Charging port identification method and device, computer device, and storage medium

Abstract

The application relates to the technical field of electric vehicles, in particular to a charging port identification method and device, computer equipment and a storage medium. The method comprises the following steps: obtaining an image to be identified; wherein the image to be identified contains a charging cover corresponding to a charging port of a device to be charged, the charging cover comprises a convex part and a flat part; obtaining actual position information of the charging cover according to the light reflection of each pixel point in the image to be identified; collecting a target electromagnetic wave signal emitted by an antenna installed at the charging port according to the actual position information of the charging cover; and determining target position information of the charging port according to the target electromagnetic wave signal. The method can improve the identification accuracy of the charging port.

Description

Technical Field

[0001] This application relates to the field of electric vehicle technology, and in particular to a charging port identification method, apparatus, computer device, and storage medium. Background Technology

[0002] With the popularization of new energy vehicles, on-board charging has become a key link in the technological development process. Existing on-board charging technologies include wired charging, represented by fixed charging stations. Due to the difficulty in deploying fixed charging stations in some scenarios, auxiliary charging solutions utilizing mobile charging robots have emerged.

[0003] In traditional technology, after automatically planning its journey to the vehicle to be charged, the mobile charging robot uses vision, radar, and other sensing methods to identify the charging port of the vehicle. The robot then uses its robotic arm to align the charging gun with the charging port and insert it for charging. Specifically, when determining the location of the vehicle and the charging port, the mobile charging robot employs a vision-based image recognition method. This involves using pre-captured images of the vehicle and the charging port, which are then sent to the robot from the cloud. As the mobile charging robot approaches the vehicle, it compares the vehicle and charging port images with the pre-captured images to determine the location of the charging port.

[0004] However, due to the different shapes of charging ports, as well as differences in the angle and lighting when taking pictures, the above-mentioned method based on pre-taken images of charging ports has a certain risk of misidentification and omission, and the accuracy of charging port identification needs to be improved. Summary of the Invention

[0005] Therefore, it is necessary to provide a charging port identification method, device, computer equipment, and storage medium that can improve the accuracy of charging port identification in response to the above-mentioned technical problems.

[0006] Firstly, this application provides a charging port identification method, the method comprising:

[0007] Acquire the image to be identified; wherein the image to be identified includes the charging cover corresponding to the charging port of the device to be charged, and the charging cover includes a protruding part and a flat part;

[0008] The actual position information of the charging cover is obtained based on the light reflection of each pixel in the image to be identified;

[0009] Based on the actual location information of the charging cover, the target electromagnetic wave signal emitted by the antenna installed at the charging port is collected;

[0010] The target location information of the charging port is determined based on the target electromagnetic wave signal.

[0011] In one embodiment, the protrusion is used for diffuse reflection of incident light, and the flat portion is used for counter-reflection of incident light; based on the light reflection of each pixel in the image to be identified, the actual position information of the charging cover is obtained, including:

[0012] By analyzing the light reflection of each pixel in the image to be identified, the opposing reflection area and the diffuse reflection area in the image to be identified are obtained;

[0013] The image position information of the charging cover in the image to be identified is determined based on the opposing reflection area and the diffuse reflection area.

[0014] The actual location of the charging cover is determined based on the image location information and the actual location information of the device to be charged.

[0015] In one embodiment, based on the actual location information of the charging cover, the target electromagnetic wave signal emitted by the antenna installed at the charging port is collected, including:

[0016] During the process of driving towards the charging cover based on its actual location information, if the straight-line distance to the charging cover is greater than a first distance value and less than a second distance value, the electromagnetic wave signals of each first target emitted by the antenna installed at the charging port in the first stage are collected; wherein, the second distance value is greater than the first distance value.

[0017] If the straight-line distance to the charging cover is less than the first distance value, the electromagnetic wave signals of each second target emitted by the antenna installed at the charging port in the second stage will be collected.

[0018] In one embodiment, the signal frequencies of the first target electromagnetic wave signals are the same, while the signal frequencies of the second-stage electromagnetic wave signals are different; the charging port location information is determined based on the target electromagnetic wave signals, including:

[0019] Based on the signal strength of each first target electromagnetic wave signal, determine the approximate location information of the charging port;

[0020] The target location information of the charging port is determined based on the rough location information, the emission angle of the electromagnetic wave signals of each second target, and the straight-line distance between them and the rough location information.

[0021] In one embodiment, the emission angle of each second target electromagnetic wave signal and the straight-line distance between them and the rough position information are obtained based on the rough position information.

[0022] Based on the emission angle of each second target's electromagnetic wave signal, the straight-line distance between it and the rough position information, and its own position information, the position information of the antenna installed at the charging port is determined.

[0023] The location information of the antenna installed at the charging port is used to determine the target location information of the charging port.

[0024] In one embodiment, the target location information of the charging port is determined based on the coarse location information, the emission angle of each second target electromagnetic wave signal, and the straight-line distance between the coarse location information and the target location information, including:

[0025] In one embodiment, the planar portion is covered with a layer of transparent material.

[0026] In one embodiment, the incident light is invisible light.

[0027] Secondly, this application also provides a charging port identification device, which includes:

[0028] An acquisition module is used to acquire an image to be identified; wherein, the image to be identified includes a charging cover corresponding to the charging port of the device to be charged, and the charging cover includes a protruding part and a flat part.

[0029] The first position recognition module is used to obtain the actual position information of the charging cover based on the light reflection of each pixel in the image to be recognized;

[0030] The acquisition module is used to acquire the target electromagnetic wave signal emitted by the antenna installed at the charging port based on the actual position information of the charging cover.

[0031] The second position recognition module is used to determine the target position information of the charging port based on the target electromagnetic wave signal.

[0032] Thirdly, this application also provides a computer device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0033] Acquire the image to be identified; wherein the image to be identified includes the charging cover corresponding to the charging port of the device to be charged, and the charging cover includes a protruding part and a flat part;

[0034] The actual position information of the charging cover is obtained based on the light reflection of each pixel in the image to be identified;

[0035] Based on the actual location information of the charging cover, the target electromagnetic wave signal emitted by the antenna installed at the charging port is collected;

[0036] The target location information of the charging port is determined based on the target electromagnetic wave signal.

[0037] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0038] Acquire the image to be identified; wherein the image to be identified includes the charging cover corresponding to the charging port of the device to be charged, and the charging cover includes a protruding part and a flat part;

[0039] The actual position information of the charging cover is obtained based on the light reflection of each pixel in the image to be identified;

[0040] Based on the actual location information of the charging cover, the target electromagnetic wave signal emitted by the antenna installed at the charging port is collected;

[0041] The target location information of the charging port is determined based on the target electromagnetic wave signal.

[0042] The aforementioned charging port identification method, device, computer equipment, and storage medium utilize the principles of parallel light total internal reflection and diffuse reflection. The charging cover is designed with a structure including a raised portion and a flat portion. The purpose is to create different reflection patterns of incident light based on the structural characteristics of the raised and flat portions. This allows for the analysis of light reflection at each pixel in the acquired image containing the charging cover, identifying the pixels where the flat portion and the raised portion are located, thus obtaining the actual position information of the charging cover. This enables preliminary identification of the charging port's location even when the charging cover obscures it. Subsequently, after the charging cover is opened, the target electromagnetic wave signal emitted by the antenna installed at the charging port is acquired based on the actual position information of the charging cover. The target position information of the charging port is determined based on the target electromagnetic wave signal, achieving precise positioning of the charging port. Compared to traditional technologies where charging port image analysis is easily affected by factors such as light intensity and shooting angle, this application, through improvements to the charging cover structure and the use of electromagnetic wave signals for analysis, reduces the influence of light intensity and shooting angle, thereby improving the accuracy of charging port identification. Attached Figure Description

[0043] Figure 1 This is a flowchart illustrating a charging port identification method in one embodiment;

[0044] Figure 2 This is a schematic diagram of the structure of the charging cover, charging port, protrusion, and planar surface in one embodiment;

[0045] Figure 3 This is a flowchart illustrating the process of determining the actual location information of the charging cover in one embodiment.

[0046] Figure 4 This is a schematic diagram of the process for acquiring target electromagnetic wave signals in one embodiment;

[0047] Figure 5 This is a schematic diagram of the process of transmitting a target electromagnetic wave signal in one embodiment;

[0048] Figure 6This is a schematic diagram of the first antenna, the second antenna, the third antenna, and the fourth antenna in one embodiment;

[0049] Figure 7 This is a flowchart illustrating the process of determining the target location information of the charging port in one embodiment.

[0050] Figure 8 This is a flowchart illustrating the charging port identification method in another embodiment;

[0051] Figure 9 This is a structural block diagram of a charging port identification device in one embodiment;

[0052] Figure 10 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0054] The charging port identification method provided in this application is executed by a computer device, which can be a mobile charging robot. The method specifically includes the following steps:

[0055] S101, Obtain the image to be recognized.

[0056] The image to be identified includes a charging cover corresponding to the charging port of the device to be charged, and the charging cover includes a protruding part and a flat part.

[0057] Specifically, the device to be charged can be a vehicle. When the vehicle is parked, the image acquisition device on the mobile charging robot acquires an image of the charging cover corresponding to the charging port. Optionally, the charging cover can be opened in a hinged or sliding manner.

[0058] In this embodiment, in order to accurately identify the area where the charging cover is located in the image to be identified, the structure of the surface of the charging cover has been improved. The surface of the improved charging cover includes a raised part and a flat part. Since the light reflection of the raised part and the flat part is different, the area where the charging cover is located can present a different light reflection pattern compared with other areas in the image to be identified, so as to extract the area where the charging cover is located from the image to be identified.

[0059] S102, based on the light reflection of each pixel in the image to be identified, obtain the actual position information of the charging cover.

[0060] Specifically, incident light is first emitted by the light emitting device on the mobile charging robot, and then the image to be identified is acquired by the image acquisition device. The light reflection of each pixel in the image is analyzed. During the analysis, the light reflection of each pixel can be compared with preset light reflection conditions. The preset light reflection conditions can include: light reflection of planar parts, light reflection of protruding parts, and light reflection of other areas. For any pixel, the pixel is determined to belong to a planar part, a protruding part, or other areas based on the preset light reflection condition with the highest similarity to that pixel.

[0061] Furthermore, based on the analysis results of each pixel, the position of the charging cover in the image to be identified is determined; then, based on the actual position of the device to be charged in the image to be identified and the relative position of the charging cover in the image to be identified, the actual position information of the charging cover is determined.

[0062] S103, based on the actual position information of the charging cover, collects the target electromagnetic wave signal emitted by the antenna installed at the charging port.

[0063] Optionally, based on the actual location information of the charging cover, the mobile charging robot can move to the actual location of the charging cover. When the mobile charging robot enters the radiation area of ​​the antenna installed at the charging port, it can collect the target electromagnetic wave signal emitted by the antenna installed at the charging port.

[0064] The target electromagnetic wave signal may include the transmission angle of the target electromagnetic wave, the orientation of the antenna, and the angle between the target electromagnetic wave and the antenna. The transmission angle of the target electromagnetic wave refers to the angle formed by the straight line where the target beam is located and the vertical direction, and the orientation of the antenna refers to the direction of the antenna relative to the ground.

[0065] S104, determine the target location information of the charging port based on the target electromagnetic wave signal.

[0066] Specifically, based on the emission angle of the target electromagnetic wave in the target electromagnetic wave signal, the orientation of the antenna, and the angle between the target electromagnetic wave and the antenna, the actual position information of the antenna is determined; then, the relative positional relationship between the antenna and the charging port is obtained to determine the target position information of the charging port. It can be understood that the target position information of the charging port is the actual position information of the charging port.

[0067] In the aforementioned charging port identification method, this application sets the charging cover to include a protruding part and a flat part. The purpose is to create different reflections of incident light based on the structural characteristics of the protruding and flat parts. This allows for the analysis of light reflection at each pixel in the acquired image containing the charging cover to identify the pixels where the flat part and the protruding part are located, thereby obtaining the actual position information of the charging cover. This enables preliminary identification of the charging port position even when the charging cover obscures the charging port. Subsequently, after the charging cover is opened, the target electromagnetic wave signal emitted by the antenna installed at the charging port is acquired based on the actual position information of the charging cover. Based on the target electromagnetic wave signal, the target position information of the charging port is determined, achieving precise positioning of the charging port. In traditional technologies, the analysis of charging port images is easily affected by factors such as light intensity and shooting angle. This application improves the charging cover structure and utilizes electromagnetic wave signals for analysis. Compared with traditional technologies that rely solely on image analysis, this reduces the influence of factors such as light intensity and shooting angle, thus improving the accuracy of charging port identification.

[0068] like Figure 2 As shown, the protrusion is used for diffuse reflection of incident light, and the flat part is used for counter-reflection of incident light; the flat part is covered with a transparent material layer.

[0069] Optionally, both the planar portion and the protruding portion are made of metal. The planar portion is recessed relative to the protruding portion, and a light-reflecting material area is placed on the planar portion to perform total internal reflection of the incident light. This can be achieved using a total internal reflection prism or similar principle. The protruding portion can achieve specular reflection at a specific angle, reflecting the incident light in other directions to avoid parallel light reflection and achieve diffuse reflection.

[0070] Furthermore, a transparent material layer covers and flattens the aforementioned protrusions and flat areas, ensuring that the charging cover maintains a consistent level of flatness with the vehicle's external metal casing. Optionally, the transparent material layer can be made of materials such as acrylic or resin, possessing a certain degree of hardness and gloss without affecting the incidence and reflection of light. Furthermore, to avoid direct interference to the human eye from incident and reflected light, the incident light emitted by the light emitting device on the aforementioned mobile charging robot is invisible light.

[0071] Correspondingly, such as Figure 3 As shown, this embodiment provides an optional method for obtaining the actual position information of the charging cover based on the light reflection of each pixel in the image to be identified, that is, a method for refining S102. The specific implementation process may include:

[0072] S301, Analyze the light reflection of each pixel in the image to be recognized to obtain the opposing reflection area and the diffuse reflection area in the image to be recognized.

[0073] Specifically, the light reflection of each pixel is compared with the preset light reflection of opposing light, diffuse light, and light reflection of other regions. If the similarity exceeds the similarity threshold, the pixel is determined to belong to opposing reflection, diffuse reflection, or other regions. Then, based on the pixels belonging to opposing reflection, opposing reflection regions are obtained; based on the pixels belonging to diffuse reflection, diffuse reflection regions are obtained; and based on the pixels belonging to other regions, other regions are formed.

[0074] S302, determine the image position information of the charging cover in the image to be identified based on the opposing reflection area and the diffuse reflection area.

[0075] Specifically, based on the opposing reflection area and the diffuse reflection area, the area corresponding to the charging cover is determined, thereby obtaining the image position information of the charging cover in the image to be identified.

[0076] S303, determine the actual position information of the charging cover based on the image position information and the actual position information of the device to be charged.

[0077] Specifically, based on the image location information, the relative position of the charging cover on the device to be charged can be determined. Then, combined with the actual location information of the device to be charged, the actual location information of the charging cover can be obtained.

[0078] In this embodiment, by providing a protrusion capable of diffuse reflection and a flat surface capable of counter-reflection, the process of identifying the charging cover in the image to be identified is made so that the shooting light and shooting angle have less impact on the accuracy of the charging cover's position, and the charging cover can be positioned more accurately.

[0079] like Figure 4 As shown, this embodiment provides an optional method for obtaining the actual position information of the charging cover based on the light reflection of each pixel in the image to be identified, that is, a method for refining S103. The specific implementation process may include:

[0080] S401, during the process of driving towards the charging cover based on the actual position information of the charging cover, if the straight-line distance to the charging cover is greater than the first distance value and less than the second distance value, the electromagnetic wave signals of each first target emitted by the antenna installed at the charging port in the first stage are collected.

[0081] The second distance value is greater than the first distance value.

[0082] Understandably, before charging, the mobile charging robot needs to approach the charging port. Therefore, it needs to move towards the charging cover based on the actual position information of the charging cover. During the movement, the mobile charging robot can communicate with the device to be charged to instruct the device to open the charging cover and expose the charging port.

[0083] like Figure 5 As shown, the antennas installed at the charging port in this embodiment include a first antenna, a second antenna, a third antenna, and a fourth antenna, which are evenly distributed around the charging port. When the mobile charging robot is far from the antennas, the signal strength of the electromagnetic waves emitted by the antennas is also weak. If the electromagnetic wave signal is analyzed at this time, the analysis may be inaccurate. Therefore, in order to accurately analyze the position of the charging port, each antenna in this embodiment transmits target electromagnetic wave signals in two stages: the first target electromagnetic wave signal in the first stage and the second target electromagnetic wave signal in the second stage. The first target electromagnetic wave signal is used for preliminary analysis of the position of the charging port, and the second target electromagnetic wave signal is used for precise analysis of the position of the charging port.

[0084] Specifically, if the straight-line distance between the mobile charging robot and the charging cover is greater than the first distance value and less than the second distance value, it indicates that the mobile charging robot is far from the charging port. At this time, the electromagnetic wave signals of each first target emitted by the antenna installed at the charging port in the first stage are collected to conduct a preliminary analysis of the location of the charging port.

[0085] S402, if the straight-line distance to the charging cover is less than the first distance value, then collect the electromagnetic wave signals of each second target emitted by the antenna installed at the charging port in the second stage.

[0086] Specifically, if the straight-line distance to the charging cover is less than the first distance value, it means that the mobile charging robot is close to the charging port. At this time, the electromagnetic wave signals of the second target emitted by the antenna installed at the charging port in the second stage are collected, so as to accurately analyze the position of the charging port through the electromagnetic wave signals of the second target.

[0087] like Figure 6 As shown, this embodiment provides an optional method for determining the charging port location information based on the target electromagnetic wave signal, that is, a method for refining S106. The specific implementation process may include:

[0088] S601, determine the approximate location information of the charging port based on the signal strength of each first target electromagnetic wave signal.

[0089] In this process, all the first target electromagnetic wave signals have the same signal frequency. In the first stage, the first antenna, the second antenna, the third antenna, and the fourth antenna are all used to transmit the first target electromagnetic wave signal with a wavelength of λ0 (corresponding to the frequency f0). The process of transmitting electromagnetic wave signals by the above antennas is as follows: using 5G-V2X technology, a PTP 1588 clock synchronization message is sent from the cloud or the roadside terminal (optionally deployed on the side of the mobile charging robot).

[0090] Specifically, based on the signal strength of each first target electromagnetic wave signal, the approximate location information of the charging port is determined. That is, the closer the distance, the greater the signal strength of the first target electromagnetic wave signal, and the farther the distance, the smaller the signal strength of the first target electromagnetic wave signal.

[0091] Therefore, when the signal strength of the first target electromagnetic wave signal is greater than the preset strength, the distance between the mobile charging robot and the first antenna, second antenna, third antenna and fourth antenna is first determined based on the signal strength. Then, based on its own position information and the distance information (straight-line distance), the approximate position information of the charging port is determined.

[0092] S602 determines the target location information of the charging port based on the rough location information, the emission angle of the electromagnetic wave signal of each second target, and the straight-line distance between the rough location information and the target location information.

[0093] In this process, the electromagnetic wave signals in each of the second stages have different signal frequencies. In the second stage, the first, second, third, and fourth antennas are used to transmit second target electromagnetic wave signals with wavelengths of λ1 (corresponding to frequency f1), λ2 (corresponding to frequency f2), λ3 (corresponding to frequency f3), and λ4 (corresponding to frequency f4), respectively. Furthermore, the straight-line distance between the approximate location information and the approximate location refers to the distance between the mobile charging robot and the approximate location.

[0094] In one embodiment, such as Figure 7 As shown, based on the rough location information, the emission angle of the electromagnetic wave signals of each second target, and the straight-line distance between them, the target location information of the charging port is determined, including:

[0095] S701, based on the rough position information, obtain the emission angle of the electromagnetic wave signal of each second target and the straight-line distance between them and the rough position information.

[0096] Understandably, based on the rough position information, during the process of moving to the rough position, the straight-line distance between the mobile charging robot and the charging cover is also less than the first distance value. At this time, the emission angle of each second target electromagnetic wave signal and the straight-line distance between them and the rough position information are obtained.

[0097] S702 determines the position information of the antenna installed at the charging port based on the emission angle of the electromagnetic wave signal of each second target, the straight-line distance between the target and the rough position information, and its own position information.

[0098] Among them, self-location information refers to the location information of the mobile robot.

[0099] Specifically, for any second target electromagnetic wave, the horizontal and vertical distances are determined based on the straight-line distance between the target and the approximate location information; the horizontal distance between the mobile charging robot and the antenna corresponding to the second target electromagnetic wave is determined based on the emission angle of the second target electromagnetic wave and the straight-line distance; the vertical distance between the mobile charging robot and the antenna corresponding to the second target electromagnetic wave is determined based on the emission angle of the second target electromagnetic wave and the straight-line distance; at least one candidate position of the antenna corresponding to the second target electromagnetic wave is determined based on the horizontal and vertical distances; and the position of the antenna corresponding to the second target electromagnetic wave is determined from the at least one candidate position based on the orientation of the antenna and the angle between the antenna and the second electromagnetic wave.

[0100] It is understandable that a circle is formed with the mobile robot's own position as the center and the aforementioned horizontal distance as the radius. Then, based on the orientation of the antenna corresponding to the second target electromagnetic wave and the angle between the antenna and the second target electromagnetic wave, the intersection point between the target beam and the circle is determined. This intersection point is also the position of the antenna corresponding to the second target electromagnetic wave. This process is repeated to obtain the positions of the antennas corresponding to each second electromagnetic wave signal.

[0101] S703, the location information of the antenna installed at the charging port, determines the target location information of the charging port.

[0102] Specifically, the location information of the antenna installed at the charging port, as well as the relative positional relationship between the pre-acquired antenna location information and the charging port, are used to determine the target location information of the charging port.

[0103] In this embodiment, the mobile charging robot is guided in stages by two stages of target electromagnetic wave signals, which improves the accuracy of charging port identification.

[0104] For example, based on the above embodiments, this embodiment provides an optional example of a charging port identification method. For instance... Figure 8 As shown, the specific implementation process includes:

[0105] S801, acquire the image to be recognized.

[0106] The image to be identified includes a charging cover corresponding to the charging port of the device to be charged, and the charging cover includes a protruding part and a flat part.

[0107] S802 analyzes the light reflection of each pixel in the image to be recognized, and obtains the opposing reflection area and the diffuse reflection area in the image to be recognized.

[0108] S803 determines the image position information of the charging cover in the image to be identified based on the opposing reflection area and the diffuse reflection area.

[0109] S804 determines the actual position information of the charging cover based on the image position information and the actual position information of the device to be charged.

[0110] S805, during the process of moving towards the charging cover based on the actual position information of the charging cover, if the straight-line distance to the charging cover is greater than a first distance value and less than a second distance value, then collect the electromagnetic wave signals of each first target emitted by the antenna installed at the charging port in the first stage.

[0111] The second distance value is greater than the first distance value.

[0112] S806, if the straight-line distance to the charging cover is less than the first distance value, then collect the electromagnetic wave signals of each second target emitted by the antenna installed at the charging port in the second stage.

[0113] S807 determines the approximate location information of the charging port based on the signal strength of each first target electromagnetic wave signal.

[0114] S808 determines the target location information of the charging port based on the rough location information, the emission angle of the electromagnetic wave signals of each second target, and the straight-line distance between them and the rough location information.

[0115] The specific processes of S801-S808 described above can be found in the description of the above method embodiments. Their implementation principles and technical effects are similar, and will not be repeated here.

[0116] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0117] Based on the same inventive concept, this application also provides a charging port identification device for implementing the charging port identification method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more charging port identification device embodiments provided below can be found in the limitations of the charging port identification method described above, and will not be repeated here.

[0118] In one embodiment, such as Figure 9 As shown, a charging port identification device 10 is provided, including: an acquisition module 101, a first position identification module 102, a collection module 103, and a second position identification module 104, wherein:

[0119] The acquisition module 101 is used to acquire an image to be identified; wherein, the image to be identified includes a charging cover corresponding to the charging port of the device to be charged, and the charging cover includes a protruding part and a flat part.

[0120] The first position recognition module 102 is used to obtain the actual position information of the charging cover based on the light reflection of each pixel in the image to be recognized.

[0121] The acquisition module 103 is used to acquire the target electromagnetic wave signal emitted by the antenna installed at the charging port based on the actual position information of the charging cover.

[0122] The second position identification module 104 is used to determine the target position information of the charging port based on the target electromagnetic wave signal.

[0123] In one embodiment, the protrusion is used for diffuse reflection of incident light, and the flat portion is used for counter-reflection of incident light; the first position recognition module 102 is also used to: analyze the light reflection of each pixel in the image to be recognized, and obtain the counter-reflection area and diffuse reflection area in the image to be recognized.

[0124] The image position information of the charging cover in the image to be identified is determined based on the opposing reflection area and the diffuse reflection area.

[0125] The actual location of the charging cover is determined based on the image location information and the actual location information of the device to be charged.

[0126] In one embodiment, the acquisition module 103 is further configured to: during the process of moving towards the charging cover based on the actual position information of the charging cover, if the straight-line distance to the charging cover is greater than a first distance value and less than a second distance value, then acquire the electromagnetic wave signals of each first target emitted by the antenna installed at the charging port in the first stage; wherein the second distance value is greater than the first distance value.

[0127] If the straight-line distance to the charging cover is less than the first distance value, the electromagnetic wave signals of each second target emitted by the antenna installed at the charging port in the second stage will be collected.

[0128] In one embodiment, the signal frequencies of the electromagnetic wave signals of each first target are the same, while the signal frequencies of the electromagnetic wave signals of each second stage are different; the second position identification module includes:

[0129] The preliminary positioning submodule is used to: determine the approximate location information of the charging port based on the signal strength of the electromagnetic wave signals of each first target;

[0130] The precise positioning submodule is used to determine the target location information of the charging port based on the rough location information, the emission angle of the electromagnetic wave signals of each second target, and the straight-line distance between them and the rough location information.

[0131] In one embodiment, the precise positioning submodule is further configured to: obtain the emission angle of each second target electromagnetic wave signal and the straight-line distance between the electromagnetic wave signal and the coarse position information based on the coarse position information;

[0132] Based on the emission angle of each second target's electromagnetic wave signal, the straight-line distance between it and the rough position information, and its own position information, the position information of the antenna installed at the charging port is determined.

[0133] The location information of the antenna installed at the charging port is used to determine the target location information of the charging port.

[0134] In one embodiment, the planar portion is covered with a layer of transparent material.

[0135] In one embodiment, the incident light is invisible light.

[0136] Each module in the aforementioned charging port identification device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0137] In one embodiment, a computer device is provided, which may be a mobile charging robot, and its internal structure diagram may be as follows: Figure 10 As shown, the computer device includes a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface is used for wired or wireless communication with an external mobile charging robot. Wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When executed by the processor, the computer program implements a charging port identification method. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device's casing, or an external keyboard, touchpad, or mouse.

[0138] Those skilled in the art will understand that Figure 10 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0139] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0140] Acquire the image to be identified; wherein the image to be identified includes the charging cover corresponding to the charging port of the device to be charged, and the charging cover includes a protruding part and a flat part;

[0141] The actual position information of the charging cover is obtained based on the light reflection of each pixel in the image to be identified;

[0142] Based on the actual location information of the charging cover, the target electromagnetic wave signal emitted by the antenna installed at the charging port is collected;

[0143] The target location information of the charging port is determined based on the target electromagnetic wave signal.

[0144] In one embodiment, the protrusion is used for diffuse reflection of incident light, and the flat portion is used for counter-reflection of incident light. When the processor executes the logic of the computer program to obtain the actual position information of the charging cover based on the light reflection of each pixel in the image to be identified, the following steps are specifically implemented: analyzing the light reflection of each pixel in the image to be identified to obtain the counter-reflection area and the diffuse reflection area in the image to be identified; determining the image position information of the charging cover in the image to be identified based on the counter-reflection area and the diffuse reflection area; and determining the actual position information of the charging cover based on the image position information and the actual position information of the device to be charged.

[0145] In one embodiment, when the processor executes the logic of a computer program to collect target electromagnetic wave signals emitted by the antenna installed at the charging port based on the actual position information of the charging cover, the following steps are specifically implemented: during the process of moving towards the charging cover based on the actual position information of the charging cover, if the straight-line distance to the charging cover is greater than a first distance value and less than a second distance value, then the first target electromagnetic wave signals emitted by the antenna installed at the charging port in the first stage are collected; wherein, the second distance value is greater than the first distance value; if the straight-line distance to the charging cover is less than the first distance value, then the second target electromagnetic wave signals emitted by the antenna installed at the charging port in the second stage are collected.

[0146] In one embodiment, the signal frequencies of each first target electromagnetic wave signal are the same, while the signal frequencies of each second stage electromagnetic wave signal are different. When the processor executes the logic of the computer program to determine the location information of the charging port based on the target electromagnetic wave signals, it specifically implements the following steps: determining the approximate location information of the charging port based on the signal strength of each first target electromagnetic wave signal; determining the target location information of the charging port based on the approximate location information, the emission angle of each second target electromagnetic wave signal, and the straight-line distance between them and the approximate location information.

[0147] In one embodiment, when the processor executes the logic of a computer program to determine the target location information of the charging port based on the coarse location information, the emission angle of each second target electromagnetic wave signal, and the straight-line distance between the second target and the coarse location information, the processor specifically implements the following steps: obtaining the emission angle of each second target electromagnetic wave signal and the straight-line distance between the second target and the coarse location information based on the coarse location information; determining the location information of the antenna installed at the charging port based on the emission angle of each second target electromagnetic wave signal, the straight-line distance between the second target and the coarse location information, and the second target's own location information; and determining the target location information of the charging port based on the location information of the antenna installed at the charging port.

[0148] In one embodiment, the planar portion is covered with a layer of transparent material.

[0149] In one embodiment, the incident light is invisible light.

[0150] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0151] Acquire the image to be identified; wherein the image to be identified includes the charging cover corresponding to the charging port of the device to be charged, and the charging cover includes a protruding part and a flat part;

[0152] The actual position information of the charging cover is obtained based on the light reflection of each pixel in the image to be identified;

[0153] Based on the actual location information of the charging cover, the target electromagnetic wave signal emitted by the antenna installed at the charging port is collected;

[0154] The target location information of the charging port is determined based on the target electromagnetic wave signal.

[0155] In one embodiment, the protrusion is used for diffuse reflection of incident light, and the flat portion is used for counter-reflection of incident light. When the logic of the computer program obtaining the actual position information of the charging cover based on the light reflection of each pixel in the image to be identified is executed by the processor, the following steps are specifically implemented: analyzing the light reflection of each pixel in the image to be identified to obtain the counter-reflection area and the diffuse reflection area in the image to be identified; determining the image position information of the charging cover in the image to be identified based on the counter-reflection area and the diffuse reflection area; and determining the actual position information of the charging cover based on the image position information and the actual position information of the device to be charged.

[0156] In one embodiment, when the logic of the computer program collecting target electromagnetic wave signals emitted by the antenna installed at the charging port based on the actual position information of the charging cover is executed by the processor, the following steps are specifically implemented: during the process of moving towards the charging cover based on the actual position information of the charging cover, if the straight-line distance to the charging cover is greater than a first distance value and less than a second distance value, then the first target electromagnetic wave signals emitted by the antenna installed at the charging port in the first stage are collected; wherein, the second distance value is greater than the first distance value; if the straight-line distance to the charging cover is less than the first distance value, then the second target electromagnetic wave signals emitted by the antenna installed at the charging port in the second stage are collected.

[0157] In one embodiment, the signal frequencies of each first target electromagnetic wave signal are the same, while the signal frequencies of each second stage electromagnetic wave signal are different. When the logic of the computer program determining the location information of the charging port based on the target electromagnetic wave signal is executed by the processor, the following steps are specifically implemented: determining the approximate location information of the charging port based on the signal strength of each first target electromagnetic wave signal; determining the target location information of the charging port based on the approximate location information, the emission angle of each second target electromagnetic wave signal, and the straight-line distance between them and the approximate location information.

[0158] In one embodiment, when the logic of the computer program determining the target location information of the charging port based on the coarse location information, the emission angle of each second target electromagnetic wave signal, and the straight-line distance between them and the coarse location information is executed by the processor, the following steps are specifically implemented: obtaining the emission angle of each second target electromagnetic wave signal and the straight-line distance between them and the coarse location information based on the coarse location information; determining the location information of the antenna installed at the charging port based on the emission angle of each second target electromagnetic wave signal, the straight-line distance between them and the coarse location information, and its own location information; and determining the target location information of the charging port based on the location information of the antenna installed at the charging port.

[0159] In one embodiment, the planar portion is covered with a layer of transparent material.

[0160] In one embodiment, the incident light is invisible light.

[0161] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0162] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0163] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A charging inlet recognition method, characterized by, The method comprises: acquiring an image to be identified; wherein the image to be identified contains a charging cover corresponding to a charging port of a device to be charged, the charging cover comprising a convex part and a planar part; obtaining actual position information of the charging cover according to light reflection conditions of each pixel point in the image to be identified; in a process of moving towards the charging cover according to the actual position information of the charging cover, if a straight-line distance to the charging cover is greater than a first distance value and smaller than a second distance value, collecting each first target electromagnetic wave signal emitted by an antenna installed at the charging port in a first stage; if the straight-line distance to the charging cover is smaller than the first distance value, collecting each second target electromagnetic wave signal emitted by the antenna installed at the charging port in a second stage; wherein the second distance value is greater than the first distance value; determining target position information of the charging port according to each first target electromagnetic wave signal and each second target electromagnetic wave signal.

2. The method of claim 1, wherein, The convex part is used for diffuse reflection of incident light, and the planar part is used for direct reflection of incident light; the obtaining of the actual position information of the charging cover according to the light reflection conditions of each pixel point in the image to be identified comprises: analyzing the light reflection conditions of each pixel point in the image to be identified to obtain a direct reflection area and a diffuse reflection area in the image to be identified; determining image position information of the charging cover in the image to be identified according to the direct reflection area and the diffuse reflection area; determining the actual position information of the charging cover according to the image position information and actual position information of the device to be charged.

3. The method of claim 1, wherein, The signal frequency of each first target electromagnetic wave signal is the same, and the signal frequency of each second stage electromagnetic wave signal is different; the determining of the target position information of the charging port according to each first target electromagnetic wave signal and each second target electromagnetic wave signal comprises: determining rough position information of the charging port according to signal intensity of each first target electromagnetic wave signal; determining the target position information of the charging port according to the rough position information, emission angles of each second target electromagnetic wave signal, and a straight-line distance between the rough position information.

4. The method of claim 3, wherein, The determining of the target position information of the charging port according to the rough position information, emission angles of each second target electromagnetic wave signal, and a straight-line distance between the rough position information comprises: acquiring the emission angles of each second target electromagnetic wave signal, the straight-line distance between the rough position information, and position information of the antenna installed at the charging port according to the rough position information; determining the position information of the antenna installed at the charging port according to the emission angles of each second target electromagnetic wave signal, the straight-line distance between the rough position information, and the position information of the antenna installed at the charging port; The position information of the antenna installed at the charging port determines the target position information of the charging port.

5. The method according to any one of claims 1-4, characterized in that, The planar part is covered with a transparent material layer.

6. The method of claim 2, wherein, The incident light is invisible light.

7. A charging inlet recognition device, characterized by The device comprises: an acquisition module, configured to acquire an image to be identified; wherein the image to be identified contains a charging cover corresponding to a charging port of a device to be charged, the charging cover comprising a convex part and a planar part; The first position recognition module is configured to obtain actual position information of the charging cover according to light reflection of each pixel point in the image to be recognized. The acquisition module is configured to, in the process of driving towards the charging cover according to the actual position information of the charging cover, collect each first target electromagnetic wave signal emitted by an antenna installed at the charging port in a first stage if the straight-line distance to the charging cover is greater than a first distance value and less than a second distance value, and collect each second target electromagnetic wave signal emitted by the antenna installed at the charging port in a second stage if the straight-line distance to the charging cover is less than the first distance value, wherein the second distance value is greater than the first distance value. The second position recognition module is configured to determine target position information of the charging port according to the first target electromagnetic wave signals and the second target electromagnetic wave signals.

8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 6.

9. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 6.

10. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 6.

Images