A reflective mirror charging port system for identification and positioning and positioning method thereof

Abstract

The present invention discloses a reflective mirror charging port system for identification and positioning and a positioning method thereof. The positioning method comprises: after a vehicle with the reflective mirror charging port enters a preset range of the system, a charging gun emits a light source to emit an incident light signal; a light source receiver receives a reflected light signal from a conical right-angle mirror reflector, identifies the phase difference of the light source signal, and calculates the distance from the conical right-angle mirror reflector to the light source receiver based on the phase difference; the spatial position of three groups of conical right-angle mirror reflectors is obtained according to the distance from the conical right-angle mirror reflector to the light source receiver; a charging gun clamping motion controller controls the charging gun to move until it is fully docked with the charging port according to the spatial position of the three groups of conical right-angle mirror reflectors, and the reflective light source is turned off after docking is completed. The present invention realizes automatic docking of the charging gun and the charging port and performs charging by accurately positioning and motion controlling the charging port position.

Description

Technical Field

[0001] The present invention belongs to the field of vehicle control, and in particular relates to a reflective mirror charging port system for identification and positioning and a positioning method thereof. Background Art

[0002] The current method for identifying charging ports of new energy vehicles is to use monocular cameras, binocular cameras and other visual image processing-based charging port positioning and identification. Vision-based image recognition is greatly affected by light, and the camera cannot capture clear images in dark environments; the camera cost is high; the image algorithm is complex, and there are many image recognition algorithm research programs at present, but none of them can achieve an improvement in the recognition rate under extreme conditions. Summary of the Invention

[0003] The purpose of the present invention is to provide a reflective mirror charging port system for identification and positioning and a positioning method thereof, which can realize automatic docking of the charging gun and the charging port and perform charging through precise positioning and motion control of the charging port position.

[0004] A reflective mirror charging port for identification and positioning includes a charging port and at least three groups of conical right-angle mirror reflectors circumferentially surrounding the charging port. The conical right-angle mirror reflectors are right triangular cones formed by three mirror surfaces that are perpendicular to each other. The conical right-angle mirror reflectors are used to reflect incident light and identify and locate spatial positions.

[0005] The conical right-angle mirror reflector is arranged on the outer sealing ring of the charging port.

[0006] The number of settings of the conical right-angle mirror reflector is three groups.

[0007] A system for identifying and positioning a reflective mirror surface is also provided, comprising a charging gun with a transmitting light source and a light source receiver, wherein the transmitting light source and the light source receiver point in the same parallel direction, and the transmitting light source and the light source receiver are respectively provided with a transmitting display and a receiving display, wherein the transmitting display is used to display the position of the charging gun, and the receiving display is used to display the position of the charging port; the transmitting light source transmits light toward a conical right-angle mirror reflector, and the light source receiver receives the reflected light from the conical right-angle mirror reflector.

[0008] The charging gun is equipped with a charging gun clamping motion controller, which is used to calculate the position of the charging port based on the feedback signal of the light source receiver, and control the movement of the charging gun according to preset instructions until the charging port and the charging gun are fully docked. After the docking is completed, the transmitting light source is turned off.

[0009] A positioning method is also provided, comprising the following steps:

[0010] After a vehicle with the reflective mirror charging port enters the preset range of the system, the charging gun emits a light source to emit an incident light signal;

[0011] The light source receiver receives the reflected light signal from the conical right-angle mirror reflector, identifies the phase difference of the light source signal, and calculates the distance from the conical right-angle mirror reflector to the light source receiver based on the phase difference;

[0012] The spatial positions of the three groups of cone right-angle mirror reflectors are obtained according to the distances between the cone right-angle mirror reflectors and the light source receiver;

[0013] The charging gun clamping motion controller controls the movement of the charging gun until it is fully docked with the charging port according to the spatial position of the three sets of conical right-angle mirror reflectors. After the docking is completed, the reflective light source is turned off.

[0014] The distance from the cone right-angle mirror reflector to the light source receiver is calculated as follows:

[0015]

[0016] Where, l is the distance from the conical right-angle mirror reflector to the light source receiver, c is the speed of light, f is the modulation frequency of the light source, is the phase difference between the transmitted light and the received light.

[0017] The calculation method for the spatial position of the three groups of conical right-angle mirror reflectors is as follows: taking the initial position of the light source receiver as the origin of the spatial coordinates, the initial distances l1, l2, and l3 between the light source and each conical right-angle mirror reflector are calculated by the distance calculation method from the conical right-angle mirror reflector to the light source receiver. Based on the known distances a, b, and c between the three conical right-angle mirror reflectors, and the distances l4, l5, and l6 to each conical mirror reflector when the light source moves, the spatial position coordinates (x1, y1, z1), (x2, y2, z2), and (x3, y3, z3) of the three conical mirror reflectors on the charging port are calculated. The specific calculation method is as follows:

[0018] x1 2 +y1 2 +z1 2 =l1 2

[0019] x2 2 +y2 2 +z2 2 =l2 2

[0020] x3 2 +y3 2 +z3 2 =l3 2

[0021] (x1-x2) 2 +(y1-y2) 2 +(z1-z2) 2=a 2

[0022] (x2-x3) 2 +(y2-y3) 2 +(z2-z3) 2 =b 2

[0023] (x3-x1) 2 +(y3-y1) 2 +(z3-z1) 2 =c 2

[0024] The reflected light source moves the distance y0 along the y direction:

[0025] x1 2 +(y1-y0) 2 +z1 2 =l4 2

[0026] x1 2 +(y2-y0) 2 +z1 2 =l5 2

[0027] x1 2 +(y3-y0) 2 +z1 2 =l6 2 .

[0028] The light source receiver is only sensitive to light sources of a preset frequency.

[0029] The emitting light source is an LED light source.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] 1. LED has high luminous efficiency, high brightness, long service life, is not easy to damage, and can effectively reduce energy consumption;

[0032] Second, the LED light source has a narrow spectrum and can effectively reduce the impact of ambient background light sources by emitting pulsed light independently;

[0033] 3. Three vertical mirrors can effectively reflect the incident light back along the original direction of incidence, improving the accuracy of recognition;

[0034] 4. The cost of LED light sources is extremely low, effectively reducing the solution cost of the charging port recognition system. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic diagram of the structure of the charging port in an embodiment of the present invention;

[0036] Figure 2 Schematic diagram of the structure of a conical right-angle mirror reflector in an embodiment of the present invention;

[0037] Figure 3 Schematic diagram of the arrangement and measurement principle of the LED light source and light source receiver in an embodiment of the present invention;

[0038] Figure 4 Schematic diagram of the sensitivity of the light source receiver to the intensity of light sources of different frequencies according to an embodiment of the present invention;

[0039] Figure 5 Schematic diagram of phase difference measurement in an embodiment of the present invention;

[0040] Figure 6 Schematic diagram of spatial coordinates of a light source at the coordinate origin in an embodiment of the present invention;

[0041] Figure 7 Schematic diagram of spatial coordinates of a light source at position (0, y0, 0) in an embodiment of the present invention. DETAILED DESCRIPTION

[0042] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0043] This invention is mainly used in the automatic charging scenario of new energy electric vehicles. The relevant mechanical mechanism carries the charging gun to the charging port position or the charging gun is set in a fixed position, waiting for the vehicle to enter the preset range. Through the precise positioning and motion control of the charging port position, the charging gun and the charging port are automatically docked and charging is carried out. The present invention mainly focuses on the precise identification and positioning of the charging port position. Its main structure and scheme are as follows:

[0044] 1. Conical right-angle mirror reflector such as Figure 2 As shown, the arrows in the figure are the light paths.

[0045] Three mirror surfaces that are perpendicular to each other form a right triangular cone. Light entering from any direction will be reflected at least twice and return in the original direction.

[0046] 2. Electric vehicle charging port identification mark Figure 1 As shown,

[0047] Taking the AC slow charging port (national standard) as an example, no less than three conical right-angle mirror reflectors that are not on the same straight line are set on the outer sealing ring of the charging port for spatial position identification and positioning.

[0048] 3. An LED active pulse emission light source and a light intensity sensor are set on the charging gun or the charging gun clamping mechanism. Figure 3 As shown, the arrows in the figure are the light paths.

[0049] 4. Light intensity sensor (light source receiver) such as Figure 4 As shown,

[0050] The light source receiver is only sensitive to light source tests within a certain frequency range.

[0051] 5. LED pulse emission light source

[0052] Control the on and off of the LED light source switch device and modulate it into a low-frequency sine wave: 6. After the light intensity sensor receives the reflected light signal, it identifies the phase difference of the light source signal. Figure 5 As shown, the distance from the reflective mirror to the light intensity sensor is calculated based on the phase difference. The calculation formula is as follows:

[0053]

[0054] c: speed of light

[0055] f: Light source modulation frequency (modulation frequency as needed)

[0056] φ: Phase difference between the transmitting light source and the receiving light source

[0057] 7. Calculate the spatial coordinates of the charging port as follows Figure 6 and Figure 7 As shown,

[0058] Taking the initial position of the light source receiver (charging gun) as the origin of the spatial coordinates, the initial distances l1, l2, and l3 between the light source (charging gun) and each conical mirror reflector can be measured through step 6. Based on the known distances a, b, and c between the three conical mirror reflectors, and the distances l4, l5, and l6 to each conical mirror reflector when the light source moves, the spatial position coordinates (x1, y1, z1), (x2, y2, z2), and (x3, y3, z3) of the three conical mirror reflectors on the charging port can be calculated.

[0059] Calculation method:

[0060] x1 2 +y1 2 +z1 2 =l1 2

[0061] x2 2 +y2 2 +z2 2 =l2 2

[0062] x3 2 +y3 2 +z3 2 =l3 2

[0063] (x1-x2) 2 +(y1-y2) 2 +(z1-z2) 2 =a 2

[0064] (x2-x3) 2 +(y2-y3) 2 +(z2-z3) 2 =b 2

[0065] (x3-x1) 2 +(y3-y1) 2 +(z3-z1) 2 =c 2

[0066] The reflected light source moves the distance y0 along the y direction:

[0067] x1 2 +(y1-y0) 2 +z1 2 =l4 2

[0068] x1 2 +(y2-y0) 2 +z1 2 =l5 2

[0069] x1 2 +(y3-y0) 2 +z1 2 =l6 2 .

[0070] 8. Calculate the spatial coordinates of the three conical reflective mirrors using the above method, and send the spatial coordinate results to the charging gun clamping motion controller;

[0071] The motion controller instructs the charging gun clamping mechanism to move and iteratively calculates the spatial coordinates of the three conical reflector mirrors at all times;

[0072] Until the charging port and charging gun are fully automatically connected;

[0073] After docking is completed, the LED light source turns off.

[0074] It will be easily understood by those skilled in the art that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A positioning method for a reflective mirror charging port system for identification and positioning, characterized in that: The system includes a charging port and at least three groups of conical right-angle mirror reflectors circumferentially surrounding the charging port. The conical right-angle mirror reflectors are right triangular cones formed by three mirror surfaces that are perpendicular to each other. The conical right-angle mirror reflectors are used to reflect incident light and identify and locate spatial positions. The system also includes a charging gun with a transmitting light source and a light source receiver, wherein the transmitting light source and the light source receiver point in the same parallel direction. A charging gun is provided with a charging gun clamping motion controller, which is used to calculate the position of the charging port based on the feedback signal of the light source receiver and control the movement of the charging gun according to preset instructions until the charging port and the charging gun are fully docked. After the docking is completed, the transmitting light source is turned off. The positioning method includes the following steps: After a vehicle with the reflective mirror charging port enters the preset range of the system, the charging gun emits a light source to emit an incident light signal; The light source receiver receives the reflected light signal from the conical right-angle mirror reflector, identifies the phase difference of the light source signal, and calculates the distance from the conical right-angle mirror reflector to the light source receiver based on the phase difference; The spatial positions of the three groups of cone right-angle mirror reflectors are obtained according to the distances between the cone right-angle mirror reflectors and the light source receiver; The charging gun clamping motion controller controls the movement of the charging gun until it is fully docked with the charging port according to the spatial position of the three sets of conical right-angle mirror reflectors. After the docking is completed, the reflective light source is turned off.

2. The positioning method according to claim 1, wherein: The distance from the cone right-angle mirror reflector to the light source receiver is calculated as follows: Where, l is the distance from the conical right-angle mirror reflector to the light source receiver, c is the speed of light, f is the modulation frequency of the light source, is the phase difference between the transmitted light and the received light.

3. The positioning method according to claim 2, characterized in that: The calculation method of the spatial position of the three groups of conical right-angle mirror reflectors is as follows: taking the initial position of the light source receiver as the origin of the spatial coordinate, the initial distance l1, l2, and l3 of the light source from each conical right-angle mirror reflector are calculated by the distance calculation method from the conical right-angle mirror reflector to the light source receiver. According to the known distances a, b, and c between the three conical right-angle mirror reflectors, and the distances l4, l5, and l6 to each conical mirror reflector when the light source moves, the spatial position coordinates of the three conical mirror reflectors on the charging port are calculated. (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), the specific calculation method is as follows: x1 2 +y1 2 +z1 2 =l1 2 <h2 style=";text-align:left;direction:ltr">x2<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> +y2<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> +z2<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> <l2<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr">x3<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> +y3<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> +z3<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> <l3<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr">(x1-x2)<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> +(y1-y2)<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> +(z1-z2)<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> =a<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr">(x2-x3)<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> +(y2-y3)<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> +(z2-z3)<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> (b)<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr">(x3-x1)<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> +(y3-y1)<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> +(z3-z1)<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> =c<h2 style=";text-align:left;direction:ltr"> 2 The reflected light source moves the distance y0 along the y direction: x1 2 +(y1-y0) 2 +z1 2 =l4 2 x1 2 +(y2-y0) 2 +z1 2 =l5 2 <h2 style=";text-align:left;direction:ltr">x1<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> +(y3-y0)<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> +z1<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> <l6<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> 。 4. The positioning method according to claim 1, wherein: The light source receiver is only sensitive to light sources of a preset frequency.

5. The positioning method according to claim 1, wherein: The emitting light source is an LED light source.

6. A reflective mirror charging port system for identification and positioning, characterized in that: The positioning method as described in any one of claims 1 to 5 is applied to the reflective mirror charging port system, which includes a charging port and at least three groups of conical right-angle mirror reflectors circumferentially surrounding the charging port, the conical right-angle mirror reflector being a right triangular cone formed by three mirror surfaces that are perpendicular to each other, and the conical right-angle mirror reflector is used to reflect incident light and identify and locate the spatial position; it also includes a charging gun with a transmitting light source and a light source receiver, wherein the transmitting light source and the light source receiver point in the same parallel direction; a charging gun is provided with a charging gun clamping motion controller, which is used to calculate the charging port position according to the feedback signal of the light source receiver, and control the movement of the charging gun according to preset instructions until the charging port and the charging gun are fully docked, and the transmitting light source is turned off after the docking is completed.

7. The reflective mirror charging port system for identification and positioning according to claim 6, characterized in that: The conical right-angle mirror reflector is arranged on the outer sealing ring of the charging port.

8. The reflective mirror charging port system for identification and positioning according to claim 6, characterized in that: The number of settings of the conical right-angle mirror reflector is three groups.

9. The reflective mirror charging port system for identification and positioning according to claim 6, characterized in that: The transmitting light source and the light source receiver are respectively provided with a transmitting display and a receiving display, wherein the transmitting display is used to display the position of the charging gun, and the receiving display is used to display the position of the charging port; the transmitting light source emits light toward the conical right-angle mirror reflector, and the light source receiver receives the reflected light from the conical right-angle mirror reflector.

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