An AGV automatic charging control method, a charging system and related equipment

Abstract

The application provides an AGV automatic charging control method, a charging system and related equipment, and relates to the technical field of AGV control. The AGV automatic charging control method comprises the following steps: acquiring the position of a charging plate, the first distance and the first rotation angle between the AGV and the charging pile according to the charging pile image; acquiring the second rotation angle according to the position of the charging plate; acquiring the third rotation angle according to the first rotation angle and the second rotation angle; and controlling the AGV to be connected with the charging plate according to the first distance and the third rotation angle. The application solves the problem that the AGV cannot normally contact the charging plate due to angle deviation, and ensures that the AGV can be normally charged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of AGV control, in particular to an AGV automatic charging control method, a charging system and related equipment. BACKGROUND

[0002] AGV is widely used in various industries as an automatic transportation carrier. In order to enable AGV to move freely, AGV generally carries a battery. However, the battery has limited capacity. In order to ensure normal use, AGV is required to return to the charging pile for charging. For the charging pile provided with a charging plate (i.e. the charging interface is plate-shaped), referring to the attached Figure 2 , the contact plate of the AGV only needs to be in contact with the charging plate to realize charging (different from the plug-in connection mode). However, in actual application, the AGV may not be in contact with the charging plate due to angle deviation, or the AGV may form a line contact or a point contact with the charging plate, thereby causing the AGV to be unable to be charged, or causing an accident due to poor contact.

[0003] At present, there is no effective technical solution to the above problems. SUMMARY

[0004] The present application aims to provide an AGV automatic charging control method, a charging system and related equipment, which solves the problem of AGV not being in normal contact with the charging plate due to angle deviation, and ensures that the AGV can be normally charged.

[0005] In a first aspect, the present application provides an AGV automatic charging control method applied to a control system of an AGV, comprising the following steps:

[0006] S1. Obtaining the position of a charging plate, and a first distance and a first rotation angle between the AGV and the charging pile according to a charging pile image;

[0007] S2. Obtaining a second rotation angle according to the position of the charging plate;

[0008] S3. Obtaining a third rotation angle according to the first rotation angle and the second rotation angle;

[0009] S4. Controlling the AGV to be connected with the charging plate according to the first distance and the third rotation angle.

[0010] The AGV automatic charging control method of the present application can effectively ensure that the AGV is in normal contact with the charging plate of the charging pile, so as to ensure that the AGV can be automatically charged and accidents caused by poor contact can be avoided.

[0011] Further, the specific steps in step S1 include:

[0012] S11. Circulatingly performing the following steps:

[0013] S111. Obtaining first point cloud data of the charging pile;

[0014] S112. Performing ICP matching on the first point cloud data according to a preset point cloud template to obtain a second distance between the AGV and the charging pile and a fourth rotation angle;

[0015] S113. Controlling the AGV to move according to the second distance and the fourth rotation angle and obtaining a charging pile image;

[0016] S114. When the charging pile image contains an image of the charging plate, controlling the AGV to stop moving and obtaining a position of the charging plate according to the charging pile image, taking the second distance as the first distance, and taking the fourth rotation angle as the first rotation angle, and ending the circulation;

[0017] S115. When the charging pile image does not contain an image of the charging plate, returning to perform step S111.

[0018] Further, the specific steps in step S111 include:

[0019] S1111. Navigating the AGV to a position at a preset distance from the charging pile;

[0020] S1112. Obtaining second point cloud data of a current area;

[0021] S1113. Performing band-pass filtering on the second point cloud data to remove background point clouds to obtain third point cloud data;

[0022] S1114. Clustering and classifying the third point cloud data by using a point cloud clustering algorithm to obtain the first point cloud data.

[0023] When performing ICP matching subsequently, the interference caused by irrelevant point clouds can be effectively reduced, and the calculation accuracy is ensured.

[0024] Further, the specific steps in step S114 include:

[0025] S1141. Performing template matching on the charging pile image according to a preset charging plate template to obtain the position of the charging plate.

[0026] By using the template matching technology, the rotation angle can be more accurately calculated, so as to ensure that the AGV can normally contact the charging pile and realize normal charging.

[0027] Further, before step S11, there is also a step:

[0028] S121. According to a preset nameplate template, image matching is performed on the charging pile image to obtain a matching result; the matching result includes correct and incorrect;

[0029] S122. When the matching result is correct, step S11 is executed;

[0030] S123. When the matching result is incorrect, the AGV car is controlled to move to the next charging pile and step S121 is re-executed.

[0031] Ensure that the power output of the charging pile meets the charging input of the AGV, avoid long charging time or avoid damaging the AGV car.

[0032] In a second aspect, the present application provides a charging system comprising an AGV car and a charging pile, the AGV car being used to execute the steps in the AGV car automatic charging control method described above;

[0033] The AGV car is provided with a contact plate, which is used for charging; the charging pile is provided with a charging plate, the area of the charging plate being greater than the area of the contact plate and being used for power supply; the charging pile forms a surface contact with the contact plate through the charging plate to charge the AGV car.

[0034] The charging plate has a large area, and the AGV car charging is realized by the contact plate and the charging plate adhering to each other, which is easier to control than the plug-in charging method, and the data processing amount is less in the control process.

[0035] In a third aspect, the present application provides an AGV car automatic charging control device, which is applied to the control system of the AGV car, comprising:

[0036] A first acquisition module is used to acquire the position of the charging plate, and the first distance and the first rotation angle between the AGV car and the charging pile according to the charging pile image;

[0037] A second acquisition module is used to acquire the second rotation angle according to the position of the charging plate;

[0038] A third acquisition module is used to acquire the third rotation angle according to the first rotation angle and the second rotation angle;

[0039] A control module is used to control the connection between the AGV car and the charging plate according to the first distance and the third rotation angle.

[0040] The AGV automatic charging control device provided by the application can effectively avoid the problem that the AGV cannot be charged due to the failure to correctly contact the charging plate when the AGV passes through the charging pile for charging, or the problem that an accident is caused due to poor contact with the charging plate.

[0041] Further, the first acquisition module is configured to acquire the position of the charging plate, the first distance between the AGV and the charging pile, and the first rotation angle when the charging pile image is acquired.

[0042] S11. The following steps are cyclically executed:

[0043] S111. The first point cloud data of the charging pile is acquired.

[0044] S112. The first point cloud data is subjected to ICP matching according to a preset point cloud template to acquire the second distance between the AGV and the charging pile and the fourth rotation angle.

[0045] S113. The AGV is controlled to move according to the second distance and the fourth rotation angle, and the charging pile image is acquired.

[0046] S114. When the charging pile image contains the image of the charging plate, the AGV is controlled to stop moving, the position of the charging plate is acquired according to the charging pile image, the second distance is taken as the first distance, the fourth rotation angle is taken as the first rotation angle, and the cycle is ended.

[0047] S115. When the charging pile image does not contain the image of the charging plate, the step S111 is returned to be executed.

[0048] In a fourth aspect, the application provides an electronic device, which comprises a processor and a memory, and the memory stores computer readable instructions, when the computer readable instructions are executed by the processor, the steps in the AGV automatic charging control method provided in the first aspect are executed.

[0049] In a fifth aspect, the application provides a computer readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the steps in the AGV automatic charging control method provided in the first aspect are executed.

[0050] As can be seen from the above, the AGV automatic charging control method provided by the application can twice finely adjust the rotation angle of the AGV, ensure that the AGV can smoothly and normally contact the charging plate when the AGV moves according to the finally obtained rotation angle, and thus enable the AGV to normally realize automatic charging, and avoid accidents caused by the AGV and the charging plate forming line contact or point contact.

[0051] Other features and advantages of the present application will be set forth in the description that follows, and in part will be apparent from the description, or can be learned by practice of the application. The purposes and other advantages of the present application will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings. BRIEF DESCRIPTION OF DRAWINGS

[0052] Figure 1 A flow chart of an AGV automatic charging control method provided by an embodiment of the present application.

[0053] Figure 2 A structural schematic diagram of a charging system provided by an embodiment of the present application.

[0054] Figure 3 A structural schematic diagram of an AGV automatic charging control device provided by an embodiment of the present application.

[0055] Figure 4 A structural schematic diagram of an electronic device provided by an embodiment of the present application.

[0056] REFERENCE SIGNS:

[0057] 100, contact plate; 200, charging plate; 300, first acquisition module; 400, second acquisition module; 500, third acquisition module; 600, control module; 13, electronic device; 1301, processor; 1302, memory; 1303, communication bus. DETAILED DESCRIPTION

[0058] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0059] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. Meanwhile, in the description of the present application, the terms “first”, “second”, etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0060] Please refer to Figure 1 ,Figure 1 is a flow chart of an AGV trolley automatic charging control method. The AGV trolley automatic charging control method is applied to a control system of an AGV trolley and includes the following steps:

[0061] S1. Obtain the position of the charging plate, the first distance between the AGV trolley and the charging pile, and the first rotation angle according to the charging pile image;

[0062] S2. Obtain the second rotation angle according to the position of the charging plate;

[0063] S3. Obtain the third rotation angle according to the first rotation angle and the second rotation angle;

[0064] S4. Control the AGV trolley to connect with the charging plate according to the first distance and the third rotation angle.

[0065] In this embodiment, the charging pile is provided with a charging plate 200, and the AGV trolley is provided with a contact plate 100. When the AGV trolley is automatically charged, it will move to a position where the contact plate 100 is aligned with the charging plate 200, and then further move to make the contact plate 100 contact with the charging plate 200 to realize charging of the AGV trolley.

[0066] In addition, a camera is also installed on the AGV trolley to obtain the charging pile image through the camera, and then determine the position of the charging plate, the first distance and the first rotation angle. According to the first rotation angle, the AGV trolley can only be roughly controlled (see below for details), and further, the second rotation angle is obtained according to the position of the charging plate, and a more accurate third rotation angle is calculated through the first rotation angle and the second rotation angle. At this time, the AGV trolley can be accurately controlled according to the third rotation angle, so as to ensure the normal contact between the contact plate 100 and the charging plate 200.

[0067] Further, the specific steps in step S1 include:

[0068] S11. Loop the following steps:

[0069] S111. Obtain the first point cloud data of the charging pile;

[0070] S112. Perform ICP matching on the first point cloud data according to a preset point cloud template to obtain the second distance between the AGV trolley and the charging pile and the fourth rotation angle;

[0071] S113. Control the AGV trolley to move and obtain the charging pile image according to the second distance and the fourth rotation angle;

[0072] S114. When the charging pile image contains an image of the charging plate, the AGV stops moving and obtains the position of the charging plate according to the charging pile image, takes the second distance as the first distance, takes the fourth rotation angle as the first rotation angle, and ends the loop.

[0073] S115. When the charging pile image does not contain an image of the charging plate, return to step S111.

[0074] In the embodiment, in actual application, the AGV is also provided with a laser radar, the first point cloud data of the charging pile is obtained through the laser radar, and the second distance and the fourth rotation angle are calculated through the ICP matching algorithm (the ICP matching algorithm is prior art and will not be described here), so as to control the movement of the AGV. The AGV constantly obtains new first point cloud data and calculates the corresponding second distance and fourth rotation angle during the movement process. At the same time, the AGV also constantly obtains the charging pile image during the movement process. When the charging pile image contains an image of the charging plate, the AGV stops moving. The second distance obtained by the AGV at this position is the first distance, and the fourth rotation angle is the first rotation angle.

[0075] However, the positioning object of the first rotation angle obtained by ICP matching of point cloud data is the entire charging pile, not the charging plate 200. Therefore, when the positioning object is the charging plate 200, the first rotation angle is not accurate enough, and there may be a certain angle deviation, which may cause the contact plate 100 on the AGV to fail to contact the charging plate 200 on the charging pile, and further cause the AGV to fail to charge, or cause the contact plate 100 and the charging plate 200 to form point contact or line contact, and further cause the AGV to fail to contact the charging pile and cause an accident.

[0076] Therefore, the second rotation angle needs to be calculated according to the position of the charging plate. The second rotation angle corrects the first rotation angle, and the corrected first rotation angle is the third rotation angle. At this time, the AGV rotates according to the third rotation angle and then moves according to the first distance, which can ensure that the contact plate 100 can correctly contact the charging plate 200.

[0077] Specifically, the specific steps in step S114 include:

[0078] S1141. According to the preset charging plate template, template matching is performed on the charging pile image to obtain the position of the charging plate.

[0079] In this embodiment, since the charging pile point cloud is dense, it is difficult to continue to match the charging board on the charging pile in the ICP matching mode, therefore, template matching is realized by using an image, and the template matching is realized based on an existing template matching algorithm, which is prior art, and will not be described here again. When the matching is successful, the matching coordinates can be obtained, which are the position of the charging board. Further, the specific steps in step S2 include:

[0080] S21. Calculate the second rotation angle according to the following formula:

[0081] ;

[0082] wherein, is the second rotation angle, is the Y-axis coordinate of the matching coordinates, is the X-axis coordinate of the matching coordinates.

[0083] Further, the specific steps in step S3 include:

[0084] S31. Calculate the third rotation angle according to the following formula:

[0085] ;

[0086] wherein, is the third rotation angle, is the first rotation angle.

[0087] It should be noted that the three-dimensional coordinate system is established with the AGV car as the origin, wherein the X-axis and the Y-axis are located in the horizontal plane, and the distance between the AGV car and the charging pile (i.e., the first distance and the second distance) includes the distance between the AGV car and the charging pile in the X-axis direction and the distance between the AGV car and the charging pile in the Y-axis direction.

[0088] The rotation angle between the AGV car and the charging pile (i.e., the first rotation angle, the third rotation angle, and the fourth rotation angle) refers to the angle between the line connecting the AGV car and the charging pile and the X-axis, or the angle between the line connecting the AGV car and the charging pile and the Y-axis (i.e., the rotation angle around the Z-axis);

[0089] The second rotation angle can be understood as a compensation angle around the Z-axis, which is used to correct the first rotation angle.

[0090] In some embodiments, the specific steps in step S111 include:

[0091] S1111. Navigate the AGV car to a position at a preset distance from the charging pile;

[0092] S1112. Obtain the second point cloud data of the current area;

[0093] S1113. Band-pass filtering the second point cloud data to remove background point clouds to obtain third point cloud data;

[0094] S1114. Clustering and classifying the third point cloud data by using a point cloud clustering algorithm to obtain the first point cloud data.

[0095] In the actual application, the AGV is generally navigated to a distance of about 0.5 m from the charging pile, and then the second point cloud data is obtained. Since the second point cloud data contains background point clouds, it is necessary to remove the point clouds irrelevant to the charging pile by band-pass filtering.

[0096] However, the third point cloud data obtained still contains a large number of noise points near the charging pile. Therefore, the point cloud clustering algorithm is used to further cluster and classify the third point cloud data. Since the point clouds of the charging pile are relatively dense and the number of point clouds is much larger than that of the surrounding noise points, different categories of point cloud clusters can be distinguished after clustering and classification, and the point cloud cluster with the largest number of point clouds is the point cloud of the charging pile. Thus, the first point cloud data can be extracted.

[0097] In some embodiments, the step S11 further includes the following steps:

[0098] S121. Image matching is performed on the charging pile image according to a preset nameplate template to obtain a matching result. The matching result includes correct and incorrect;

[0099] S122. When the matching result is correct, step S11 is executed;

[0100] S123. When the matching result is incorrect, the AGV is controlled to move to the next charging pile and step S121 is re-executed.

[0101] In this embodiment, in order to ensure that the power output of the charging pile meets the charging input of the AGV, image matching of the nameplate is required. By comparing the nameplate image on the charging pile with the nameplate template, it is determined whether the information in the nameplate is consistent, thereby avoiding that the power output of the charging pile is too small to make the AGV charging for too long, or the power output of the charging pile is too large to damage the AGV.

[0102] Please refer to Figure 2 , Figure 2 A structure diagram of a charging system provided by the embodiment of the present application is provided. The charging system includes an AGV and a charging pile. The AGV is used to execute the steps in the AGV automatic charging control method in the above-described embodiments.

[0103] The AGV trolley is provided with a contact plate 100 used for charging; the charging pile is provided with a charging plate 200, the area of the charging plate 200 is greater than that of the contact plate 100 and is used for power supply; the charging pile forms surface contact with the contact plate 100 through the charging plate 200 to charge the AGV trolley.

[0104] In the embodiment, the AGV trolley realizes charging by moving and rotating to make the contact plate 100 and the charging plate 200 adhere to contact, meanwhile, the charging plate 200 has a large area, and the contact plate 100 can be charged when contacting the charging plate 200 at any position on the charging plate 200, therefore, on the one hand, when performing the steps in the AGV trolley automatic charging control method in the above embodiment, the first distance does not need to be corrected, only the rotating angle of the AGV trolley needs to be made to make the charging plate 200 and the contact plate 100 form surface contact to ensure that the AGV trolley can be normally charged, and accidents caused by poor contact are avoided; on the other hand, it is easier to control the AGV trolley to realize automatic charging, only the correction of the rotating angle is involved in the control process, and the distance between the AGV trolley and the charging pile does not need to be corrected, therefore, the amount of data to be processed in the control process is reduced, faster processing speed and response speed are realized.

[0105] Please refer to Figure 3 , Figure 3 The AGV trolley automatic charging control device in some embodiments of the application is applied to the control system of the AGV trolley, and is integrated in the back-end control equipment in the form of a computer program, and comprises:

[0106] The first acquisition module 300 is used for acquiring the position of the charging plate, and the first distance and the first rotating angle between the AGV trolley and the charging pile according to the charging pile image;

[0107] The second acquisition module 400 is used for acquiring the second rotating angle according to the position of the charging plate;

[0108] The third acquisition module 500 is used for acquiring the third rotating angle according to the first rotating angle and the second rotating angle;

[0109] The control module 600 is used for controlling the AGV trolley to connect with the charging plate according to the first distance and the third rotating angle.

[0110] In some embodiments, the first acquisition module 300 performs the following steps when acquiring the position of the charging plate, and the first distance and the first rotating angle between the AGV trolley and the charging pile according to the charging pile image:

[0111] S11. The following steps are cyclically executed:

[0112] S111. Obtain first point cloud data of the charging pile;

[0113] S112. Perform ICP matching on the first point cloud data according to a preset point cloud template to obtain a second distance between the AGV and the charging pile and a fourth rotation angle;

[0114] S113. Control the AGV to move according to the second distance and the fourth rotation angle and obtain a charging pile image;

[0115] S114. When the charging pile image contains an image of a charging plate, control the AGV to stop moving and obtain a position of the charging plate according to the charging pile image, take the second distance as a first distance, and take the fourth rotation angle as a first rotation angle, and end the loop;

[0116] S115. When the charging pile image does not contain an image of a charging plate, return to step S111.

[0117] In some embodiments, the first obtaining module 300 performs the following when obtaining the first point cloud data of the charging pile:

[0118] S1111. Navigate the AGV to a position at a preset distance from the charging pile;

[0119] S1112. Obtain second point cloud data of a current area;

[0120] S1113. Perform band-pass filtering on the second point cloud data to remove background point clouds to obtain third point cloud data;

[0121] S1114. Cluster and classify the third point cloud data using a point cloud clustering algorithm to obtain the first point cloud data.

[0122] In some embodiments, the first obtaining module 300 performs the following when performing step S114:

[0123] S1141. Perform template matching on the charging pile image according to a preset charging plate template to obtain a position of the charging plate.

[0124] In some embodiments, the first obtaining module 300 further performs the following before performing step S11:

[0125] S121. Perform image matching on the charging pile image according to a preset nameplate template to obtain a matching result; the matching result includes correct and incorrect;

[0126] S122. When the matching result is correct, perform step S11;

[0127] S123. When the matching result is incorrect, control the AGV to move to the next charging pile and re-perform step S121.

[0128] Reference is made to Figure 4 , Figure 4 A structural schematic diagram of an electronic device provided by an embodiment of the present application is provided, and the electronic device 13 comprises a processor 1301 and a memory 1302. The processor 1301 and the memory 1302 are interconnected and communicate with each other through a communication bus 1303 and / or other forms of connection mechanism (not shown). The memory 1302 stores computer readable instructions executable by the processor 1301. When the electronic device is running, the processor 1301 executes the computer readable instructions to execute the AGV trolley automatic charging control method in any optional implementation manner of the above-mentioned embodiments, so as to realize the following functions: acquiring the position of the charging plate and the first distance and the first rotation angle between the AGV trolley and the charging pile according to the charging pile image; acquiring the second rotation angle according to the position of the charging plate; acquiring the third rotation angle according to the first rotation angle and the second rotation angle; and controlling the AGV trolley to be connected with the charging plate according to the first distance and the third rotation angle.

[0129] The embodiment of the present application provides a computer readable storage medium. When a computer program is executed by a processor, the AGV trolley automatic charging control method in any optional implementation manner of the above-mentioned embodiments is executed, so as to realize the following functions: acquiring the position of the charging plate and the first distance and the first rotation angle between the AGV trolley and the charging pile according to the charging pile image; acquiring the second rotation angle according to the position of the charging plate; acquiring the third rotation angle according to the first rotation angle and the second rotation angle; and controlling the AGV trolley to be connected with the charging plate according to the first distance and the third rotation angle.

[0130] The computer readable storage medium can be realized by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0131] In the embodiments of the present application, it should be understood that the disclosed apparatus and method can be implemented in other manners. The embodiments described above are merely exemplary, for example, the division of the units is only a logical function division, and there can be another division manner in actual implementation; for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0132] In addition, the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments of the present application.

[0133] In addition, the various functional modules in the various embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0134] In this article, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0135] The above description is only some embodiments of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An automatic charging control method for an AGV, applied to the control system of an AGV, characterized in that: The following steps are involved: S1 obtains the position of the charging plate according to the charging pile image, as well as the first distance and first rotation angle between the AGV car and the charging pile; S2 obtains a second rotation angle according to the position of the charging plate; S3. According to the first rotation angle and the second rotation angle, obtaining a third rotation angle; S4. Controlling the AGV to connect to the charging plate based on the first distance and the third rotation angle; The specific steps in step S1 include: S11. Loop through the following steps: S111. Obtaining first point cloud data of the charging pile; S112. Performing ICP matching on the first point cloud data according to a preset point cloud template to obtain a second distance and a fourth rotation angle between the AGV and the charging pile; S113. Control the movement of the AGV and acquire an image of the charging pile according to the second distance and the fourth rotation angle; S114. When the charging pile image includes the image of the charging plate, control the AGV to stop moving and obtain the position of the charging plate based on the charging pile image, use the second distance as the first distance, and use the fourth rotation angle as the first rotation angle, and end the loop; S115. When the image of the charging pile does not include the image of the charging plate, return to step S111.

2. The AGV automatic charging control method according to claim 1 is characterized in that: The specific steps in step S111 include: S1111. Navigate the AGV to a location at a preset distance from the charging station; S1112. Obtain the second point cloud data of the current area; S1113. Performing bandpass filtering on the second point cloud data to remove background point clouds to obtain third point cloud data; S1114. Use a point cloud clustering algorithm to cluster and classify the third point cloud data to obtain the first point cloud data.

3. The AGV automatic charging control method according to claim 1 is characterized in that: The specific steps in step S114 include: S1141. Perform template matching on the charging pile image according to a preset charging plate template to obtain the position of the charging plate.

4. The AGV automatic charging control method according to claim 1, characterized in that: Before step S11, the method further includes the following steps: S121. Perform image matching on the charging pile image according to the preset nameplate template to obtain a matching result; the matching result includes correct and incorrect results; S122. When the matching result is correct, execute step S11; S123. When the matching result is incorrect, control the AGV to move to the next charging pile and re-execute step S121.

5. A charging system, characterized in that: The AGV comprises an AGV and a charging pile, wherein the AGV is used to perform the steps of the AGV automatic charging control method according to any one of claims 1 to 4 above; The AGV trolley is provided with a contact plate (100), and the contact plate (100) is used for charging; the charging pile is provided with a charging plate (200), the area of ​​the charging plate (200) is larger than the area of ​​the contact plate (100) and is used for power supply; the charging pile charges the AGV trolley by forming surface contact with the contact plate (100) through the charging plate (200).

6. An automatic charging control device for an AGV, applied to the control system of an AGV, characterized in that: include: A first acquisition module is used to acquire the position of the charging plate, and a first distance and a first rotation angle between the AGV and the charging pile according to the charging pile image; a second acquisition module, configured to acquire a second rotation angle according to the position of the charging plate; a third acquisition module, configured to acquire a third rotation angle according to the first rotation angle and the second rotation angle; A control module, configured to control the AGV to connect to the charging plate according to the first distance and the third rotation angle; The first acquisition module is used to acquire the position of the charging plate, the first distance between the AGV and the charging pile, and the first rotation angle according to the charging pile image. S11. Loop through the following steps: S111. Obtaining first point cloud data of the charging pile; S112. Performing ICP matching on the first point cloud data according to a preset point cloud template to obtain a second distance and a fourth rotation angle between the AGV and the charging pile; S113. Control the movement of the AGV and acquire an image of the charging pile according to the second distance and the fourth rotation angle; S114. When the charging pile image includes the image of the charging plate, control the AGV to stop moving and obtain the position of the charging plate based on the charging pile image, use the second distance as the first distance, and use the fourth rotation angle as the first rotation angle, and end the loop; S115. When the image of the charging pile does not include the image of the charging plate, return to step S111.

7. An electronic device, characterized in that: It includes a processor and a memory, wherein the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the steps in the AGV automatic charging control method as described in any one of claims 1 to 4 are executed.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, the steps of the AGV automatic charging control method as described in any one of claims 1 to 4 are executed.

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