阅读说明：本技术 车辆充电方法、设备及计算机可读存储介质 (Vehicle charging method, apparatus, and computer-readable storage medium ) 是由 赵健章 邹振华 于 2019-11-12 设计创作，主要内容包括：本发明公开了一种车辆充电方法、设备及计算机可读存储介质,所述方法包括：基于车辆上所安装的摄像装置获取成像图像,并根据所述成像图像,确定所述车辆与充电桩之间的初始位姿参数；根据所述初始位姿参数,确定所述车辆的偏差参数；根据所述偏差参数,调整所述车辆到达目标位姿,并基于所述充电桩对所述车辆进行充电。本发明在车辆电量低时,自动通过导航控制车辆行驶到充电桩所在位置进行充电,且对车辆与充电桩之间的位置关系进行调整,以使车辆与充电桩之间精确匹配进行充电,避免了人工对电池的拆卸以及搬运,提高了充电效率以及智能化程度。(The invention discloses a vehicle charging method, equipment and a computer readable storage medium, wherein the method comprises the following steps: acquiring an imaging image based on a camera device installed on a vehicle, and determining an initial pose parameter between the vehicle and a charging pile according to the imaging image; determining deviation parameters of the vehicle according to the initial pose parameters; and adjusting the vehicle to reach the target pose according to the deviation parameters, and charging the vehicle based on the charging pile. When the electric quantity of the vehicle is low, the vehicle is automatically controlled to run to the position of the charging pile through navigation to be charged, and the position relation between the vehicle and the charging pile is adjusted, so that the vehicle and the charging pile are accurately matched to be charged, the manual disassembly and transportation of the battery are avoided, and the charging efficiency and the intelligent degree are improved.)

1. A vehicle charging method, characterized by comprising the steps of:

acquiring an imaging image based on a camera device installed on a vehicle, and determining an initial pose parameter between the vehicle and a charging pile according to the imaging image;

determining deviation parameters of the vehicle according to the initial pose parameters;

and adjusting the vehicle to reach the target pose according to the deviation parameters, and charging the vehicle based on the charging pile.

2. The vehicle charging method according to claim 1, wherein the step of determining initial pose parameters between the vehicle and a charging post from the imaged image comprises:

acquiring depth data of the charging pile in the imaging image, and projecting the depth data in a preset direction to generate a projection height of the charging pile;

screening identification elements of the charging pile according to the projection height, and identifying the mass center coordinates of the identification elements;

acquiring imaging parameters of the identification element according to the centroid coordinate, wherein the imaging parameters comprise imaging parameters of a first element, imaging parameters of a second element and imaging parameters of a third element;

and determining initial pose parameters between the vehicle and a charging pile according to the imaging parameters of the identification elements and the installation parameters of the camera device.

3. The vehicle charging method according to claim 2, wherein the mounting parameters of the camera device include a mounting height, a mounting angle, a vertical field angle, a horizontal field angle, a number of effective pixel rows, and a number of effective pixel columns;

the step of determining the initial pose parameters between the vehicle and the charging pile according to the imaging parameters of the identification elements and the installation parameters of the camera device comprises the following steps:

determining a line deflection angle of a second element according to the installation angle, the vertical field angle, the imaging parameters of the second element and the number of effective pixel lines, and determining a projection plane distance of the charging pile according to the line deflection angle, the imaging parameters of the second element and the installation height;

determining a middle coordinate value according to the installation angle, the vertical view field angle, the horizontal view field angle and the projection plane distance;

and determining an initial pose parameter between the vehicle and the charging pile according to the imaging parameter of the first element, the imaging parameter of the second element, the imaging parameter of the third element, the effective pixel column number, the effective pixel row number and the intermediate coordinate value.

4. The vehicle charging method according to claim 3, wherein the step of determining the initial pose parameter between the vehicle and the charging pile according to the imaging parameter of the first element, the imaging parameter of the second element, the imaging parameter of the third element, the effective pixel column number, the effective pixel row number and the intermediate coordinate value comprises:

calculating the effective pixel column number, the effective pixel row number and the intermediate coordinate value respectively with the imaging parameter of the first element, the imaging parameter of the second element and the imaging parameter of the third element to generate a coordinate value of the first element, a coordinate value of the second element and a coordinate value of the third element;

generating a deviation angle between the charging pile and the camera device according to the coordinate value of the first element and the coordinate value of the third element;

and determining a first deviation distance between the charging pile and the camera device in a first direction and a second deviation distance between the charging pile and the camera device in a second direction according to the coordinate values of the second elements, and determining the deviation angle, the first deviation distance and the second deviation distance as the initial pose parameters.

5. The vehicle charging method according to claim 4, wherein the step of determining a deviation parameter of the vehicle from the initial pose parameter comprises:

reading a length parameter and a width parameter of the vehicle, and calculating a target point coordinate according to the length parameter, the width parameter, the first deviation distance, the second deviation distance and a preset deviation value;

calculating the moving path distance of the vehicle according to the target point coordinates;

determining the deviation angle as a path angle, and determining the path angle and the moving path distance as deviation parameters of the vehicle.

6. The vehicle charging method according to any one of claims 1 to 5, wherein the step of adjusting the vehicle to reach a target pose according to the deviation parameter comprises:

controlling the vehicle to rotate to reach a rotating position according to the path angle in the deviation parameter;

controlling the vehicle to move the movement path distance in the deviation parameter based on the rotational position;

and judging whether the position deviation between the vehicle and the charging pile is within a preset deviation range, and if so, judging that the vehicle reaches a target pose.

7. The vehicle charging method according to claim 6, wherein the positional deviation includes an angular deviation, a first direction distance deviation, and a second direction distance deviation, and the step of determining that the vehicle reaches the target pose if the positional deviation is within a preset deviation range includes:

if the angle deviation is within a preset angle deviation range, the first direction distance deviation is within a first preset distance deviation range, and the second direction distance deviation is within a second preset distance deviation range, judging that the vehicle reaches a target position;

and if the angle deviation is not within a preset angle deviation range, or the first direction distance deviation is not within a first preset distance deviation range, or the second direction distance deviation is not within a second preset distance deviation range, determining that the vehicle does not reach the target position.

8. The vehicle charging method according to any one of claim 7, wherein the step of charging the vehicle based on the charging post comprises:

and controlling the charging pile to extend out of the electric brush according to the second direction deviation distance so as to charge the vehicle.

9. A vehicle charging apparatus, characterized in that the vehicle charging apparatus comprises a memory, a processor and a vehicle charging program stored on the memory and executable on the processor, the vehicle charging program, when executed by the processor, implementing the steps of the vehicle charging method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a vehicle charging program which, when executed by a processor, implements the steps of the vehicle charging method according to any one of claims 1 to 8.

Technical Field

The invention relates to the technical field of intelligent driving, in particular to a vehicle charging method, vehicle charging equipment and a computer readable storage medium.

Background

With the development of intelligent technology, the automatic logistics and warehousing system is a future development trend; the intelligent forklift as the transportation device also plays an indispensable role therein. In order to ensure the transportation capacity of the intelligent forklift, a rechargeable battery is usually arranged on the intelligent forklift; in the transportation, detect the height of battery power, in case detect the electric quantity when low excessively, then need charge to intelligent fork truck.

At present, the last battery that sets up of intelligent fork truck is detachable battery, when detecting battery power low, then dismantles the battery, transports the place that supplies to charge specially and charges. Therefore, the charging of the battery is realized by manual disassembly, and the quick charging and the intelligent management of the warehousing system are inconvenient.

Disclosure of Invention

The invention mainly aims to provide a vehicle charging method, equipment and a computer readable storage medium, and aims to solve the technical problems that an intelligent forklift in the existing warehousing system is inconvenient to charge quickly due to manual disassembly for charging.

To achieve the above object, the present invention provides a vehicle charging method including the steps of:

acquiring an imaging image based on a camera device installed on a vehicle, and determining an initial pose parameter between the vehicle and a charging pile according to the imaging image;

determining deviation parameters of the vehicle according to the initial pose parameters;

and adjusting the vehicle to reach the target pose according to the deviation parameters, and charging the vehicle based on the charging pile.

Preferably, the step of determining initial pose parameters between the vehicle and a charging pile according to the imaging image comprises:

acquiring depth data of the charging pile in the imaging image, and projecting the depth data in a preset direction to generate a projection height of the charging pile;

screening identification elements of the charging pile according to the projection height, and identifying the mass center coordinates of the identification elements;

acquiring imaging parameters of the identification element according to the centroid coordinate, wherein the imaging parameters comprise imaging parameters of a first element, imaging parameters of a second element and imaging parameters of a third element;

and determining initial pose parameters between the vehicle and a charging pile according to the imaging parameters of the identification elements and the installation parameters of the camera device.

Preferably, the installation parameters of the camera device include installation height, installation angle, vertical view angle, horizontal view angle, number of effective pixel rows and number of effective pixel columns;

the step of determining the initial pose parameters between the vehicle and the charging pile according to the imaging parameters of the identification elements and the installation parameters of the camera device comprises the following steps:

determining a line deflection angle of a second element according to the installation angle, the vertical field angle, the imaging parameters of the second element and the number of effective pixel lines, and determining a projection plane distance of the charging pile according to the line deflection angle, the imaging parameters of the second element and the installation height;

determining a middle coordinate value according to the installation angle, the vertical view field angle, the horizontal view field angle and the projection plane distance;

and determining an initial pose parameter between the vehicle and the charging pile according to the imaging parameter of the first element, the imaging parameter of the second element, the imaging parameter of the third element, the effective pixel column number, the effective pixel row number and the intermediate coordinate value.

Preferably, the step of determining the initial pose parameter between the vehicle and the charging pile according to the imaging parameter of the first element, the imaging parameter of the second element, the imaging parameter of the third element, the effective pixel column number, the effective pixel row number and the intermediate coordinate value includes:

calculating the effective pixel column number, the effective pixel row number and the intermediate coordinate value respectively with the imaging parameter of the first element, the imaging parameter of the second element and the imaging parameter of the third element to generate a coordinate value of the first element, a coordinate value of the second element and a coordinate value of the third element;

generating a deviation angle between the charging pile and the camera device according to the coordinate value of the first element and the coordinate value of the third element;

and determining a first deviation distance between the charging pile and the camera device in a first direction and a second deviation distance between the charging pile and the camera device in a second direction according to the coordinate values of the second elements, and determining the deviation angle, the first deviation distance and the second deviation distance as the initial pose parameters.

Preferably, the step of determining a deviation parameter of the vehicle according to the initial pose parameter comprises:

reading a length parameter and a width parameter of the vehicle, and calculating a target point coordinate according to the length parameter, the width parameter, the first deviation distance, the second deviation distance and a preset deviation value;

calculating the moving path distance of the vehicle according to the target point coordinates;

determining the deviation angle as a path angle, and determining the path angle and the moving path distance as deviation parameters of the vehicle.

Preferably, the step of adjusting the vehicle to reach the target pose according to the deviation parameter comprises:

controlling the vehicle to rotate to reach a rotating position according to the path angle in the deviation parameter;

controlling the vehicle to move the movement path distance in the deviation parameter based on the rotational position;

and judging whether the position deviation between the vehicle and the charging pile is within a preset deviation range, and if so, judging that the vehicle reaches a target pose.

Preferably, the position deviation includes an angle deviation, a first direction distance deviation and a second direction distance deviation, and if the position deviation is within a preset deviation range, the step of determining that the vehicle reaches the target pose includes:

if the angle deviation is within a preset angle deviation range, the first direction distance deviation is within a first preset distance deviation range, and the second direction distance deviation is within a second preset distance deviation range, judging that the vehicle reaches a target position;

and if the angle deviation is not within a preset angle deviation range, or the first direction distance deviation is not within a first preset distance deviation range, or the second direction distance deviation is not within a second preset distance deviation range, determining that the vehicle does not reach the target position.

Preferably, the step of charging the vehicle based on the charging pile comprises:

and controlling the charging pile to extend out of the electric brush according to the second direction deviation distance so as to charge the vehicle.

Furthermore, to achieve the above object, the present invention also provides a vehicle charging apparatus comprising a memory, a processor and a vehicle charging program stored on the memory and operable on the processor, the vehicle charging program when executed by the processor implementing the steps of the vehicle charging method as described above.

Further, to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a vehicle charging program which, when executed by a processor, implements the steps of the vehicle charging method as described above.

According to the method, an imaging image is acquired through a camera device arranged on a vehicle, and then an initial pose parameter between the vehicle and a charging pile is determined according to the imaging image, wherein the initial pose parameter represents a position relation parameter between the vehicle and the charging pile; determining deviation parameters of the vehicle according to the initial pose parameters, namely parameters which are required to be adjusted when the vehicle is charged from the current position to the position of the charging pile; according to the deviation parameters, the vehicle is adjusted to the target pose capable of being matched with the charging pile for charging, and the vehicle is charged through the charging pile. This scheme is when the vehicle electric quantity is low, and the automation is gone to filling the position of electric pile place through navigation control vehicle and is charged, and adjusts the vehicle and fill the position relation between the electric pile to make the vehicle and fill accurate matching between the electric pile and charge, avoided artifical dismantlement and the transport to the battery, improved charge efficiency and intelligent degree.

Drawings

FIG. 1 is a schematic diagram of a hardware operating environment according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart diagram of a first embodiment of a vehicle charging method of the present invention;

FIG. 3 is a schematic flow chart diagram of a second embodiment of a vehicle charging method of the present invention;

FIG. 4 is a schematic flow chart diagram of a third embodiment of a vehicle charging method of the present invention;

FIG. 5 is a schematic diagram of imaging parameters and initial pose parameters of a marker element in the vehicle charging method of the present invention;

fig. 6 is a schematic diagram of initial pose parameters and deviation parameters in the vehicle charging method of the invention.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1, fig. 1 is a schematic structural diagram of a hardware operating environment according to an embodiment of the present invention.

As shown in fig. 1, the vehicle charging apparatus may include: a processor 1001, such as a CPU, a user interface 1003, a network interface 1004, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.

Those skilled in the art will appreciate that the vehicle charging apparatus configuration shown in fig. 1 does not constitute a limitation of the vehicle charging apparatus and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.

As shown in fig. 1, a memory 1005, which is one type of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a vehicle charging program. Among them, the operating system is a program that manages and controls the hardware and software resources of the vehicle charging device, supporting the operation of the vehicle charging program as well as other software or programs.

In the vehicle charging apparatus shown in fig. 1, the user interface 1003 is mainly used to connect a client (user terminal) and perform data communication with the client; the network interface 1004 is mainly used for connecting a background server and performing data communication with the background server; and the processor 1001 may be configured to invoke a vehicle charging program stored in the memory 1005 and perform the following operations:

acquiring an imaging image based on a camera device installed on a vehicle, and determining an initial pose parameter between the vehicle and a charging pile according to the imaging image;

determining deviation parameters of the vehicle according to the initial pose parameters;

and adjusting the vehicle to reach the target pose according to the deviation parameters, and charging the vehicle based on the charging pile.

Further, the step of determining initial pose parameters between the vehicle and a charging pile according to the imaging image comprises:

acquiring depth data of the charging pile in the imaging image, and projecting the depth data in a preset direction to generate a projection height of the charging pile;

screening identification elements of the charging pile according to the projection height, and identifying the mass center coordinates of the identification elements;

acquiring imaging parameters of the identification element according to the centroid coordinate, wherein the imaging parameters comprise imaging parameters of a first element, imaging parameters of a second element and imaging parameters of a third element;

and determining initial pose parameters between the vehicle and a charging pile according to the imaging parameters of the identification elements and the installation parameters of the camera device.

Further, the installation parameters of the camera device comprise an installation height, an installation angle, a vertical view field angle, a horizontal view field angle, an effective pixel line number and an effective pixel column number;

the step of determining the initial pose parameters between the vehicle and the charging pile according to the imaging parameters of the identification elements and the installation parameters of the camera device comprises the following steps:

determining a line deflection angle of a second element according to the installation angle, the vertical field angle, the imaging parameters of the second element and the number of effective pixel lines, and determining a projection plane distance of the charging pile according to the line deflection angle, the imaging parameters of the second element and the installation height;

determining a middle coordinate value according to the installation angle, the vertical view field angle, the horizontal view field angle and the projection plane distance;

and determining an initial pose parameter between the vehicle and the charging pile according to the imaging parameter of the first element, the imaging parameter of the second element, the imaging parameter of the third element, the effective pixel column number, the effective pixel row number and the intermediate coordinate value.

Further, the step of determining the initial pose parameter between the vehicle and the charging pile according to the imaging parameter of the first element, the imaging parameter of the second element, the imaging parameter of the third element, the effective pixel column number, the effective pixel row number and the intermediate coordinate value includes:

calculating the effective pixel column number, the effective pixel row number and the intermediate coordinate value respectively with the imaging parameter of the first element, the imaging parameter of the second element and the imaging parameter of the third element to generate a coordinate value of the first element, a coordinate value of the second element and a coordinate value of the third element;

generating a deviation angle between the charging pile and the camera device according to the coordinate value of the first element and the coordinate value of the third element;

and determining a first deviation distance between the charging pile and the camera device in a first direction and a second deviation distance between the charging pile and the camera device in a second direction according to the coordinate values of the second elements, and determining the deviation angle, the first deviation distance and the second deviation distance as the initial pose parameters.

Further, the step of determining a deviation parameter of the vehicle according to the initial pose parameter comprises:

reading a length parameter and a width parameter of the vehicle, and calculating a target point coordinate according to the length parameter, the width parameter, the first deviation distance, the second deviation distance and a preset deviation value;

calculating the moving path distance of the vehicle according to the target point coordinates;

determining the deviation angle as a path angle, and determining the path angle and the moving path distance as deviation parameters of the vehicle.

Further, the step of adjusting the vehicle to reach the target pose according to the deviation parameter comprises:

controlling the vehicle to rotate to reach a rotating position according to the path angle in the deviation parameter;

controlling the vehicle to move the movement path distance in the deviation parameter based on the rotational position;

and judging whether the position deviation between the vehicle and the charging pile is within a preset deviation range, and if so, judging that the vehicle reaches a target pose.

Further, the position deviation includes an angle deviation, a first direction distance deviation and a second direction distance deviation, and if the position deviation is within a preset deviation range, the step of determining that the vehicle reaches the target pose includes:

if the angle deviation is within a preset angle deviation range, the first direction distance deviation is within a first preset distance deviation range, and the second direction distance deviation is within a second preset distance deviation range, judging that the vehicle reaches a target position;

and if the angle deviation is not within a preset angle deviation range, or the first direction distance deviation is not within a first preset distance deviation range, or the second direction distance deviation is not within a second preset distance deviation range, determining that the vehicle does not reach the target position.

Further, the step of charging the vehicle based on the charging pile comprises:

and controlling the charging pile to extend out of the electric brush according to the second direction deviation distance so as to charge the vehicle.

Based on the above-described structure, various embodiments of a vehicle charging method are proposed.

Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of a vehicle charging method according to the present invention.

While a logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in an order different than presented herein.

Specifically, the vehicle charging method includes:

step S10, acquiring an imaging image based on a camera device installed on a vehicle, and determining an initial pose parameter between the vehicle and a charging pile according to the imaging image;

the Vehicle charging method of the embodiment is applied to an intelligent automatic driving process of an automatic logistics and warehousing system, and is used for charging vehicles of AGV (automatic Guided Vehicle) trolleys for realizing automatic driving. The automatic logistics and warehousing system is provided with a charging pile special for charging vehicles, when the fact that the electric quantity of the vehicles is lower than a certain set value is detected, a navigation path from the position where the vehicles travel to the position where the charging pile is located is generated according to the current position of the vehicles and the relative position between the charging piles, and the vehicles are controlled to travel according to the navigation path. When the relative distance between the vehicle and the charging pile is detected to be within a certain preset distance range, the pose of the vehicle is adjusted, so that the charging joint position of the vehicle is matched with the position of the electric brush lifted out of the charging pile, and the vehicle is charged. Specifically, a camera device is mounted on the side surface of the vehicle, and the camera device is preferably a stereo camera; in the driving process of the AGV trolley, the stereo camera shoots and images the side face in the driving direction in real time to generate an imaging image of the driving side face.

Meanwhile, a three-dimensional space coordinate system is pre-established in the embodiment, the three-dimensional space coordinate system takes the position of the stereo camera as a coordinate origin, the plane of the vehicle as an XY plane, and the upper space perpendicular to the XY plane as the space of the positive direction of the Y axis; for the XY plane, the direction right in front of the vehicle is the Y-axis direction, and the direction perpendicular to the Y-axis direction on the right side of the vehicle is the X-axis direction.

Further, the imaging image contains depth data imaged by the charging pile, after the imaging image is obtained, initial pose parameters of the vehicle relative to the charging pile are determined through a series of operations of the depth data in a three-dimensional space coordinate system, and the position relation between the vehicle and the charging pile is represented. Specifically, the step of determining initial pose parameters between the vehicle and the charging pile according to the imaging image comprises the following steps:

step S11, acquiring depth data of the charging pile in the imaging image, and projecting the depth data in a preset direction to generate a projection height of the charging pile;

step S12, screening the identification elements of the charging pile according to the projection height, and identifying the centroid coordinates of the identification elements;

step S13, acquiring the imaging parameters of the identification element according to the centroid coordinate, wherein the imaging parameters comprise the imaging parameters of a first element, the imaging parameters of a second element and the imaging parameters of a third element;

and step S14, determining initial pose parameters between the vehicle and the charging pile according to the imaging parameters of the identification elements and the installation parameters of the camera device.

The method comprises the following steps of understandably, in the imaging process of a stereo camera, detecting the depth distance of a shooting space, and obtaining the distance between each point and a camera in an image, taking the distance between each point and the camera in the imaging image of a charging pile as depth data of the charging pile in the imaging image, taking the Z axis of a three-dimensional space coordinate system as a preset direction, and projecting the depth data to the preset direction to obtain the projection height of the charging pile, reading installation parameters of the stereo camera at least comprising an installation height H, an installation angle theta, a view field angle omega and an effective pixel line number L, wherein the effective pixel line number L is the imaging maximum pixel value of the stereo camera in the Y axis direction, simultaneously, detecting a measured depth value D 'between the charging pile and the stereo camera, and the pixel line number n' of the charging pile, transmitting the installation angle theta, the view field angle omega, the pixel line number n 'and the effective pixel line number L to a formula (1), and obtaining an offset angle α' of the line of the pixel corresponding to the charging pile by calculating the formula (1):

α'＝θ-(ω/2)+(ω*n'/L) (1)；

after the deflection angle α ' of the row where the pixel corresponding to the charging pile is located is obtained through calculation of the formula (1), the deflection angle α ' and the measured depth value D ' are transmitted to the formula (2), and the projection middle value h in the Z-axis direction is obtained through calculation of the formula (2)_c(ii) a Wherein the formula (2) is:

h_c＝D'*Sin(α') (2)；

thereafter, at the installation height H and the projected median H_cMaking a difference value between the charging pile and the charging pile, wherein the obtained difference value result is the projection height h of the charging pile_z。

Further, in order to ensure that the top surface of the charging pile is completely shot and imaged so as to identify the charging connector position from the top surface image of the charging pile, a screening range △ h of the charging pile on the Z axis needs to be set, and the top surface image of the charging pile is completely obtained by screening and identifying the screening range_zVerifying whether all projection drawings of the ground in the Z-axis direction are presented or not in the layer of 0 (-10% to + 10%); if the three-dimensional camera is lost, the mounting height, the mounting angle and the view field angle of the three-dimensional camera are measuredThe projection height h is displayed after setting a screening range △ h_zAnd (3) verifying whether the projection drawings of the top surface of the charging pile in the Z-axis direction are all displayed or not by approaching the image layer of the height value h (-10% to + 10%) of the top surface of the charging pile, finely adjusting △ h if the projection drawings of the top surface of the charging pile in the Z-axis direction are all displayed, ensuring that the projection drawings of the top surface of the charging pile in the Z-axis direction are all displayed, further verifying △ h, and finishing the setting of the Z-axis screening range △ h if the obstacles above or below △ h on the ground are not displayed in the stereoscopic field.

The method comprises the steps of obtaining a charging pile outline, obtaining a function for extracting an edge and a function for searching the outline in an OpenCV (Open Source Computer Vision Library), carrying out edge extraction and outline searching on each identification element in sequence, carrying out broken line fitting processing on the searched outline to obtain an initial outline of each identification element, calling a function for calculating a centroid position in the OpenCV, transmitting each initial outline to the function to determine initial coordinates of each identification element, setting a black diamond area by taking the initial coordinates as a center, and identifying each black diamond area as the initial position of each identification element to form an image in an RGB layer.

In addition, extracting a top surface characteristic area from the top surface image, and forming an image in a depth value d layer, wherein the image in the depth value d layer and the image in the RGB layer have a mapping alignment relationship; and then combining the image in the RGB layer and the image in the depth value d layer by taking a preset coordinate origin as a basic point, and taking the intersection between the two to obtain an overlapped characteristic area. Calling a preset SVN (version control system of open source code) machine learning model, transmitting each coincident feature region into a preset model, carrying out feature classification on each coincident feature region, and screening out a region which is consistent with the top surface feature and has a black diamond block, wherein the region is a target element which meets the identification element feature of the top surface image in each identification element. Meanwhile, the model has the function of calculating the coordinates of the screened area, and the element coordinates of each target element are obtained through the calculation function; the element coordinates are the centroid coordinates of the marking elements, and represent the positions of the marking elements in the top surface image.

Further, the imaging parameters of the identification elements in the imaging image are obtained through the positions of the identification elements represented by the centroid coordinates. Wherein the marking element is composed of at least three elements such that the imaging parameters of the marking element include the imaging parameters of the first element, the imaging parameters of the second element, and the imaging parameters of the third element. Referring to fig. 5, the mark element includes a first element a, a second element B and a third element C, and the imaging parameters of the mark element are the depth value of the mark element, the number of rows of the pixel where the mark element is located and the number of columns of the pixel where the mark element is located; that is, the imaging parameters of the first element a include the depth value d1, the number of pixel rows n1 and the number of pixel columns m 1; the imaging parameters of the second element B include a depth value d2, a pixel row number n2 and a pixel column number m 2; the imaging parameters of the third pixel C comprise the depth value d3, the number of pixel rows n3 and the number of pixel columns m 3.

With continued reference to fig. 5, after the imaging parameters of the identification element are obtained, the initial pose parameters between the vehicle and the charging pile are determined according to the imaging parameters of the first element, the imaging parameters of the second element, the imaging parameters of the third element, and the installation parameters of the camera device, where the initial pose parameters are the x-direction deviation L1, the Y-direction deviation D1, and the deviation angle α from the Y-direction₁The position relationship between the vehicle and the charging pile is represented through the three parts, and is specifically shown in fig. 6.

Step S20, determining deviation parameters of the vehicle according to the initial pose parameters;

further, after obtaining the initial pose parameters, the parameters of the vehicle itself, such as length, width, etc., and the initial pose parameters are combined to obtain deviation parameters of the vehicle. The deviation parameter represents that the vehicle reaches the position of the charging pile, the charging connector of the vehicle is matched with the electric brush lifted out of the charging pile, and parameters required to be adjusted by the vehicle comprise angle adjustment, displacement adjustment and the like.

And step S30, adjusting the vehicle to reach the target pose according to the deviation parameters, and charging the vehicle based on the charging pile.

Furthermore, according to the deviation parameters, angle adjustment and displacement adjustment are carried out on the vehicle, so that the vehicle reaches a target pose of the charging connector matched with the electric brush lifted out of the charging pile. When the charging pile detects that the vehicle reaches the target pose, the lifting electric brush is controlled to be in butt joint with a charging connector on the vehicle, and the vehicle is charged.

According to the method, an imaging image is acquired through a camera device arranged on a vehicle, and then an initial pose parameter between the vehicle and a charging pile is determined according to the imaging image, wherein the initial pose parameter represents a position relation parameter between the vehicle and the charging pile; determining deviation parameters of the vehicle according to the initial pose parameters, namely parameters which are required to be adjusted when the vehicle is charged from the current position to the position of the charging pile; according to the deviation parameters, the vehicle is adjusted to the target pose capable of being matched with the charging pile for charging, and the vehicle is charged through the charging pile. This scheme is when the vehicle electric quantity is low, and the automation is gone to filling the position of electric pile place through navigation control vehicle and is charged, and adjusts the vehicle and fill the position relation between the electric pile to make the vehicle and fill accurate matching between the electric pile and charge, avoided artifical dismantlement and the transport to the battery, improved charge efficiency and intelligent degree.

Further, a second embodiment of the vehicle charging method of the present invention is presented.

Referring to fig. 3, fig. 3 is a flowchart illustrating a vehicle charging method according to a second embodiment of the present invention.

The second embodiment of the vehicle charging method differs from the first embodiment of the vehicle charging method in that the mounting parameters of the image pickup device include a mounting height, a mounting angle, a vertical field angle, a horizontal field angle, a number of effective pixel rows, and a number of effective pixel columns;

the step of determining the initial pose parameters between the vehicle and the charging pile according to the imaging parameters of the identification elements and the installation parameters of the camera device comprises the following steps:

step S141, determining a line deflection angle of a second element according to the installation angle, the vertical field angle, the imaging parameters of the second element and the number of effective pixel lines, and determining the projection plane distance of the charging pile according to the line deflection angle, the imaging parameters of the second element and the installation height;

step S142, determining a middle coordinate value according to the installation angle, the vertical view field angle, the horizontal view field angle and the projection plane distance;

and S143, determining initial pose parameters between the vehicle and the charging pile according to the imaging parameters of the first element, the imaging parameters of the second element, the imaging parameters of the third element, the effective pixel column number, the effective pixel row number and the intermediate coordinate value.

In this embodiment, the initial pose parameters are calculated by combining the installation parameters of the imaging device and the imaging parameters of the identification elements. Specifically, the mounting parameters at least include a mounting height H, a mounting angle theta, and a vertical field angle omega_zHorizontal field angle omega_hThe number of effective pixel rows L and the number of effective pixel columns C; the effective pixel row number L is the maximum imaging pixel value of the stereo camera in the Y-axis direction, and the effective pixel column number C is the maximum imaging pixel value of the stereo camera in the X-axis direction. During calculation, the mounting angle theta and the vertical view field angle omega are measured_zThe number n2 of the pixel lines where the second element B is located and the number L of the effective pixel lines in the imaging parameters of the second element B are calculated through a formula (3), and the deflection angle α of the line where the second element is located is obtained₂(ii) a Wherein the formula (3) is:

α₂＝θ-(ω_z/2)+(ω_z*n₂/L) (3)；

the declination α of the row where the second element is calculated by formula (3)₂Then, the declination angle α is adjusted₂The depth value d2 in the imaging parameter of the second element B is transmitted to a formula (4), and the height h of the charging pile is obtained through calculation of the formula (4); wherein equation (4) is:

h＝d2*Cos(α₂) (4)。

go toStep by step, make the difference between mounting height H and the height H who fills electric pile, obtain the projection plane distance H who fills electric pile_z. Further according to the distance H of the projection plane_zThe absolute value coordinates (| Xmin |, | Ymax |) of the farthest projected point and the absolute value coordinates (| Xmin |, |) of the nearest projected point imaged by the imaging device are calculated. Specifically, the horizontal field angle ω_hDistance H of projection plane_zMounting angle theta and vertical view field angle omega_zTransmitting the absolute value of the maximum projection point to a formula (5), and obtaining a value of | Xmax | in the absolute value coordinate of the maximum projection point through calculation of the formula (5); distance H from projection surface_zMounting angle theta and vertical view field angle omega_zTransmitting the absolute value of the projection point to the formula (6), and obtaining a value of | Ymax | in the absolute value coordinate of the farthest projection point through calculation of the formula (6); at the same time, the horizontal view angle omega_hDistance H of projection plane_zMounting angle theta and vertical view field angle omega_zTransmitting the absolute value to a formula (7), and obtaining an absolute value | Xmin | in the absolute value coordinate of the latest projection through calculation of the formula (7); distance H from projection surface_zMounting angle theta and vertical view field angle omega_zAnd (4) transmitting the absolute value to the formula (8), and obtaining a value of | Ymin | in the absolute value coordinate of the latest projection through calculation of the formula (8). Wherein the formulas (5), (6), (7) and (8) are respectively:

|Xmax|＝Tan(0.5*ω_h)*Hz/Cos(θ-0.5*ω_z) (5)；

|Ymax|＝Hz/Tan(θ-0.5*ω_z) (6)；

|Xmin|＝Tan(0.5*ω_h)*Hz/Cos(θ+0.5*ω_z) (7)；

|Ymin|＝Hz/Tan(θ+0.5*ω_z) (8)。

and determining initial pose parameters between the vehicle and the charging pile by taking the calculated (| Xmax |, | Ymax |) and (| Xmin |, |) as intermediate coordinate values and combining the effective pixels of the camera device and the respective imaging parameters of the first element, the second element and the third element through the intermediate coordinate values. Specifically, the step of determining the initial pose parameter between the vehicle and the charging pile according to the imaging parameter of the first element, the imaging parameter of the second element, the imaging parameter of the third element, the effective pixel column number, the effective pixel row number and the intermediate coordinate value includes:

a1, calculating the effective pixel column number, the effective pixel row number and the intermediate coordinate value respectively with the imaging parameter of the first element, the imaging parameter of the second element and the imaging parameter of the third element, and generating a coordinate value of the first element, a coordinate value of the second element and a coordinate value of the third element;

a2, generating a deviation angle between the charging pile and the camera device according to the coordinate value of the first element and the coordinate value of the third element;

step a3, determining a first deviation distance between the charging pile and the camera device in a first direction and a second deviation distance between the charging pile and the camera device in a second direction according to the coordinate value of the second element, and determining the deviation angle, the first deviation distance and the second deviation distance as the initial pose parameters.

Further, the deviation angle α of the deviation L1 in the X direction, the deviation D1 in the Y direction and the Y direction between the vehicle and the charging pile₁Calculation was performed to pass through L1, D1 and α₁The position relation between the vehicle and the charging pile is determined. Specifically, formula (9) and formula (10) are set in advance according to the effective pixel row and column, the effective pixel column number and the intermediate coordinate value; respectively transmitting the pixel row number n1 and the pixel column number m1 in the first element A imaging parameter, the pixel row number n2 and the pixel column number m2 in the second element B imaging parameter, and the pixel row number n3 and the pixel column number m3 in the third element C imaging parameter to a formula (9) and a formula (10), and obtaining coordinate values (X) of the first element, the second element and the third element through calculation of the formula (9) and the formula (10)_A，Y_A)、(X_B，Y_B) And (X)_C，Y_C). Wherein, the formulas (9) and (10) are respectively:

X＝m-0.5C+m/C*(|Xmax|-|Xmin|)+|Xmin| (9)；

Y＝n/L*(|Ymax|-|Ymin|)+|Ymin| (10)。

it should be noted that m in the formula (9) and n in the formula (10) are variables, and after the number of pixel rows where the imaging parameters of each element are located and the number of similar columns where the pixel rows are located are replaced, the numerical values of X and Y, which are obtained through calculation, are coordinate values.

Further, the formula (11) is preset, and the coordinate value (X) of the first element is set_A，Y_A) And coordinate value (X) of the third element_C，Y_C) Transmitting the data to formula (11) to obtain the slope k of the straight line formed between the first element and the second element, and calculating the slope k by formula (12) to obtain the deviation angle α in Y direction₁Deviation angle α of the Y direction₁The deviation angle between the charging pile and the camera device is determined. Wherein, formula (11) and formula (12) are respectively:

k＝(Y_A-Y_C)/(X_A-X_C) (11)；

α₁＝tan^-1k (12)。

further, X is a coordinate value of the second element_BAbsolute value processing is carried out on the values to obtain x-direction deviation L1; the x-direction deviation L1 is a first deviation distance between the charging pile and the camera device in the first direction. At the same time Y for coordinate value in the second element_BProcessing the absolute value to obtain a Y-direction deviation D1, wherein the Y-direction deviation D1 is a second deviation distance between the charging pile and the camera device in a second direction, and the calculated angle deviation α is obtained according to the second deviation distance₁The first deviation distance L1 and the second deviation distance D2 are determined as initial pose parameters between the vehicle and the charging pile, and represent the position relation between the vehicle and the charging pile.

Understandably, the first element, the second element and the third element are all located on the charging pile, the X axis and the Y axis both use the camera device on the vehicle as the origin of coordinates, and the X direction deviation L1 and the Y direction deviation D1 are substantially the position coordinates of the charging pile relative to the origin of coordinates, namely the target coordinates that the vehicle needs to reach. And determining the deviation parameters required to be adjusted by the vehicle according to the length and width parameters of the vehicle and the target coordinates represented by the initial pose parameters. Specifically, the step of determining a deviation parameter of the vehicle according to the initial pose parameter comprises:

step S21, reading the length parameter and the width parameter of the vehicle, and calculating the coordinates of a target point according to the length parameter, the width parameter, the first deviation distance, the second deviation distance and a preset deviation value;

step S22, calculating the moving path distance of the vehicle according to the coordinates of the target point;

and step S23, determining the deviation angle as a path angle, and determining the path angle and the moving path distance as deviation parameters of the vehicle.

Referring to fig. 6, the center position point of the vehicle transportation component is used as a base point, the vehicle is at the current position to be adjusted, and the coordinates of the base point are vehicle attitude coordinates (x1, Y1), where x1 is the length parameter of the vehicle and Y1 is the width parameter of the vehicle. When the vehicle arrives at the position of the charging pile, the coordinates of the basic point are coordinates (x2, y2) of the target point, and the coordinates represent the adjusted coordinates of the vehicle. The vehicle is adjusted from the vehicle posture coordinates (x1, y1) to the target point coordinates (x2, y2), and the required running path and the steering angle are deviation parameters of the vehicle.

The length parameter A and the width parameter B of the vehicle are read, the length parameter A and the width parameter B are used as vehicle posture coordinates (X1, Y1), namely X1 is A, Y1 is B, the first deviation distance and X1 are calculated to obtain X2, the second deviation distance and Y1 are calculated to obtain y2., the contact between a contact point of a charging pile brush and the vehicle is considered in the Y direction, the charging pile is controlled to extend out of a brush head for charging, therefore, the vehicle only needs to be parked at a corresponding position, the error requirement for parking is relatively low, once the parking distance is long, the distance that the charging pile extends out of the brush head is controlled to be long, and if the parking distance is short, the distance that the brush head extends out is controlled to be short, a preset deviation value △ D in the Y direction is preset and can be set to be changed within a certain range, such as plus or minus 10 centimeters, and the deviation value X direction and the angle in the Y direction are set to be plus or minus 10 centimeters, and such as plus or minus 0, and 5, and such as plus or minus 0.

Further, y2 needs to be calculated in combination with the preset deviation value △ D, specifically, x2 is calculated by x2 — L1+ a, and y2 is calculated by y2 — B + △ D-D1, after that, the path distance that the vehicle needs to move to adjust the vehicle to the target point coordinate position is calculated by the vehicle attitude coordinate (x1, y1) and the target point coordinate (x2, y2), the vehicle attitude coordinate and the target point coordinate are transmitted to formula (13), and the movement path distance L is obtained by calculation of formula (13), where formula (13) is:

L＝((x1-x2)²+(y1-y2)²)^1/2(13)。

in addition, the deviation angle is determined as a path angle, and a corner required to be adjusted when the vehicle is adjusted to the coordinate position of the target point is represented; and meanwhile, the path angle and the moving path distance are determined as deviation parameters of the vehicle, the vehicle is controlled to run the moving path distance and turn according to the path angle, and the position of the charging pile can be reached, so that the charging of the vehicle is realized.

This implementation combines the parameter of vehicle self to the deviation value that the actual conditions of considering to charge set for calculates the route angle and the removal route distance of vehicle adjustment, has ensured the accuracy of deviation parameter, is favorable to the accurate adjustment of vehicle gesture, realizes charging with the quick matching of filling electric pile, has improved charge efficiency.

Further, a third embodiment of the vehicle charging method of the present invention is presented.

Referring to fig. 4, fig. 4 is a flowchart illustrating a charging method for a vehicle according to a third embodiment of the present invention.

The third embodiment of the vehicle charging method differs from the first or second embodiment of the vehicle charging method in that the step of adjusting the vehicle to reach the target pose according to the deviation parameter includes:

step S31, controlling the vehicle to rotate according to the path angle in the deviation parameter to reach a rotating position;

a step S32 of controlling the vehicle to move the movement path distance in the deviation parameter based on the rotational position;

and step S33, judging whether the position deviation between the vehicle and the charging pile is within a preset deviation range, and if so, judging that the vehicle reaches a target pose.

The present implementation adjusts the vehicle after determining the deviation parameter between the current position of the vehicle and the target position. Firstly, the vehicle is controlled to rotate according to the path angle in the deviation parameter, the vehicle reaches the rotating position after the rotation, and the vehicle driving movement path distance is controlled on the basis of the rotating position. And judging whether the position deviation between the adjusted vehicle and the charging pile is within a preset deviation range, wherein the preset deviation range is a preset range for representing the matching of the vehicle and the charging pile. If the vehicle is within the preset range, the vehicle is matched with the charging pile, and the vehicle reaches the target pose; otherwise, the vehicle is not matched with the charging pile, and the vehicle needs to be continuously adjusted until the position deviation between the vehicle and the charging pile is within the preset deviation range.

Further, the position deviation between the vehicle and the charging pile comprises an angle deviation, a first direction distance deviation and a second direction distance deviation; correspondingly, the preset deviation range comprises a preset angle deviation range, a first preset distance deviation range and a second preset distance deviation range. And judging whether the angle deviation is within a preset angle deviation range, whether the first direction distance deviation is within a first preset distance deviation range, and whether the second direction distance deviation is within a second preset distance deviation range. If the angle deviation, the first direction distance deviation and the second direction distance deviation are all within the corresponding preset deviation ranges, judging that the vehicle reaches the target pose; if any one of the three is not in the corresponding preset deviation range, the vehicle is judged not to reach the target pose, and the vehicle needs to be continuously adjusted.

Furthermore, the second direction distance deviation is the parking distance difference between the vehicle and the charging pile, after the vehicle reaches the target pose through adjustment, the length of the brush head extending out of the charging brush is controlled according to the parking distance represented by the second direction distance deviation, and the vehicle is charged through the contact of the brush head and the vehicle.

This embodiment adjusts the vehicle according to the path angle and the removal path distance in the deviation parameter, ensures that the vehicle and fills the position of charging between the electric pile and match, realizes the quick accurate charging to the vehicle.

Furthermore, an embodiment of the present invention also provides a computer-readable storage medium, on which a vehicle charging program is stored, which, when executed by a processor, implements the steps of the vehicle charging method as described above.

The specific implementation of the computer-readable storage medium of the present invention is substantially the same as the embodiments of the vehicle charging method described above, and is not repeated herein.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.