A method and related equipment for identifying vehicle charging ports

Abstract

This invention provides a method and related equipment for identifying vehicle charging ports, comprising: acquiring image information of a charging port to be detected, wherein the image information includes color image information and depth image information of the charging port to be detected; acquiring corrected color image information based on the color image information and a first preset condition, wherein the first preset condition includes contour information of the target charging port; acquiring corrected depth image information according to the depth image information and a second preset condition, wherein the second preset condition includes depth information of the target charging port; acquiring fused image information based on the corrected color image information and the corrected depth image information; and determining whether the charging port to be detected is the target charging port based on the fused image information. By correcting the image information using preset conditions, images of non-charging ports are excluded; and by fusing the image, portions where color and depth do not match are excluded, thereby improving recognition accuracy.

Description

Technical Field

[0001] This invention relates to the field of vehicle charging technology, and in particular to a method and related equipment for identifying vehicle charging ports. Background Technology

[0002] With the widespread application of electric vehicles and the advancement of science and technology, automatic charging technology has emerged. Current automatic charging technology involves moving the vehicle to a designated charging location associated with the charging device and controlling the automatic charging equipment to charge the vehicle. Therefore, the identification of the vehicle's charging port in current automatic charging methods is based on the principle that the charging port can be determined when the vehicle is in a fixed position. However, in this method, factors such as the vehicle model, the vehicle's positional deviation during transportation, and the parking angle and direction on the moving platform all affect the vehicle's parking state before and after transportation. This leads to reduced accuracy in identifying the charging port based solely on the vehicle's position, wasting charging time and affecting charging quality. Furthermore, since the transportation of the vehicle and the moving platform requires power, current charging port identification methods also waste energy, affecting the flexibility and practicality of charging port identification. Therefore, developing a method that can accurately locate the vehicle's charging port has become an urgent problem to be solved in the field of automatic charging technology. Summary of the Invention

[0003] This invention provides a vehicle charging port identification method and related equipment to solve the problems of current vehicle charging port identification methods, which determine the location of the charging port based solely on the vehicle's location, leading to reduced accuracy, impacting charging quality, causing energy waste, and affecting the flexibility and practicality of charging port identification.

[0004] In a first aspect, the present invention provides a method for identifying a vehicle charging port, comprising:

[0005] Acquire image information of the charging port to be detected, wherein the image information includes color image information and depth image information of the charging port to be detected;

[0006] Based on the color image information and the first preset condition, corrected color image information is obtained, wherein the first preset condition includes the contour information of the target charging port.

[0007] Based on the depth image information and the second preset condition, corrected depth image information is obtained, wherein the second preset condition includes the depth information of the target charging port.

[0008] Based on the corrected color image information and the corrected depth image information, fused image information is obtained;

[0009] Based on the fused image information, it is determined whether the charging port to be detected is the target charging port.

[0010] Optionally, before the step of obtaining the corrected color image information based on the color image information and the first preset condition, the method further includes:

[0011] Obtain information on vehicle charging needs;

[0012] Based on the charging demand information, the type of the target charging port is determined;

[0013] Based on the type of the target charging port, obtain the first preset condition and the second preset condition.

[0014] Optionally, obtaining the corrected color image information based on the color image information and the first preset condition includes:

[0015] Obtain the color target outline distribution information of the target charging port, wherein the color target outline distribution information includes at least one of the relative position, area and perimeter of the minimum enclosing rectangle to which each color target outline belongs;

[0016] Based on the color distribution of the target charging port, obtain the color target contour distribution information of the color image information;

[0017] Obtain the first matching result of the color target contour distribution information of the color image information and the color target contour distribution information of the target charging port;

[0018] Based on the first matching result, the corrected color image information is obtained.

[0019] Optionally, obtaining the corrected depth image information based on the depth image information and the second preset condition includes:

[0020] Obtain the depth target contour distribution information of the target charging port, wherein the depth target contour distribution information includes at least one of the relative position, depth, area and perimeter of the minimum enclosing rectangle to which each depth target contour belongs;

[0021] Based on the depth distribution of the target charging port, the depth target contour distribution information of the depth image information is obtained;

[0022] A second matching result is obtained between the depth target contour distribution information of the depth image information and the depth target contour distribution information of the target charging port;

[0023] Based on the second matching result, the corrected depth image information is obtained.

[0024] Optionally, acquiring the image information of the charging port to be detected includes:

[0025] Obtain the model information of the vehicle;

[0026] Obtain the current location information of the vehicle;

[0027] Based on the model information and the current location information, the location of the charging port to be detected for the vehicle is determined;

[0028] Based on the location of the charging port to be detected, obtain the image information of the charging port to be detected.

[0029] Optionally, obtaining the fused image information based on the corrected color image information and the corrected depth image information includes:

[0030] Obtain the overlap distribution information of the corrected color image information and the corrected depth image information;

[0031] Based on the overlap distribution information, when the overlap is higher than the preset overlap, the overlapping image information is obtained.

[0032] The fused image information is obtained based on the overlapping image information.

[0033] Optionally, determining whether the charging port to be detected is the target charging port based on the fused image information includes:

[0034] Acquire image information of the target charging port;

[0035] Based on the fused image information and the image information of the target charging port, it is determined whether the charging port to be detected is the target charging port.

[0036] Secondly, the present invention also provides a vehicle charging port identification device, comprising:

[0037] The image acquisition module is used to acquire image information of the charging port to be detected, wherein the image information includes color image information and depth image information of the charging port to be detected;

[0038] A color processing module is used to obtain corrected color image information based on the color image information and a first preset condition, wherein the first preset condition includes the contour information of the target charging port.

[0039] A depth processing module is used to obtain corrected depth image information based on the depth image information and a second preset condition, wherein the second preset condition includes the depth information of the target charging port;

[0040] An image fusion module is used to obtain fused image information based on the corrected color image information and the corrected depth image information;

[0041] The judgment module is used to determine whether the charging port to be detected is the target charging port based on the fused image information.

[0042] Thirdly, the present invention also provides an electronic device, including a memory and a processor, wherein the processor is configured to execute a computer program stored in the memory to implement the steps of the vehicle charging port identification method as described in any of the first aspects above.

[0043] Fourthly, the present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the vehicle charging port identification method as described in any of the first aspects above.

[0044] As can be seen from the above technical solutions, the present invention provides a vehicle charging port identification method and related equipment, including: acquiring image information of a charging port to be detected, wherein the image information includes color image information and depth image information of the charging port to be detected; acquiring corrected color image information based on the color image information and a first preset condition, wherein the first preset condition includes contour information of the target charging port; acquiring corrected depth image information according to the depth image information and a second preset condition, wherein the second preset condition includes depth information of the target charging port; acquiring fused image information based on the corrected color image information and the corrected depth image information; and determining whether the charging port to be detected is the target charging port according to the fused image information. Because current vehicle charging port identification methods determine the charging port location solely based on the vehicle's location, there are problems such as reduced accuracy in charging port identification, impacting charging quality, causing energy waste, and affecting the flexibility and practicality of charging port identification. The embodiments of this application acquire image information of the charging port to be detected, correct the image information according to the first preset condition and the second preset condition to obtain corrected color image information and corrected depth image information, so as to exclude the image of non-target charging port parts, and obtain fused image information based on the corrected color image information and corrected depth image information to exclude the part of the corrected color image information and corrected depth image information where the color and depth do not match. Based on the fused image information, it is determined whether the charging port to be detected is the target charging port, which can improve the accuracy of charging port identification, and thus improve the quality and efficiency of charging. Attached Figure Description

[0045] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 A schematic flowchart illustrating a vehicle charging port identification method provided in an embodiment of this application;

[0047] Figure 2 A schematic structural diagram of a vehicle charging port identification device provided in an embodiment of this application;

[0048] Figure 3 A schematic structural diagram of an electronic device provided in an embodiment of this application;

[0049] Figure 4 This is a schematic structural diagram of a computer-readable storage medium provided in an embodiment of this application. Detailed Implementation

[0050] The embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described below do not represent all embodiments consistent with this application. They are merely examples of systems and methods consistent with some aspects of this application as detailed in the claims. In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways, and the apparatus embodiments described below are merely exemplary.

[0051] like Figure 1 As shown in the figure, this application provides a vehicle charging port identification method. The execution subject of this method can be a server or a controller, etc., and the method includes:

[0052] Step S110: Obtain image information of the charging port to be detected, wherein the image information includes color image information and depth image information of the charging port to be detected.

[0053] For example, color image information and depth image information of the charging port to be detected can be acquired by a 3D camera.

[0054] Step S120: Based on the above color image information and the first preset condition, obtain corrected color image information, wherein the above first preset condition includes the contour information of the target charging port.

[0055] For example, before obtaining the corrected color image, Gaussian filtering can be applied to the image to reduce noise, and dilation and erosion can be performed to remove noise from the color image. Contour detection can be performed on the color image to obtain its contour information. Contour information that clearly does not meet the first preset condition can be removed based on at least one of the positional relationship of the contours and the degree of matching between the contours in the color image and the first preset condition, in order to obtain the corrected color image information.

[0056] Step S130: Obtain corrected depth image information based on the aforementioned depth image information and the second preset condition, wherein the aforementioned second preset condition includes the depth information of the aforementioned target charging port.

[0057] For example, before the step of obtaining the corrected depth image information described above, dilation and erosion can be performed on the image to remove noise from the color image. Contour information with similar depth values ​​in the depth image can be extracted from regions with similar depth values ​​in the depth image. Contour information that obviously does not meet the second preset condition can be removed based on at least one of the positional relationship of each contour and the degree of matching between the contours in the depth image and the second preset condition, so as to obtain the corrected depth image information.

[0058] Step S140: Based on the above-mentioned corrected color image information and the above-mentioned corrected depth image information, obtain fused image information.

[0059] Step S150: Based on the above fused image information, determine whether the above-mentioned charging port to be detected is the above-mentioned target charging port.

[0060] By acquiring image information of the charging port to be detected, and correcting the image information according to the first and second preset conditions, corrected color image information and corrected depth image information are obtained to exclude images of non-target charging ports. Then, fused image information is obtained based on the corrected color image information and corrected depth image information to exclude images in the corrected color image information and corrected depth image information where the color and depth do not match. Based on the fused image information, it is determined whether the charging port to be detected is the target charging port, which can improve the accuracy of charging port identification and thus improve the quality and efficiency of charging.

[0061] According to some embodiments, before the step of obtaining the corrected color image information based on the above-mentioned color image information and the first preset condition, the method further includes:

[0062] Obtain information on vehicle charging needs;

[0063] Based on the above charging demand information, the type of the target charging port is determined.

[0064] Based on the type of the target charging port, obtain the first preset condition and the second preset condition.

[0065] For example, the charging demand information mentioned above can be a charging command received through the charging device, wherein the charging demand information may include fast charging demand and slow charging demand. The target charging port mentioned above may include a fast charging port and a slow charging port.

[0066] By acquiring the vehicle's charging demand information, the target charging port can be more accurately identified when the vehicle has at least two charging ports. This allows for a more precise determination of the first and second preset conditions, improving the practicality and accuracy of the vehicle charging port identification method.

[0067] According to some embodiments, obtaining corrected color image information based on the aforementioned color image information and the first preset condition includes:

[0068] Obtain the color target outline distribution information of the above-mentioned target charging port, wherein the color target outline distribution information includes at least one of the relative position, area and perimeter of the minimum enclosing rectangle to which each color target outline belongs;

[0069] Based on the color distribution of the target charging port, obtain the color target contour distribution information of the color image information.

[0070] Obtain the first matching result of the color target contour distribution information of the above-mentioned color image information and the color target contour distribution information of the above-mentioned target charging port;

[0071] Based on the first matching result, the corrected color image information is obtained.

[0072] For example, contour detection can be performed on the color image information of the target charging port to obtain the minimum bounding rectangle to which each color target contour belongs, wherein the minimum bounding rectangle is obtained after fitting the contour. Image processing algorithms can be used to obtain at least one of the area information, perimeter information, and relative positional relationship of each contour in the image of the minimum bounding rectangle. Image processing can be performed on the color image information to obtain at least one of the area information, perimeter information, and relative positional relationship of each contour in the image of the minimum bounding rectangle to which each contour belongs.

[0073] For example, based on the color target contour distribution information of the target charging port, a first preset color area threshold, a second preset color area threshold, a first preset color perimeter threshold, a second preset color perimeter threshold, and their relative positional relationships of the minimum bounding rectangles to which each contour belongs in the target charging port can be determined, wherein the first preset color area threshold is greater than the second preset color area threshold, and the first preset color perimeter threshold is greater than the second preset color perimeter threshold. Contours corresponding to the minimum bounding rectangles can be removed if the area of ​​the minimum bounding rectangle to which each contour belongs in the color image information is greater than the first preset color area threshold or less than the second preset color area threshold. Contours corresponding to the minimum bounding rectangles can be removed if the perimeter of the minimum bounding rectangle to which each contour belongs in the color image information is greater than the first preset color area threshold or less than the second preset color perimeter threshold. The relative positions of the minimum bounding rectangles to which each contour belongs in the color image information after removing the contours corresponding to the minimum bounding rectangles can be matched based on the relative positions of the color target contours of the target charging port, thereby removing contours corresponding to obviously mismatched minimum bounding rectangles.

[0074] Contour matching using the minimum bounding rectangle avoids issues caused by poor image quality. Directly acquiring the image contour can lead to the removal of correct contours and the retention of incorrect ones due to problems such as blurred contour edges or distortion. By matching the relative position, area, and perimeter of the minimum bounding rectangle, contours that are obviously too large, too small, or have incorrect positional relationships can be removed, thereby improving the accuracy and practicality of charging port recognition.

[0075] According to some embodiments, obtaining corrected depth image information based on the aforementioned depth image information and the second preset condition includes:

[0076] Obtain the depth target contour distribution information of the above-mentioned target charging port, the depth target contour distribution information including at least one of the relative position, depth, area and perimeter of the minimum enclosing rectangle to which each depth target contour belongs;

[0077] Based on the depth distribution of the target charging port, the depth target contour distribution information of the depth image information is obtained.

[0078] The second matching result is obtained by acquiring the depth target contour distribution information of the aforementioned depth image information and the depth target contour distribution information of the aforementioned target charging port;

[0079] Based on the second matching result, the corrected depth image information is obtained.

[0080] Contour matching using the minimum bounding rectangle avoids issues caused by poor image quality. Directly acquiring the image contour can lead to the removal of correct contours and the retention of incorrect ones due to problems such as blurred contour edges or distortion. By matching the relative position, area, and perimeter of the minimum bounding rectangle, contours that are too far apart, too close, or have incorrect positional relationships can be removed, thereby improving the accuracy and practicality of charging port recognition.

[0081] According to some embodiments, the above-mentioned acquisition of image information of the charging port to be detected includes:

[0082] Obtain the model information of the aforementioned vehicles;

[0083] Obtain the current location information of the aforementioned vehicles;

[0084] Based on the above model information and the above current location information, the location of the charging port to be tested for the above vehicle is determined;

[0085] Based on the location of the charging port to be detected, obtain the image information of the charging port to be detected.

[0086] For example, the vehicle model information can be determined through the registration information of the smart terminal associated with the vehicle, or through the vehicle's feature information acquired by the image acquisition device. For example, the vehicle's orientation and other information can be determined based on the image information of the vehicle acquired by the image acquisition device. The position of the vehicle's charging port relative to the image acquisition device can be determined by combining the vehicle's model information and orientation information, and the image information of the vehicle's charging port can be obtained through the image acquisition device.

[0087] Because the vehicle model information and current location information are different, the actual location of the vehicle's charging port will be different. Therefore, determining the location of the charging port to be detected based on the model information and current location information can improve the image information acquisition quality of the vehicle's charging port, avoid low image quality and the need for multiple determinations, and thus improve the efficiency and quality of charging port recognition.

[0088] According to some embodiments, obtaining fused image information based on the corrected color image information and the corrected depth image information includes:

[0089] Obtain the overlap distribution information of the above-mentioned corrected color image information and the above-mentioned corrected depth image information;

[0090] Based on the above overlap distribution information, when the overlap is higher than the preset overlap, the overlapping image information is obtained.

[0091] Based on the overlapping image information, the fused image information is obtained.

[0092] For example, the corrected color image information and corrected depth image information can be processed using the IOU (Intersection over Union) algorithm to obtain the IOU information. Based on this IOU information and the positions of each contour, the overlap distribution information of the color image information and depth image information can be determined. A preset overlap degree between the color image information and depth image information can be determined based on the historical usage information of the image acquisition device. Color-overlapping image information can be determined if the overlap degree of the color image information is greater than the preset overlap degree. Depth-overlapping image information can be determined if the overlap degree of the depth image information is greater than the preset overlap degree. Fused image information can be obtained based on the contours if the IOU of the contours at the same position of the color-overlapping image information and the depth-overlapping image information is greater than the IOU threshold.

[0093] By calculating the overlap between the corrected color image information and the corrected depth image information, and filtering the overlap based on a preset overlap, overlapping image information is obtained. Based on the position of each contour in the overlapping image information, fused image information is obtained, which can improve the quality of the fused image and thus improve the accuracy of charging port recognition.

[0094] According to some embodiments, determining whether the charging port to be detected is the target charging port based on the fused image information includes:

[0095] Obtain the image information of the target charging port mentioned above;

[0096] Based on the fused image information and the image information of the target charging port, it is determined whether the charging port to be detected is the target charging port.

[0097] For example, based on the degree of matching between the fused image information and the target charging port, a preset matching degree can be determined based on the historical usage information of the image acquisition device. If the matching degree is greater than or equal to the preset matching degree, the charging port to be detected can be determined to be the target charging port. If the matching degree is less than the preset matching degree, the charging port to be detected can be determined not to be the target charging port.

[0098] By matching the fused image information with the image information of the target charging port, the quality and efficiency of image matching can be improved, thereby enhancing the accuracy and practicality of charging port identification.

[0099] like Figure 2 As shown, Figure 2 This is a schematic structural diagram of a vehicle charging port identification device provided in an embodiment of this application.

[0100] This application provides a vehicle charging port identification device 200, which includes:

[0101] The image acquisition module 201 is used to acquire image information of the charging port to be detected, wherein the image information includes color image information and depth image information of the charging port to be detected;

[0102] The color processing module 202 is used to obtain corrected color image information 203 based on the above-mentioned color image information and the first preset conditions, wherein the above-mentioned first preset conditions include the contour information of the target charging port.

[0103] The depth processing module 204 is used to obtain corrected depth image information based on the aforementioned depth image information and the second preset condition, wherein the aforementioned second preset condition includes the depth information of the target charging port.

[0104] The image fusion module 205 is used to obtain fused image information based on the above-mentioned corrected color image information and the above-mentioned corrected depth image information;

[0105] The judgment module 206 is used to determine whether the above-mentioned charging port to be detected is the above-mentioned target charging port based on the above-mentioned fused image information.

[0106] A vehicle charging port identification device 200 can achieve Figure 1 The various processes implemented in the method embodiments are not described in detail here to avoid repetition.

[0107] Please see Figure 3 , Figure 3 This is a schematic structural diagram of an electronic device provided in an embodiment of this application.

[0108] This application provides an electronic device 300, including a memory 310, a processor 320, and a computer program 311 stored in the memory 310 and executable on the processor 320. When the processor 320 executes the computer program 311, it performs the following steps:

[0109] Acquire image information of the charging port to be detected, wherein the image information includes color image information and depth image information of the charging port to be detected;

[0110] Based on the above color image information and the first preset condition, corrected color image information is obtained, wherein the above first preset condition includes the contour information of the target charging port.

[0111] Based on the aforementioned depth image information and the second preset condition, corrected depth image information is obtained, wherein the aforementioned second preset condition includes the depth information of the aforementioned target charging port.

[0112] Based on the above-mentioned corrected color image information and the above-mentioned corrected depth image information, the fused image information is obtained;

[0113] Based on the fused image information, it is determined whether the charging port to be detected is the target charging port.

[0114] In practical implementation, when the processor 320 executes the computer program 311, it can achieve... Figure 1 Any of the corresponding implementation methods in the embodiments.

[0115] Since the electronic device described in this embodiment is a device used to implement a device in the embodiments of this application, those skilled in the art can understand the specific implementation method and various variations of the electronic device in this embodiment based on the method described in the embodiments of this application. Therefore, how the electronic device implements the method in the embodiments of this application will not be described in detail here. Any device used by those skilled in the art to implement the method in the embodiments of this application falls within the scope of protection of this application.

[0116] like Figure 4 As shown, Figure 4 This is a schematic structural diagram of a computer-readable storage medium provided in an embodiment of this application.

[0117] This embodiment provides a computer-readable storage medium 400 on which a computer program 411 is stored. When the computer program 411 is executed by a processor, it performs the following steps:

[0118] Acquire image information of the charging port to be detected, wherein the image information includes color image information and depth image information of the charging port to be detected;

[0119] Based on the above color image information and the first preset condition, corrected color image information is obtained, wherein the above first preset condition includes the contour information of the target charging port.

[0120] Based on the aforementioned depth image information and the second preset condition, corrected depth image information is obtained, wherein the aforementioned second preset condition includes the depth information of the aforementioned target charging port.

[0121] Based on the above-mentioned corrected color image information and the above-mentioned corrected depth image information, the fused image information is obtained;

[0122] Based on the fused image information, it is determined whether the charging port to be detected is the target charging port.

[0123] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0124] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0125] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0126] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0127] This application also provides a computer program product, which includes computer software instructions that, when executed on a processing device, cause the processing device to perform actions such as... Figure 1 The process of the vehicle charging port identification method in the corresponding embodiment.

[0128] The aforementioned computer program product includes one or more computer instructions. When the aforementioned computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The aforementioned computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The aforementioned computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the aforementioned computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The aforementioned computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or data center that integrates one or more available media. The aforementioned available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state disks (SSDs)).

[0129] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0130] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units through some interfaces, and may be electrical, mechanical, or other forms.

[0131] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0132] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0133] If the aforementioned integrated units are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0134] In summary, the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A vehicle charging inlet recognition method, characterized by, The method comprises: acquiring image information of a to-be-detected charging port, wherein the image information comprises color image information and depth image information of the to-be-detected charging port; acquiring corrected color image information based on the color image information and a first preset condition, wherein the first preset condition comprises contour information of a target charging port, acquiring corrected depth image information based on the depth image information and a second preset condition, wherein the second preset condition comprises depth information of the target charging port, acquiring fusion image information based on the corrected color image information and the corrected depth image information; judging whether the to-be-detected charging port is the target charging port according to the fusion image information; wherein the acquiring of the fusion image information based on the corrected color image information and the corrected depth image information comprises: processing the corrected color image information and the corrected depth image information through an IOU intersection-over-union algorithm to acquire intersection-over-union information of the corrected color image information and the corrected depth image information; determining overlap degree distribution information of the color image information and the depth image information according to positions of each contour; determining a preset overlap degree of the color image information and the depth image information according to historical use information of an image acquisition device; determining color overlap image information in a case where the overlap degree of the color image information is greater than the preset overlap degree of the color image information; determining depth overlap image information in a case where the overlap degree of the depth image information is greater than the preset overlap degree of the depth image information; acquiring fusion image information according to a contour in a case where an intersection-over-union ratio of the contour at the same position of the color overlap image information and the depth overlap image information is greater than an intersection-over-union ratio threshold.

2. The vehicle charge port identification method of claim 1, wherein, Before the step of acquiring corrected color image information based on the color image information and a first preset condition, the method further comprises: acquiring charging demand information of a vehicle; determining a type of the target charging port based on the charging demand information; acquiring the first preset condition and the second preset condition according to the type of the target charging port.

3. The vehicle charge port identification method of claim 1, wherein, The acquiring of the corrected color image information based on the color image information and a first preset condition comprises: acquiring color target contour distribution information of the target charging port, wherein the color target contour distribution information comprises at least one of a relative position, an area, and a perimeter of a minimum enclosing rectangle to which each color target contour belongs; acquiring color target contour distribution information of the color image information based on color distribution of the target charging port; acquiring a first matching result of the color target contour distribution information of the color image information and the color target contour distribution information of the target charging port; acquiring the corrected color image information according to the first matching result.

4. The vehicle charge port identification method of claim 1, wherein, The acquiring of the corrected depth image information based on the depth image information and a second preset condition comprises: acquiring depth target contour distribution information of the target charging port, wherein the depth target contour distribution information comprises at least one of a relative position, a depth, an area, and a perimeter of a minimum enclosing rectangle to which each depth target contour belongs; obtain, based on the depth distribution of the target charging port, depth target contour distribution information of the depth image information; obtain a second matching result of the depth target contour distribution information of the depth image information and the depth target contour distribution information of the target charging port; obtain the corrected depth image information according to the second matching result.

5. The vehicle charge port identification method of claim 1, wherein, The image information of the charging port to be detected is obtained, including: obtain the model information of the vehicle; obtain the current location information of the vehicle; determine the charging port position to be detected of the vehicle based on the model information and the current location information; obtain the image information of the charging port to be detected according to the charging port position to be detected.

6. The vehicle charge port identification method of claim 1, wherein, The image information of the target charging port is obtained, including: obtain the image information of the target charging port; determine whether the charging port to be detected is the target charging port based on the fusion image information and the image information of the target charging port.

7. A vehicle charging port identification apparatus, characterized by comprising: The vehicle charging port identification device for executing the vehicle charging port identification method as claimed in any one of claims 1 to 6, comprising: an image acquisition module, configured to obtain image information of a charging port to be detected, wherein the image information comprises color image information and depth image information of the charging port to be detected; a color processing module, configured to obtain corrected color image information based on the color image information and a first preset condition, wherein the first preset condition comprises contour information of a target charging port; a depth processing module, configured to obtain corrected depth image information according to the depth image information and a second preset condition, wherein the second preset condition comprises depth information of the target charging port; an image fusion module, configured to obtain fusion image information based on the corrected color image information and the corrected depth image information; a determination module, configured to determine whether the charging port to be detected is the target charging port according to the fusion image information. The image information of the target charging port is obtained, including: the corrected color image information and the corrected depth image information are processed through an IOU intersection over union algorithm to obtain intersection over union information of the corrected color image information and the corrected depth image information; the coincidence degree distribution information of the color image information and the depth image information is determined according to the intersection over union information and the position of each contour; the preset coincidence degree of the color image information and the depth image information is determined according to historical use information of an image acquisition device; color coincidence image information is determined in a case where the coincidence degree of the color image information is greater than the preset coincidence degree of the color image information; depth coincidence image information is determined in a case where the coincidence degree of the depth image information is greater than the preset coincidence degree of the depth image information; fusion image information is obtained according to the contour in a case where the intersection over union of the contour at the same position of the color coincidence image information and the depth coincidence image information is greater than an intersection over union threshold.

8. An electronic device comprising a memory, a processor, characterized in that, The processor is configured to implement the steps of the vehicle charging port identification method as claimed in any one of claims 1 to 6 when executing the computer program stored in the memory.

9. A computer readable storage medium having stored thereon a computer program, characterized in that: The computer program, when executed by the processor, is configured to implement the steps of the vehicle charging port identification method as claimed in any one of claims 1 to 6.

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