Determine the current collection range of the above-mentioned image collection device according to the current posture information of the above-mentioned image collection device;

Based on the above-mentioned current collection range and the above-mentioned range to be positioned, determine whether the above-mentioned image collection device can obtain the image information of the charging port to be positioned in the current posture;

When the image acquisition device cannot obtain the image information of the charging port to be located in the current posture, the image acquisition device is controlled to move into the range to be located.

For example, the above-mentioned current acquisition range is the image acquisition range of the image acquisition device in the current posture.

By matching the current collection range with the range to be positioned, and controlling the movement of the image collection device in the case of mismatch, the collection efficiency can be improved, and the collection efficiency can be improved by avoiding the need for multiple adjustments after collecting invalid images.

As shown in Figure 2, Figure 2 is a schematic structural diagram of a vehicle charging port positioning device provided by an embodiment of the present application.

The embodiment of the present application provides a vehicle charging port positioning device 200, which includes:

The pose acquisition module 201 is used to acquire the current pose information of the image capture device associated with the charging device, where the above-mentioned current pose information includes: the current shooting angle information, current height information and current location information of the above-mentioned image capture device. at least one of;

The image acquisition module 202 is used to acquire the image information of the charging port to be located through the above-mentioned image acquisition device;

The relative position determination module 203 is used to determine the relative position information of the charging port to be positioned relative to the image collection device based on the above image information and the above current posture information;

The angular position determination module 204 is configured to determine the first angular position information of the charging port to be located based on the relative position information and the current posture information.

A vehicle charging port positioning device 200 can implement each process implemented in the method embodiment of Figure 1. To avoid repetition, details will not be described here.

Please refer to FIG. 3 , which is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

The embodiment of the present application provides an electronic device 300, which includes a memory 310, a processor 320, and a computer program 311 stored in the memory 310 and executable on the processor 320. When the processor 320 executes the computer program 311, it implements the following steps:

Obtain the current posture information of the image collection device associated with the charging device, wherein the above-mentioned current posture information includes: at least one of the current shooting angle information, current height information and current location information of the above-mentioned image collection device;

Obtain the image information of the charging port to be located through the above image acquisition device;

Determine the relative position information of the charging port to be positioned relative to the image collection device based on the above image information and the above current pose information;

Based on the relative position information and the current posture information, the first angular position information of the charging port to be located is determined.

During specific implementation, when the processor 320 executes the computer program 311, any implementation manner in the embodiment corresponding to Figure 1 can be implemented.

Since the electronic device introduced in this embodiment is a device used to implement a device in the embodiment of this application, based on the method introduced in the embodiment of this application, those skilled in the art can understand the functions of the electronic device in this embodiment. Specific embodiments and various variations thereof, so how the electronic device implements the methods in the embodiments of the application will not be described in detail here. As long as those skilled in the art implement the methods used in the embodiments of the application, the equipment used will be All fall within the scope of protection sought by this application.

As shown in Figure 4, Figure 4 is a schematic structural diagram of a computer-readable storage medium provided by an embodiment of the present application.

This embodiment provides a computer-readable storage medium 400 on which a computer program 411 is stored. The computer program 411 implements the following steps when executed by a processor:

Determine the relative position information of the charging port to be positioned relative to the image acquisition device according to the image information and the current pose information;

Those skilled in the art will understand that embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment that combines software and hardware aspects. Furthermore, the present application may employ methods including one or more A form of computer program product implemented on a computer-usable storage medium (including but not limited to disk memory, CD-ROM, optical storage, etc.) containing computer-usable program code.

The present application is described 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 process and/or block in the flowchart illustrations and/or block diagrams, and combinations of processes and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing device to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing device produce a machine for A device that implements the functions specified in a process or processes in a flowchart and/or in a block or blocks in a block diagram.

These computer program instructions may also be stored in a computer-readable memory that causes a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction means, the instructions The device implements the functions specified in a process or processes of the flowchart and/or a block or blocks of the block diagram.

These computer program instructions may also be loaded onto a computer or other programmable data processing device, causing a series of operating steps to be performed on the computer or other programmable device to produce computer-implemented processing, thereby executing on the computer or other programmable device. Instructions provide steps for implementing the functions specified in a process or processes of a flowchart diagram and/or a block or blocks of a block diagram.

Embodiments of the present application also provide a computer program product. The computer program product includes computer software instructions. When the computer software instructions are run on a processing device, the processing device causes the processing device to execute the vehicle charging port positioning method in the corresponding embodiment of Figure 1. process in.

The above-mentioned computer program product includes one or more computer instructions. When the above computer program instructions are loaded and executed on a computer, the above-mentioned processes or functions according to the embodiments of the present application are generated in whole or in part. The above-mentioned computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The above computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the above-mentioned computer instructions may be transmitted from a website, computer, server or data center via a wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) to another website, computer, server or data center. The above-mentioned computer-readable storage medium can be any available medium that a computer can store or a data storage device such as a server or data center integrated with one or more available media. The above available media may be magnetic media (eg, floppy disk, hard disk, tape), optical media (eg, DVD), or semiconductor media (eg, solid state disk (SSD)), etc.

Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, devices and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be described again here.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the above units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or may be integrated into another system, or Some features can be ignored, or not implemented. On the other hand, the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the devices or units may be in electrical, mechanical or other forms.

The units described above as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application can be integrated into one processing unit, each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or software functional units.

If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the above methods in various embodiments of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code. .

In summary, the above embodiments are only used to illustrate the technical solution of the present application, but not to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still The technical solutions described in the foregoing embodiments may be modified, or some of the technical features thereof may be equivalently replaced; however, these modifications or substitutions shall not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Various component embodiments of the present disclosure may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all functions of some or all components in the message processing device of the live broadcast platform according to embodiments of the present application. The present application may also be implemented as an apparatus or device program (eg, computer program and computer program product) for performing part or all of the methods described herein. Such a program implementing the present application may be stored on a computer-readable medium, or may be in the form of one or more signals. Such signals may be downloaded from an Internet website, or provided on a carrier signal, or in any other form.

For example, Figure 5 shows a server that can implement message processing according to the platform of the present application. The server conventionally includes a processor 510 and a computer program product or computer-readable medium in the form of memory 520 . Memory 520 may be electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM. The memory 520 has a storage space 530 for program code 531 for executing any method steps in the above-described methods. For example, for program The storage space 530 of the program code may include individual program codes 531 respectively used to implement various steps in the above method. These program codes can be read from or written into one or more computer program products. These computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks. Such computer program products are typically portable or fixed storage units as described with reference to FIG. 6 . The storage unit may have storage segments, storage spaces, etc. arranged similarly to the memory 520 in the server of FIG. 5 . The program code may, for example, be compressed in a suitable form. Typically, the storage unit includes computer readable code 531', ie code that can be read by, for example, a processor such as 510, which code, when run by a server, causes the server to perform the various steps in the method described above.

Reference herein to "one embodiment," "an embodiment," or "one or more embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. In addition, please note that the examples of the word "in one embodiment" here do not necessarily all refer to the same embodiment.

In the instructions provided here, a number of specific details are described. However, it is understood that embodiments of the present application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this description.

It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the element claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, third, etc. does not indicate any order. These words can be interpreted as names.

In addition, it should be noted that the language used in this specification has been selected primarily for readability and teaching purposes, and has not been selected to explain or define the subject matter of the application. Accordingly, many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the appended claims. The disclosure of the present application is illustrative rather than restrictive as to the scope of the present application, which is defined by the appended claims.

Claims

A vehicle charging port positioning method, wherein the charging device includes:

Obtain the current posture information of the image collection device associated with the charging device, wherein the current posture information includes: at least one of current shooting angle information, current height information and current location information of the image collection device;

Obtain the image information of the charging port to be located through the image acquisition device;

Determine the relative position information of the charging port to be positioned relative to the image acquisition device according to the image information and the current pose information;

Based on the relative position information and the current posture information, first angular position information of the charging port to be positioned is determined.
The vehicle charging port positioning method as claimed in claim 1, further comprising:

According to the first angular position information of the charging port to be positioned, control the image collection device to move to the front of the charging port to be positioned;

Collect the ranging depth image information of the charging port to be located directly in front of the charging port to be located by using the image acquisition device;

Based on the ranging depth image information, determine the distance information between the image acquisition device and the charging port to be located;

According to the distance information, determine the distance position information of the charging port to be located;

Based on the first angular position information and the distance position information, the position information of the charging port to be located is determined.
The vehicle charging port positioning method as claimed in claim 1, further comprising:

Obtain the first switching pose information of the image acquisition device;

Control the image acquisition device to switch to the first switching pose;

Obtain the first switching pose image information of the charging port to be located through the image acquisition device;

Determine first relative position information of the charging port to be positioned relative to the first switching posture of the image acquisition device based on the image information and the first switching pose information;

Based on the first relative position information and the first switching posture information, determine the second angular position information of the charging port to be positioned;

Based on the first angular position information and the second angular position information, target angular position information of the charging port to be located is determined.
The vehicle charging port positioning method according to claim 1, wherein the image information includes color image information and depth image information.
The vehicle charging port positioning method according to claim 4, wherein determining the relative position information of the charging port to be located relative to the image acquisition device based on the image information and the current posture information includes: :

According to the color image information, determine the outline position information of the charging port to be located in the color image;

Based on the depth image information and the contour position information, determine the relative angular position information of the charging port to be positioned relative to the current shooting angle of the image acquisition device;

Based on the relative angular position information, relative position information of the charging port to be positioned relative to the image acquisition device is determined.
The vehicle charging port positioning method according to claim 1, wherein before the step of obtaining the image information of the charging port to be located through the image acquisition device, it further includes:

Obtain the usage status information of the parking space associated with the image acquisition device;

When there is a vehicle in the parking space, obtain the parking status information of the vehicle;

Obtain the model information of the vehicle;

Based on the model information and the parking status information, the range to be located where the charging port to be located is determined.
The vehicle charging port positioning method as claimed in claim 6, further comprising:

Determine the current acquisition range of the image acquisition device according to the current pose information of the image acquisition device;

Based on the current acquisition range and the to-be-located range, determine whether the image acquisition device can obtain the image information of the charging port to be located in the current posture;

If the image acquisition device cannot obtain the image information of the charging port to be located in the current posture, the image acquisition device is controlled to move within the range to be located.
A vehicle charging port positioning device, wherein the charging device includes:

The pose acquisition module is used to acquire the current pose information of the image acquisition device associated with the charging device, where the current pose information includes: the current shooting angle information, the current height information and the current position of the image acquisition device. at least one of the information;

An image acquisition module, configured to acquire image information of the charging port to be located through the image acquisition device;

A relative position determination module, configured to determine the relative position information of the charging port to be positioned relative to the image acquisition device based on the image information and the current posture information;

An angular position determination module, configured to determine first angular position information of the charging port to be located based on the relative position information and the current posture information.
An electronic device includes a memory and a processor, wherein the processor is configured to implement the steps of the vehicle charging port positioning method according to any one of claims 1 to 7 when executing a computer program stored in the memory.
A computer-readable storage medium having a computer program stored thereon, wherein: when the computer program is executed by a processor, the steps of the vehicle charging port positioning method according to any one of claims 1 to 7 are implemented.
A computer program, comprising computer readable code, when the computer readable code is run on a server, causes the server to perform the steps of the vehicle charging port positioning method according to any one of claims 1 to 7.
A computer-readable medium in which the computer program of claim 11 is stored.