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Charging port pose estimation method and system, charging robot and storage medium

A charging port and pose technology, which is applied in the directions of instrumentation, computing, image data processing, etc., can solve the problem that the charging port without texture features cannot be matched, and achieve the effect of less number of feature points, less amount of calculation, and reduced calculation

Active Publication Date: 2021-11-09
SHENZHEN AUTOMOTIVE RES INST BEIJING INST OF TECH (SHENZHEN RES INST OF NAT ENG LAB FOR ELECTRIC VEHICLES)
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The technical problem mainly solved by the present invention is the problem that the charging port without texture features cannot be matched in the existing attitude estimation method based on feature matching

Method used

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  • Charging port pose estimation method and system, charging robot and storage medium
  • Charging port pose estimation method and system, charging robot and storage medium
  • Charging port pose estimation method and system, charging robot and storage medium

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Embodiment 1

[0037] An embodiment of the present invention provides a charging port pose assessment system including an image acquisition module and a processing module; figure 1 As shown, the charging port pose estimation method provided by the embodiment of the present invention includes:

[0038] Step 1: The processing module obtains the standard image of the charging port. Get Standard Image I aim_crop There are many ways, and this method is not limited.

[0039] For example, standard image I can be drawn through terminals such as computers aim_crop , and then transmitted to the processing module; it is also possible to take a color image directly in front of the charging port of the vehicle through the image acquisition module (such as an RGB camera) as the standard pose image I aim , followed by the standard pose image I aim Manually cut out the standard image I aim_crop . It is also possible to import a standard image I externally aim_crop .

[0040] Step 2: The processing mod...

Embodiment 2

[0146] Such as Figure 4 As shown, the charging port pose estimation method of the present invention can be applied to a charging robot, and the present invention also provides a charging robot, including a mechanical arm 30, an image acquisition module 20 (such as an RGB camera) and a processing module 10, wherein the mechanical The arm 30 is used to carry the charging plug 40 for movement; the image acquisition module 20 is used to acquire the image of the charging port of the vehicle to be charged; the processing module 10 is used to determine the pose of the charging port according to the image of the charging port through the above charging port pose evaluation method ; According to the posture of the charging port, control the movement of the mechanical arm 30 to realize the connection between the charging plug 40 and the charging port. After the charging plug 40 is connected to the charging port, the processing module 10 sends a corresponding instruction, and the energy...

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Abstract

The invention provides a charging port pose estimation method and system, a charging robot and a storage medium. The method comprises the steps of: obtaining a standard image of a charging port; acquiring a charging port image of the to-be-charged vehicle at one view angle; according to the standard image and the charging port image, obtaining a plurality of first hole features and a plurality of second hole features with charging connection holes in the charging port as features; matching the second hole feature with the first hole feature; if the second hole feature is matched with the first hole feature, obtaining a homography matrix; and decomposing the homography matrix to obtain a rotation matrix and a translation matrix, and determining the pose of the charging port according to the rotation matrix and the translation matrix. Therefore, the non-texture charging port can be matched by adopting a feature matching mode, so that the position of the charging port is determined. Meanwhile, the number of charging connection holes in the charging port is small, the number of formed feature points is small, and the overall calculation amount is reduced.

Description

technical field [0001] The invention relates to the technical field of electric vehicle charging, in particular to a charging port pose estimation method, system, charging robot and storage medium. Background technique [0002] With the development of the automobile industry, the proportion of pure electric vehicles or hybrid vehicles (hereinafter referred to as electric vehicles) is getting higher and higher, and the charging of electric vehicles has also begun to become a concern of people. [0003] Among them, the automatic charging technology based on attitude estimation is a technology to realize automatic charging. Among them, the pose estimation method is used to estimate the pose of the charging port, thereby providing the pose information of the charging port to the automatic charging robot. [0004] At present, attitude estimation methods are divided into feature-matching-based attitude estimation, template-based attitude estimation, and target-based attitude esti...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73
CPCG06T7/73G06T2207/30244G06T2207/30252Y02T10/7072Y02T10/70
Inventor 张春霞宋士佳王博孙超王文伟
Owner SHENZHEN AUTOMOTIVE RES INST BEIJING INST OF TECH (SHENZHEN RES INST OF NAT ENG LAB FOR ELECTRIC VEHICLES)
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