A charging docking method and related apparatus

Abstract

This application provides a charging docking method and related apparatus, applied in the field of vehicle control technology. This application can acquire a first image containing a second charging device, determine a first recognition area of ​​the first image based on the position of the anchor point module in the first image, and determine a first pose data based on a partial image within the first recognition area. The first charging device can then dock its power supply interface with the second charging device based on the first pose data, thereby achieving automatic charging. Since the partial image is obtained by cropping the first image and can accurately capture the possible occurrence area of ​​the first image, it not only improves the accuracy of recognition but also reduces the amount of data processed during image recognition, increases the speed of QR code recognition, and improves the user experience.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a charging docking method and related device. Background Technology

[0002] With advancements in industrial technology and improvements in living standards, an increasing number of mobile devices are using clean new energy sources for power, leading to a growing market share of new energy mobile devices. For example, sales of new energy vehicles are rising year by year and they are widely favored by consumers in the automotive market.

[0003] Most new energy mobile terminals are powered by batteries. Due to the limited range of these batteries, they frequently need to be charged to ensure daily use. Taking new energy vehicles as an example, these vehicles typically have a charging interface that automatically aligns with the charging interface of a charging station, allowing the vehicle to be charged via the charging station. During this automatic alignment process, the vehicle needs to obtain the location information of the charging station and the charging point for interface docking. However, current technology involves a large amount of computation in obtaining the relative position of the charging station and the vehicle and performing the docking, resulting in relatively low charging efficiency.

[0004] For example, in some scenarios, QR codes can be placed on charging stations. Mobile devices can use their cameras to photograph and recognize the QR codes on the charging stations to obtain location information, thereby guiding new energy vehicles to connect with the charging stations. However, since mobile devices usually cannot get close to the charging stations, the QR code recognition speed is usually slow when taking photos from a distance, resulting in a poor user experience. Summary of the Invention

[0005] This application provides a charging docking method and related apparatus, which can improve the speed and accuracy of QR code recognition, quickly realize charging docking, and improve user experience.

[0006] In a first aspect, embodiments of this application provide a charging docking method, the method comprising:

[0007] The first charging device acquires a first image, the first image includes an image corresponding to the second charging device, the second charging device is provided with a first graphic and a first anchor point module, the first graphic is used to record information, the first anchor point module and the first graphic have a relative position, and the first charging device or the second charging device is a mobile device.

[0008] The first charging device determines a first recognition area of ​​the first image based on the position of the first anchor point module in the first image. The first recognition area is the area in the first image that contains the image corresponding to the first graphic.

[0009] The first charging device determines the first pose data based on a partial image of the first image within the first recognition area;

[0010] The first pose data is used to indicate the relative position of the first charging device and the second charging device.

[0011] The first charging device includes a first power supply connection interface, and the second charging device includes a second power supply connection interface. The relative positions of the first charging device and the second charging device are used to enable charging docking between the first power supply connection interface and the second power supply connection interface.

[0012] The first graphic can be a QR code, barcode, etc. The first anchor point module can be an LED light.

[0013] In this embodiment, there is a relative positional relationship between the anchor point module on the second charging device and the first graphic. When the first charging device captures the first image, the image of the anchor point module and the image of the first graphic will also have a relative positional relationship in the first image. Therefore, the first charging device can establish a first recognition region based on the position of the anchor point module in the first image, crop the first image according to the size of the first recognition region to obtain a partial image, recognize the partial image to obtain the first pose data, and then obtain the relative position information of the first charging device and the second charging device. This facilitates subsequent operations to realize the charging docking of the first power supply connection interface and the second power supply connection interface, and complete automatic charging.

[0014] Since the local image is obtained by cropping the first image and can accurately capture the possible areas where the first image may appear, it not only improves the accuracy of recognition but also reduces the amount of data processed during image recognition, increases the speed of QR code recognition, and improves the user experience.

[0015] This embodiment does not limit the physical entities of the first charging device and the second charging device. For example, the first charging device can be a vehicle, and the second charging device can be a charging pile. Alternatively, the first charging device can be a charging pile, and the second charging device can be a vehicle.

[0016] In one possible implementation of the first aspect, the first anchor module is colored. The colored element is a color with a certain standard color tendency, encompassing various colors other than a range of neutral grays from white to black. Examples include red, yellow, blue, green, and purple. Besides having a certain brightness value, the colored element also has a chroma value (including hue and vividness). In this case, the first charging device can locate the anchor module's position through color recognition, thereby determining the recognition area for identification. This can further improve the speed of QR code recognition and reduce computational complexity.

[0017] In yet another possible implementation of the first aspect, the method further includes:

[0018] The first charging device performs color recognition on the first image to determine the position of the first anchor point module in the first image.

[0019] In another possible implementation of the first aspect, the anchor point module is a colored light, and the first charging device determines a first recognition region of the first image based on the position corresponding to the first anchor point module in the first image, including:

[0020] Determine the size of the light spot of the colored light;

[0021] The first identification area is determined based on the size of the light spot of the colored light.

[0022] Among them, colored lights are lights with bright colors, that is, light sources that are not black and white. For example, bright colors can be red, blue, green, yellow, etc. Furthermore, the light can be an LED. For example, colored lights can be red LEDs, etc.

[0023] The luminous anchor point module creates a brighter light spot in the first image. The first charging device can quickly identify the position of the first anchor point module through color recognition, thereby quickly determining the position of the first graphic, improving the speed of QR code recognition and reducing computational complexity.

[0024] In another possible implementation of the first aspect, determining the first recognition region of the first image based on the position corresponding to the first anchor point module in the first image includes:

[0025] The first charging device determines the size of the identification area based on the distance between the first charging device and the second charging device;

[0026] The first charging device determines the first recognition area of ​​the first image based on the position of the first anchor point module in the first image and the size of the recognition area.

[0027] In another possible implementation of the first aspect, the first image is an image identified by a visible light image sensor; the first charging device includes a first visible light image sensor, and the first charging device acquires the first image, including:

[0028] The first charging device determines the first image using the first visible light image sensor.

[0029] The first visible light image sensor can be a regular camera.

[0030] In another possible implementation of the first aspect, the first pattern is a pattern identified by an infrared image sensor; the first charging device includes a first infrared image sensor, and the first charging device acquires the first image, including:

[0031] The first charging device determines the first image using the first infrared image sensor.

[0032] The first infrared image sensor can be an infrared camera.

[0033] In yet another possible implementation of the first aspect, the method further includes:

[0034] The first charging device acquires a second image. The second charging device is provided with a second graphic and a second anchor point module. The second graphic is a graphic that is recognized under a visible light image sensor. The second graphic is used to record information. The second anchor point module and the second graphic have a relative position.

[0035] The first charging device determines the second recognition area of ​​the second image based on the position of the second anchor point module in the second image. The second recognition area is the area in the second image that contains the image corresponding to the second graphic.

[0036] The first charging device determines second pose data based on a partial image of the second image within the second recognition area; wherein the second pose data is used to indicate the relative position of the first charging device and the second charging device.

[0037] Thus, taking a vehicle as the first charging device, the vehicle is equipped with a regular camera and an infrared camera. The regular camera can acquire an image of a regular QR code (first image), and the infrared camera can acquire an image of an infrared QR code (second image). That is, the vehicle can simultaneously acquire images of both the regular and infrared QR codes, and pose data can be obtained from both images. Therefore, when one QR code is damaged, pose data can be obtained through the other QR code, improving the accuracy and robustness of QR code recognition.

[0038] In yet another possible implementation of the first aspect, the method further includes:

[0039] The first charging device determines the usage priority of the first pose data and the second pose data based on environmental information, wherein the environmental information includes at least one of weather information, illumination information, and time period information;

[0040] The first charging device uses the first pose data or the second pose data for charging docking according to the usage priority of the first pose data and the second pose data.

[0041] Thus, during the day or when the weather is good, ordinary QR codes and ordinary cameras are used for recognition; in rainy, foggy, or dark weather, infrared cameras and infrared QR codes can be used for recognition, improving the accuracy of QR code recognition.

[0042] In another possible implementation of the first aspect, the first charging device is a power-consuming mobile terminal, the second charging device is a power supply terminal, and the method further includes:

[0043] The first charging device receives third pose data from the second charging device, the third pose data being used to indicate the relative position of the first charging device and the second charging device;

[0044] The first charging device performs pose data conversion on the third pose data to obtain the fourth pose data;

[0045] The first charging device fuses the fourth pose data and the first pose data to obtain the fifth pose data;

[0046] The first charging device aligns its first power supply connection interface with the second power supply connection interface of the second charging device according to the fifth pose data.

[0047] In this way, the first charging device (e.g., a vehicle) can identify the pose data of the QR code on the second charging device (e.g., a charging pile), and can also obtain the pose data of the QR code on the first charging device (e.g., a vehicle) identified by the second charging device (e.g., a charging pile). The first charging device (e.g., a vehicle) fuses these two pose data to obtain more accurate pose data, thereby improving the accuracy of the docking between the first power supply connection interface of the first charging device and the second power supply connection interface of the second charging device, and enhancing the user experience.

[0048] In another possible implementation of the first aspect, the first charging device is a power supply terminal, and the second charging device is a power-consuming mobile terminal; the method further includes:

[0049] The first charging device sends the first pose data to the second charging device.

[0050] Secondly, this application provides another charging docking method, which is applied to a charging system including a first charging device and a second charging device. The first charging device is a mobile device; the second charging device includes a second image sensor, a second power supply connection interface, a first graphic, and a first anchor point module. The first graphic is used to record information, and the first anchor point module is in a relative position to the first graphic; the first charging device also includes a first image sensor, a first power supply connection interface, a third graphic, and a third anchor point module. The third graphic is used to record information, and the third anchor point module is in a relative position to the third graphic.

[0051] The method includes:

[0052] The first charging device obtains a first image through the first image sensor, and the first image includes the image corresponding to the second charging device.

[0053] The first charging device determines the first recognition area of ​​the first image based on the position of the first anchor point module in the first image. The first recognition area is the area in the first image that contains the image corresponding to the first graphic.

[0054] The first charging device determines first pose data based on a partial image of the first image within the first recognition area. The first pose data is used to indicate the position of the first charging device and the second charging device.

[0055] The second charging device obtains a third image through a second image sensor, and the third image includes the image corresponding to the first charging device;

[0056] The second charging device determines the third recognition area of ​​the third image based on the position of the third anchor point module in the third image. The third recognition area is the area in the third image that contains the image corresponding to the third graphic.

[0057] The second charging device determines third pose data based on a partial image of the third image within the third recognition area. This third pose data is used to indicate the relative position of the first charging device and the second charging device.

[0058] In this way, both the first and second charging devices can recognize the QR code to obtain pose data. When one QR code is damaged, the other QR code can be used for recognition, which can improve robustness.

[0059] In one possible implementation of the second aspect, the method further includes:

[0060] The second charging device sends the third pose data to the first charging device;

[0061] The first charging device obtains the fifth pose data based on the third pose data and the first pose data;

[0062] The first charging device aligns its first power supply connection interface with the second power supply connection interface of the second charging device according to the fifth pose data.

[0063] In one possible implementation of the second aspect, the first image sensor is an infrared image sensor, and the first pattern is an infrared pattern;

[0064] Alternatively, the first image sensor may be a visible light image sensor, and the first pattern may be a visible light pattern.

[0065] In another possible implementation of the second aspect, the second image sensor is an infrared image sensor, and the third pattern is an infrared pattern;

[0066] Alternatively, the second image sensor may be a visible light image sensor, and the third image may be a visible light image.

[0067] In another possible implementation of the second aspect, the first charging device obtains fifth pose data based on the third pose data and the first pose data; including:

[0068] The first charging device performs pose data conversion on the third pose data to obtain the fourth pose data;

[0069] The first charging device fuses the fourth pose data and the first pose data to obtain the fifth pose data.

[0070] Thirdly, embodiments of this application provide a charging device applied to a first charging equipment, the charging device comprising an acquisition unit and a processing unit.

[0071] The acquisition unit is used for:

[0072] A first image is acquired, which includes an image corresponding to a second charging device. The second charging device is provided with a second power supply connection interface, a first graphic, and a first anchor point module. The first graphic is used to record information, and the position of the first anchor point module is relative to that of the first graphic.

[0073] The processing unit is used for:

[0074] Based on the position of the first anchor point module in the first image, a first recognition region of the first image is determined. The first recognition region is the region in the first image that contains the image corresponding to the first graphic.

[0075] The first pose data is determined based on the local image of the first image within the first recognition area;

[0076] Wherein, the first pose data is used to indicate the relative position of the first charging device and the second charging device, and the first charging device or the second charging device is a mobile device;

[0077] The first charging device includes a first power supply connection interface, and the second charging device includes a second power supply connection interface. The relative positions of the first charging device and the second charging device are used to enable charging docking between the first power supply connection interface and the second power supply connection interface.

[0078] In one possible implementation of the third aspect, the color of the first anchor module is chromatic. Here, chromatic refers to a color with a certain standard color tendency, encompassing various colors other than a range of neutral grays from white to black. Examples include red, yellow, blue, green, and purple. In addition to a certain lightness value, chromatic colors also have a chroma value (including hue and vividness).

[0079] In yet another possible implementation of the third aspect, the processing unit is further configured to:

[0080] Color recognition is performed on the first image to determine the position of the first anchor point module in the first image.

[0081] In yet another possible implementation of the third aspect, the anchor module is a colored light, and the processing unit is further configured to:

[0082] Determine the size of the light spot of the colored light;

[0083] The first identification area is determined based on the size of the light spot of the colored light.

[0084] Among them, colored lights are lights with bright colors, that is, light sources that are not black and white. For example, bright colors can be red, blue, green, yellow, etc. Furthermore, the light can be an LED. For example, colored lights can be red LEDs, etc.

[0085] In yet another possible implementation of the third aspect, the processing unit is further configured to:

[0086] The size of the identification area is determined based on the distance between the first charging device and the second charging device;

[0087] The first recognition region of the first image is determined based on the position of the first anchor point module in the first image and the size of the recognition region.

[0088] In one possible implementation of the third aspect, the first pattern is a pattern identified by a visible light image sensor; the first charging device includes a first visible light image sensor, and the acquisition unit is further configured to determine the first image by means of the first visible light image sensor.

[0089] In another possible implementation of the third aspect, the first pattern is a pattern identified by an infrared image sensor; the first charging device includes a first infrared image sensor, and the acquisition unit is further configured to determine the first image by means of the first infrared image sensor.

[0090] In another possible implementation of the third aspect, the acquisition unit is further configured to acquire a second image, wherein the second charging device is provided with a second graphic and a second anchor point module, the second graphic is a graphic identified under a visible light image sensor, the second graphic is used to record information, and the position of the second anchor point module is relative to that of the second graphic.

[0091] In yet another possible implementation of the third aspect, the processing unit is further configured to:

[0092] Based on the position corresponding to the second anchor point module in the second image, a second recognition region of the second image is determined. The second recognition region is the region in the second image that contains the image corresponding to the second graphic.

[0093] Based on a partial image of the second image within the second recognition area, second pose data is determined; wherein the second pose data is used to indicate the relative position of the first charging device and the second charging device.

[0094] In yet another possible implementation of the third aspect, the processing unit is further configured to:

[0095] Based on environmental information, the priority of using the first pose data and the second pose data is determined, wherein the environmental information includes at least one of weather information, illumination information, and time period information;

[0096] Based on the usage priority of the first pose data and the second pose data, the first pose data or the second pose data is used for charging docking.

[0097] In another possible implementation of the third aspect, the charging device further includes a communication unit for receiving third pose data from the second charging device, the third pose data being used to indicate the relative position of the first charging device and the second charging device.

[0098] In yet another possible implementation of the third aspect, the processing unit is further configured to:

[0099] The third pose data is transformed to obtain the fourth pose data;

[0100] The fourth pose data and the first pose data are fused to obtain the fifth pose data;

[0101] Based on the fifth pose data, the first power supply connection interface of the first charging device is aligned with the second power supply connection interface of the second charging device.

[0102] Fourthly, embodiments of this application provide a charging device, which includes an image sensor, a power connection interface, a processor, and a memory; the processor executes instructions stored in the memory to cause the device to implement the method described in any of the first aspects above.

[0103] Optionally, the device further includes a communication interface for receiving and / or sending data, and / or for providing input and / or output to the processor.

[0104] It should be noted that the above embodiments are illustrated using a processor (or general-purpose processor) that executes the method by invoking a computer-specified instruction. In practice, the processor can also be a dedicated processor, in which case the computer instructions have been pre-loaded into the processor. Optionally, the processor can include both dedicated and general-purpose processors.

[0105] Optionally, the processor and memory may be integrated into a single device, meaning they can be combined.

[0106] Fifthly, embodiments of this application provide a vehicle comprising an image sensor, a power supply connection interface, and a charging device. The vehicle is used to implement the method described in any of the first aspects above.

[0107] Sixthly, embodiments of this application provide a charging pile, which includes an image sensor, a power supply connection interface, and a charging device. The charging pile is used to implement some of the methods described in the first aspect above.

[0108] In a seventh aspect, embodiments of this application provide a computer-readable storage medium storing instructions that, when executed by a device, cause the device to implement the method described in any of the first aspects above.

[0109] Eighthly, this application provides a computer program product including computer instructions that, when executed by a device, cause the device to perform the method described in any of the first aspects.

[0110] Optionally, the computer program product can be a software installation package or an image file. When the aforementioned method is required, the computer program product can be obtained and executed on a computing device.

[0111] The beneficial effects of the technical solutions provided in aspects two to eight of this application can be referred to the beneficial effects of the technical solutions in aspect one, and will not be repeated here. Attached Figure Description

[0112] The accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0113] Figure 1 This is a schematic diagram of the architecture of a possible charging system provided in an embodiment of this application;

[0114] Figure 2 This is a schematic diagram of another possible charging system architecture provided in the embodiments of this application;

[0115] Figure 3 This is a schematic flowchart of a charging docking method provided in an embodiment of this application;

[0116] Figure 4A This is a schematic diagram of a first image provided in an embodiment of this application;

[0117] Figure 4B This is a schematic diagram of yet another first image provided in an embodiment of this application;

[0118] Figure 4C This is a schematic diagram of the recognition area corresponding to LED lights of different sizes provided in the embodiments of this application;

[0119] Figure 5 This is a schematic flowchart of another charging docking method provided in the embodiments of this application;

[0120] Figure 6 This is a schematic diagram of the structure of a charging device provided in an embodiment of this application;

[0121] Figure 7 This is a schematic diagram of the structure of a charging device provided in an embodiment of this application;

[0122] Figure 8 This is a schematic diagram of the layout of a vehicle provided in an embodiment of this application;

[0123] Figure 9 This is a schematic diagram of the layout of a charging pile provided in an embodiment of this application.

[0124] Please provide explanations and descriptions of the components shown in the attached diagram:

[0125] 101-First graphic, 102-Second graphic, 103-First anchor point module, 104-Second power supply connection interface, 105-First power supply connection interface, 106-First image sensor, 107-Second image sensor, 108-Third image sensor, 109-Fourth image sensor, 110-Signal transmitting device, 111-Second anchor point module, 112-Third graphic, 113-Fourth graphic, 114-Signal receiving device. Detailed Implementation

[0126] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0127] The system architecture used in the embodiments of this application is described below. It should be noted that the system architecture and business scenarios described in this application are for the purpose of more clearly illustrating the technical solutions of this application, and do not constitute a limitation on the technical solutions provided in this application. As those skilled in the art will know, with the evolution of system architecture and the emergence of new business scenarios, the technical solutions provided in this application are also applicable to similar technical problems.

[0128] Please see Figure 1 , Figure 1 This is a schematic diagram of the architecture of a possible charging system provided in an embodiment of this application. Figure 1 As shown, a charging system may include a charging station and a vehicle. The following is an exemplary description of the various devices included in the charging station and the vehicle:

[0129] A charging pile is a charging device that provides energy replenishment for electric vehicles. Its function is similar to a gas pump at a gas station. It can be fixed to the ground or a wall and installed in public buildings (public buildings, shopping malls, public parking lots, etc.) and residential parking lots or charging stations. It can charge various models of electric vehicles according to different voltage levels. A charging pile may include a first graphic 101, a first anchor point module 103, and a second power supply connection interface 104. Furthermore, the charging pile may also include a second graphic 102.

[0130] The first graphic 101 is used to record information, and the image input device or photoelectric scanning device can automatically recognize the graphic to achieve automatic information processing. Optionally, the first graphic 101 is a graphic that can be recognized under a visible light image sensor. For example, the first graphic 101 can be a visible light QR code or a visible light barcode. For example, the information recorded in the first graphic 101 can include the pose information of the charging pile, which can be obtained after being photographed and recognized by the first image sensor 106.

[0131] The second graphic 102 is also used to record information, which can be automatically recognized by an image input device or photoelectric scanning device to achieve automatic information processing. Optionally, the second graphic 102 is a graphic that is recognized by an infrared image sensor. For example, the second graphic 102 can be an infrared QR code or an infrared barcode, etc. For example, the information recorded in the second graphic 102 can include the pose information of the charging pile, which can be obtained after being photographed and recognized by the second image sensor 107.

[0132] The first anchor point module 103 is positioned relative to the first graphic 101 and the second graphic 102, and is used to determine the positions of the first graphic 101 and the second graphic 102. Optionally, the anchor point module 103 can be a red LED light, etc. The second power supply connection interface 104 can be a device that can connect the electrical transmission line to a power source or electric vehicle power supply equipment. Power supply connection interfaces usually appear in pairs when making charging connections. For example, the second power supply connection interface 104 can be a female terminal (or socket), which can be coupled with a male terminal (or plug) to achieve a charging connection. Conversely, if the second power supply connection interface 104 is a male terminal, it is coupled with the corresponding female terminal.

[0133] The vehicle can be an electrically powered vehicle. For example, the vehicle can be a new energy vehicle, such as a pure electric vehicle, a range-extended electric vehicle, a hybrid electric vehicle, or a fuel cell electric vehicle. The vehicle may include a first power supply connection interface 105 and a first image sensor 106. It may further include a second image sensor 107.

[0134] The first power supply connection interface 105 can be a device that connects to the second power supply connection interface 104 to enable vehicle charging. For example, the first power supply connection interface 105 can be a male terminal (or plug), which can be coupled to a female terminal (or socket, such as the second power supply connection interface 104) to achieve a charging connection. The first image sensor 106 can be a visible light image sensor. For example, the first image sensor 106 can be a visible light camera, etc., which can acquire an image containing the first pattern 101. The second image sensor 107 can be an infrared image sensor. For example, the second image sensor 107 can be an infrared camera, etc., which can acquire an image containing the second pattern 102.

[0135] In one possible implementation, this application embodiment can use a first image sensor 106 and a second image sensor 107 to capture images of the charging pile, obtaining images containing a first graphic 101 and a second graphic 102. The position of the anchor point module 103 in the image determines the recognition area, resulting in a partial image containing the first graphic 101 and the second graphic 102. By performing recognition processing on this partial image, the pose information of the charging pile is obtained. The vehicle aligns with the first power connection interface 105 and the second power connection interface 104 based on the charging pile's pose information to complete charging. This improves the speed and accuracy of QR code recognition, quickly enabling vehicle-charging pile docking and enhancing the user experience.

[0136] As one possible scenario, the vehicle automatically recognizes the QR code on the charging station to obtain its positional data. Based on the positional data, the vehicle automatically aligns with the power supply connection interface on the charging station to achieve automatic charging.

[0137] Please see Figure 2 , Figure 2 This is a schematic diagram of another possible charging system architecture provided in the embodiments of this application. For example... Figure 2 As shown, a charging system may include a charging station and a vehicle. The following is an exemplary description of the various devices included in the charging station and the vehicle:

[0138] For details regarding the vehicle and charging station, please refer to the foregoing description. For details regarding the first graphic 101, the second graphic 102, the first anchor point module 103, the second power supply connection interface 104, the first power supply connection interface 105, the first image sensor 106, and the second image sensor 107, please refer to the foregoing description.

[0139] The charging pile may also include a third image sensor 108, a fourth image sensor 109, and a signal transmitting device 110.

[0140] The third image sensor 108 may be a visible light image sensor. For example, the third image sensor 108 may be a visible light camera or the like, capable of acquiring an image containing the third image 112.

[0141] The fourth image sensor 109 may be an infrared image sensor. For example, the fourth image sensor 109 may be an infrared camera or the like, capable of acquiring an image containing the fourth graphic 113.

[0142] The signal transmitting device 110 is a communication-capable device. The signal transmitting device 110 can establish a communication connection with the signal receiving device 114. The communication link can include one or more types of connection media, including wired links (e.g., fiber optics), wireless links, or a combination of wired and wireless links. For example, the connection media can be a wireless link using short-range connection technologies, such as 802.11b / g, Bluetooth, Zigbee, Radio Frequency Identification (RFID), Ultra Wideband (UWB), short-range wireless communication (e.g., vehicle-to-everything (V2X)), or vehicle-to-everything (V2X) technology. For example, the wireless link employs long-distance connection technologies such as Global System for Mobile communications (GSM), General Packet Radio Service (GPRS), Universal Mobile Telecommunications System (UMTS), LTE, or 5G. The signal transmitting device 110 can send the vehicle's position and orientation data obtained from the charging pile identification to the signal receiving device 114.

[0143] The vehicle may also include a third graphic 112, a fourth graphic 113, a second anchor point module 111, and a signal receiving device 114.

[0144] The third graphic 112 is used to record information, and the image input device or photoelectric scanning device can automatically recognize the graphic to achieve automatic information processing. Optionally, the third graphic 112 is a graphic that can be recognized under a visible light image sensor. For example, the third graphic 112 can be a visible light QR code or a visible light barcode, etc. For example, the information recorded in the third graphic 112 can include the vehicle's pose information, and the third image sensor 108 can acquire an image containing the third graphic 112.

[0145] The fourth graphic 113 is used to record information, and the image input device or photoelectric scanning device can automatically recognize the graphic to achieve automatic information processing. Optionally, the fourth graphic 113 is a graphic that is recognized by an infrared image sensor. For example, the fourth graphic 113 can be an infrared QR code or an infrared barcode, etc. For example, the information recorded in the fourth graphic 113 can include the vehicle's pose information, and the fourth image sensor 109 can acquire an image containing the fourth graphic 113.

[0146] The second anchor point module 111 is relative to the positions of the third graphic 112 and the fourth graphic 113, and is used to determine the positions of the third graphic 112 and the fourth graphic 113. Optionally, the second anchor point module 111 can be a red LED light, etc.

[0147] The signal receiving device 114 is a device with communication capabilities. The signal receiving device 114 can establish a communication connection with the signal transmitting device 110 and can receive the vehicle's position and posture data obtained from the charging pile identification sent by the signal transmitting device 110.

[0148] As another possible implementation, this application embodiment can take pictures of the vehicle using the third image sensor 108 and the fourth image sensor 109 to obtain a first image containing the third graphic 112 and the fourth graphic 113. The position of the second anchor point module 111 in the first image is used to determine the first recognition area, thereby obtaining a first partial image containing the third graphic 112 and the fourth graphic 113. By performing recognition processing on the first partial image, the vehicle's pose information is obtained, and the vehicle's pose information is sent to the signal receiving device 114 through the signal transmitting device 110.

[0149] Meanwhile, a second image containing the first graphic 101 and the second graphic 102 can be obtained through the first image sensor 106 and the second image sensor 107. The second recognition area is determined by the position of the first anchor point module 103 in the second image, and a second local image containing the first graphic 101 and the second graphic 102 is obtained. The pose information of the charging pile is obtained by performing recognition processing on the second local image.

[0150] The vehicle receives its pose information from the signal transmitting device 110. The vehicle then fuses the pose information from the charging pile with its own pose information to obtain fused pose information. Based on this fused pose information, the vehicle aligns itself with the first power connection interface 105 and the second power connection interface 104 to complete charging. This improves the speed and accuracy of image recognition, obtains more precise pose data, quickly enables vehicle-charging pile docking, and enhances the user experience.

[0151] The methods of the embodiments of this application will be described in detail below.

[0152] Please see Figure 3 , Figure 3 This is a schematic flowchart illustrating a charging docking method provided in an embodiment of this application. Optionally, this method can be applied to a charging system; for example, this method can be applied to... Figure 1 and Figure 2 The charging system shown.

[0153] like Figure 3The charging docking method shown may include multiple steps in steps S301-S303. It should be understood that this application describes the steps in the order of S301-S303 for ease of description, and is not intended to limit the execution to this order. This application's embodiments do not limit the order of execution, the execution time, or the number of executions of one or more of the above steps. Steps S301-S303 are as follows:

[0154] Step S301: The first charging device acquires the first image.

[0155] The first charging device is a device with image acquisition capability. For example, the first charging device includes an image sensor, which can acquire a first image.

[0156] The first image includes an image corresponding to the second charging device. The second charging device is equipped with a first graphic and a first anchor point module. The first graphic is used to record information, and an image input device or photoelectric scanning device can automatically recognize the first graphic to achieve automatic information processing. The first anchor point module is relative to the position of the first graphic and is used to determine the position of the first graphic.

[0157] Optionally, the color of the first anchor module can be chromatic, where chromatic refers to a color with a certain standard color tendency, encompassing all colors except for a range of neutral grays from white to black. Examples include red, yellow, blue, green, and purple. In addition to a certain brightness value, chromatic colors also have a chroma value (including hue and vividness). Thus, the first charging device can quickly identify the position of the first anchor module through color recognition, and thereby quickly determine the position of the first graphic. For example, the first anchor module can be a brightly colored light (such as a red LED light), a color block, etc.

[0158] As a possible example, the second charging device can be a charging pile. In this case, the first charging device can capture an image containing the charging pile using an image sensor. It should be understood that in some cases, the first charging device may only capture a portion of the charging pile, i.e., the captured image only contains a part of the charging pile, such as the head or base of the charging pile. In this case, the first charging device can continue to move to different positions to take pictures, and select the image containing the first graphic and the first anchor point module as the first image.

[0159] For example, see Figure 4A This is a schematic diagram of a first image provided in an embodiment of this application. Figure 4AAs shown, the first charging device is a vehicle, and the second charging device is a charging pile. The first image acquired by the vehicle is an image containing the charging pile. The first image includes a first anchor point module, a first graphic, and a signal transmitting device, etc. The recognition area can be obtained through the first anchor point module.

[0160] As a possible example, the second charging device can be a vehicle. In this case, the first charging device can capture an image containing the vehicle using an image sensor. It should be understood that in some cases, the first charging device may only capture a portion of the vehicle, i.e., the captured image may only contain parts of the vehicle, such as the front or rear of the vehicle. In this case, the second charging device can continue to move to different positions to capture images. The first charging device can then select the image containing the first graphic and the first anchor point module as the first image.

[0161] For example, please see Figure 4B This is a schematic diagram of yet another first image provided in the embodiments of this application. For example... Figure 4A As shown, the first charging device is a charging pile, and the second charging device is a vehicle. The first image acquired by the charging pile is an image containing the vehicle. The first image includes a first anchor point module, a first graphic, and a signal receiving device, etc. The identification area can be obtained through the first anchor point module.

[0162] In one possible implementation, the first graphic is a graphic that can be recognized under a visible light image sensor, such as a visible light QR code (or ordinary QR code, QR code), barcode, mini-program code, etc. In this case, the first charging device may include a sensor that can capture images under visible light, i.e., a visible light image sensor, so as to capture the first graphic and obtain the information recorded in the first graphic.

[0163] As another possible implementation, the first graphic is a graphic that can be recognized by an infrared image sensor, such as an infrared QR code, infrared barcode, or infrared mini-program code. In this case, the first charging device may include an infrared image sensor, which can capture the first graphic and obtain the information recorded in the first graphic. Infrared refers to infrared light, also known as infrared radiation, which is an electromagnetic wave in the infrared band, typically with a wavelength range of 0.76-1000 micrometers, between visible light and microwaves. It is invisible light with a frequency lower than red light.

[0164] As another possible implementation, the first image is an image that can be recognized by an ultraviolet image sensor, such as an ultraviolet QR code, ultraviolet barcode, or ultraviolet mini-program code. In this case, the first charging device may include an ultraviolet image sensor, which can capture the first image and obtain the information recorded in the first image. Ultraviolet light refers to the electromagnetic spectrum with wavelengths ranging from 0.40 to 0.01 micrometers, encompassing radiation from the violet end of visible light to X-rays.

[0165] Step S302: The first charging device determines the first recognition area of ​​the first image based on the position of the first anchor point module in the first image.

[0166] The first recognition region is the area in the first image that contains the image corresponding to the first graphic. Since the positions of the first anchor point module and the first graphic are relative, the position of the first graphic can be quickly located by using the position of the first anchor point module in the first image, which can improve the recognition speed.

[0167] As one possible implementation, the first anchor point module can be colored. For example, the first anchor point module can be a colored light. The first charging device obtains the position of the colored light in the first image through color recognition, determines the size of the light spot of the colored light, and determines the first recognition area based on the size of the light spot. As another example, the light can be an LED. For instance, the colored light can be a red LED, etc.

[0168] The luminous anchor point module creates a brighter light spot in the first image. The first charging device can quickly identify the position of the first anchor point module through color recognition, thereby quickly determining the position of the first graphic, improving the speed of QR code recognition and reducing computational complexity.

[0169] Taking a red LED as the first anchor point module as an example, the first charging device obtains the position of the red LED in the first image and the size of the red LED spot through color recognition. The first charging device determines the first recognition area based on the spot size. Optionally, different sized LEDs have different spot sizes, and the corresponding recognition area sizes are also different. Please refer to [link / reference]. Figure 4C , Figure 4C This is a schematic diagram of the recognition area corresponding to LED lights of different sizes provided in the embodiments of this application.

[0170] For example, when the spot size is A0, the width of the recognition region is W0 and the height is H0. When the spot size is A1, the width W1 and height H1 of the recognition region can be obtained according to the following formulas (1) and (2):

[0171]

[0172]

[0173] As another possible implementation, the first charging device can be designed with a method to automatically adjust the size of the recognition area based on the different distances between the first and second charging devices. For example, the first charging device determines the size of the recognition area based on the distance between the first and second charging devices; the recognition area is determined based on the position of the anchor point module in the first image and the size of the recognition area. The distance between the first and second charging devices can be determined by their distances between the first and second charging devices.

[0174] like Figure 4C As shown, a larger recognition area can be selected when the first charging device and the second charging device are close together, such as a 2X recognition area. Alternatively, a smaller recognition area can be selected when the first charging device and the second charging device are close together, such as a 0.5X recognition area. The same selection method can be used when the first charging device and the second charging device are far apart. This makes the size of the recognition area more in line with the user's needs, improves the accuracy of recognition, reduces the amount of data processed during image recognition, increases the speed of QR code recognition, and improves the user experience.

[0175] In this way, the first charging device can acquire a first image containing the QR code on the second charging device, establish a first recognition area based on the position of the LED light in the first image, and crop the first image according to the size of the first recognition area to obtain a partial image. Since the partial image is obtained by cropping the first image and can accurately capture the possible appearance area of ​​the first graphic, it not only improves the accuracy of recognition but also reduces the amount of data processed during image recognition, increases the speed of QR code recognition, and improves the user experience.

[0176] Step S303: The first charging device determines the first pose data based on the local image of the first image within the first recognition area.

[0177] The partial image is obtained by the first charging device cropping the first image based on the width and height of the first recognition area.

[0178] The first pose data can be pose data obtained from visible light QR codes or infrared QR codes, and may include the relative position information between the second charging device and the first charging device. This relative position information is used to enable charging docking between the first power supply connection interface of the first charging device and the second power supply connection interface of the second charging device.

[0179] The relative position information can be represented as coordinate values ​​using an xyz coordinate system. For example, the first charging device establishes a Cartesian coordinate system with itself as the origin. By recognizing the first graphic, the position of the second charging device can be obtained and represented in the Cartesian coordinate system (e.g., the position of the second charging device is (x1, y1, z1), where the origin is the first charging device), thus obtaining the relative position information between the second and first charging devices. Of course, the Cartesian coordinate system can also be replaced by a spherical coordinate system, etc., which is not limited here.

[0180] Alternatively, the origin of the xyz coordinate system can be predefined, such as the center of symmetry of the first charging device, a predefined point, etc.

[0181] As one possible implementation, the first charging device can identify the first partial image according to the QR code recognition program to obtain the first pose data.

[0182] exist Figure 3 In the illustrated embodiment, there is a relative positional relationship between the anchor point module on the second charging device and the first graphic. When the first charging device captures the first image, the image of the anchor point module and the image of the first graphic will also have a relative positional relationship in the first image. Therefore, the first charging device can establish a first recognition region based on the position of the anchor point module in the first image, crop a partial image of the first image based on the size of the first recognition region, recognize the partial image to obtain the first pose data, and then obtain the relative positional information of the first charging device and the second charging device. This facilitates subsequent operations to realize the charging docking of the first power supply connection interface and the second power supply connection interface, and complete automatic charging.

[0183] Since the local image is obtained by cropping the first image and can accurately capture the possible areas where the first image may appear, it not only improves the accuracy of recognition but also reduces the amount of data processed during image recognition, increases the speed of QR code recognition, and improves the user experience.

[0184] In some scenarios, the anchor module can have a bright color, i.e., it can be multi-colored. In this case, the first charging device can locate the position of the anchor module through color recognition, thereby determining the recognition area for identification. This can further improve the speed of QR code recognition and reduce computational complexity.

[0185] This embodiment does not limit the physical entities of the first charging device and the second charging device. For example, the first charging device can be a vehicle, and the second charging device can be a charging pile. Alternatively, the first charging device can be a charging pile, and the second charging device can be a vehicle.

[0186] As one possible implementation, the second charging device (such as a charging pile) may include a first graphic (such as a first visible light QR code), a second graphic (such as a first infrared QR code), and a first anchor point module (such as a first red LED light). The first charging device (such as a vehicle) may include a first image sensor (such as a first visible light image sensor) and a first image sensor (such as a first infrared image sensor). For example, the vehicle can acquire a first image containing the first visible light QR code and the first red LED light through the first visible light image sensor. The vehicle determines a first recognition area of ​​the first image based on the position corresponding to the first red LED light in the first image. The vehicle determines first pose data based on a partial image within the first recognition area of ​​the first image. Simultaneously, the vehicle can also acquire a second image containing the first infrared QR code and the first red LED light through the first infrared image sensor. The vehicle determines a second recognition area of ​​the second image based on the position corresponding to the first red LED light in the second image. The vehicle determines second pose data based on a partial image within the second recognition area of ​​the second image. In other words, the vehicle can obtain first pose data and second pose data based on the first and second graphics on the charging pile. For details on the steps to obtain the first pose data and second pose data, please refer to [link to relevant documentation]. Figure 3 Steps S301-S303 in the process.

[0187] Thus, taking a vehicle as the first charging device, the vehicle is equipped with a regular camera and an infrared camera. The regular camera can acquire an image of a regular QR code (first image), and the infrared camera can acquire an image of an infrared QR code (second image). That is, the vehicle can simultaneously acquire images of both the regular and infrared QR codes, and pose data can be obtained from both images. Therefore, when one QR code is damaged, pose data can be obtained through the other QR code, improving the accuracy and robustness of QR code recognition.

[0188] Similarly, the charging pile can obtain third and sixth pose data based on the third and fourth images on the vehicle. This third and sixth pose data can include the location information of the second charging device. The location information can include latitude and longitude, etc. For details on obtaining the third and sixth pose data, please refer to [link to documentation / reference]. Figure 3 Steps S301-S303 in the process.

[0189] As another possible implementation, the second charging device includes a first graphic (such as a visible light QR code) and a second graphic (such as an infrared QR code). The first charging device includes a hyperspectral image sensor. The first charging device can acquire images containing the first graphic (such as a visible light QR code) and / or the second graphic (such as an infrared QR code) through the hyperspectral image sensor. That is, both the first graphic (such as a visible light QR code) and the second graphic (such as an infrared QR code) can be recognized by the same image sensor. Here, a hyperspectral image sensor refers to an image sensor covering both the visible light and infrared light bands.

[0190] As one possible implementation, the first charging device can determine the priority of using the first pose data and the second pose data based on environmental information. The first pose data can be pose data obtained from visible light QR code recognition, and may include the location information of the second charging device; the second pose data can be pose data obtained from infrared QR code recognition, and may also include the location information of the second charging device. Of course, this also applies to the case where the first pose data is obtained from infrared QR code recognition and the second pose data is obtained from visible light QR code recognition.

[0191] Environmental information may include at least one of the following: weather information, lighting information, and time period information.

[0192] For example, during the day or when the weather is good, the first pose data has a higher priority than the second pose data; in rainy, dark, or foggy weather, the second pose data has a higher priority than the first pose data.

[0193] As one possible implementation, when the first charging device is a vehicle, the vehicle can perform charging docking using either first pose data or second pose data based on environmental information. For example, the vehicle selects the pose data with higher priority from the first pose data and the second pose data for charging docking. Here, charging docking refers to the connection between the first power supply connection interface and the second power supply connection interface.

[0194] Thus, during the day or when the weather is good, ordinary QR codes and ordinary cameras are used for identification; in adverse environments such as rainy days, foggy days, or night, infrared cameras and infrared QR codes can be used for identification, improving the accuracy of QR code identification.

[0195] Similarly, the second charging device can determine the usage priority of the third pose data and the sixth pose data based on the environmental information. For the specific implementation process, please refer to the steps described above for determining the usage priority of the first pose data and the second pose data.

[0196] As another possible implementation, both the first and second charging devices can scan the graphic set on the other end and acquire pose data. Furthermore, either the first or second charging device can send the pose data to the other end, allowing the other end to fuse the pose data from both devices to obtain more accurate pose data.

[0197] Please see Figure 5 , Figure 5 This is a schematic flowchart illustrating another charging docking method provided in an embodiment of this application. Optionally, this method can be applied to a charging system; for example, this method can be applied to... Figure 2 The charging system shown.

[0198] like Figure 5 The charging docking method shown may include multiple steps in steps S501-S504. It should be understood that this application describes the steps in the order of S501-S504 for ease of description, and is not intended to limit the execution to this specific order. This application's embodiments do not limit the order of execution, the execution time, or the number of executions of one or more of the above steps. Steps S501-S504 are as follows:

[0199] Step S501: The second charging device sends the third pose data to the first charging device.

[0200] Optionally, if the first charging device has a graphic containing information, the second charging device can identify the graphic to obtain third pose data and provide it to the first charging device.

[0201] Optionally, when the first charging device has two graphics containing recorded information, the second charging device can identify two sets of pose data, for example, described as third pose data and fourth pose data. In this case, the third pose data can be one of the pose data sets.

[0202] Furthermore, the third pose data is the pose data with higher priority used between the two sets of pose data. For example, during the day, the third pose data can be the pose data obtained through visible light QR code recognition. Conversely, at night, the third pose data can be the pose data obtained through infrared QR code recognition.

[0203] As one possible implementation, the second charging device is equipped with a signal transmitting device, which can send third pose data to the first charging device.

[0204] In this way, both the first and second charging devices can obtain pose data. Even if the vehicle or charging pile cannot acquire an image or the recognition process malfunctions, pose data can still be obtained, improving the accuracy of QR code recognition and enhancing the user experience.

[0205] For example, the first charging device can be a vehicle, and the second charging device can be a charging pile. Generally speaking, because vehicles have strong computing power and a high degree of freedom, fusion of pose data obtained from vehicles can facilitate the movement and docking of power supply connection interfaces.

[0206] Step S502: The first charging device performs pose data conversion on the third pose data to obtain the fourth pose data.

[0207] The first charging device receives the third pose data sent by the second charging device.

[0208] The pose data transformation is performed based on the coordinate system relationship between the first and second charging devices, ensuring that the coordinate system of the fourth pose data is consistent with that of the first pose data, facilitating subsequent pose data fusion. The first pose data is the pose data with higher priority obtained from the first charging device.

[0209] For example, taking the first charging device as a vehicle and the second charging device as a charging pile, the charging pile recognizes the QR code on the vehicle to obtain the third pose data (for example, with point A as the origin, the position of the charging pile is (x1, y1, z1) and the position of the vehicle is (x2, y2, z2)). The vehicle recognizes the QR code on the charging pile to obtain the first pose data (for example, with point B as the origin, the position of the charging pile is (x3, y3, z3) and the position of the vehicle is (x4, y4, z4)). The third pose data is transformed to obtain the fourth pose data, so that the origin of the fourth pose data is the same as that of the first pose data. For example, the fourth pose data also takes point B as the origin, so the position of the charging pile is (x5, y5, z5) and the position of the vehicle is (x6, y6, z6).

[0210] Points A and B can be preset or predefined. For example, point A can be the center of the charging station, and point B can be the center of the vehicle (e.g., the center of the vehicle's chassis).

[0211] Step S503: The first charging device fuses the fourth pose data with the first pose data to obtain the fifth pose data.

[0212] As one possible implementation method, fusion can be performed using the mean value. This can reduce errors, making the fused pose data more accurate and facilitating subsequent docking and charging.

[0213] For example, the fourth pose data takes point B as the origin, the charging pile position is (x5, y5, z5) and the vehicle position is (x6, y6, z6). The first pose data takes point B as the origin, the charging pile position is (x3, y3, z3) and the vehicle position is (x4, y4, z4). Then, the fused fifth pose data takes point B as the origin, the charging pile position is... The vehicle's location is

[0214] Step S504: The first charging device aligns its first power supply connection interface with the second power supply connection interface of the second charging device according to the fifth pose data.

[0215] As one possible implementation, the control system on the first charging device can control the operation of the first charging device according to the fifth pose data, so that the first power supply connection interface of the first charging device is aligned with the second power supply connection interface of the second charging device, thereby completing the docking and charging of the first charging device and the second charging device.

[0216] In this way, the first charging device (e.g., a vehicle) can identify the pose data of the QR code on the second charging device (e.g., a charging pile), and can also obtain the pose data of the QR code on the first charging device (e.g., a vehicle) identified by the second charging device (e.g., a charging pile). The first charging device (e.g., a vehicle) fuses these two pose data to obtain more accurate pose data, thereby improving the accuracy of the docking between the first power supply connection interface of the first charging device and the second power supply connection interface of the second charging device, and enhancing the user experience.

[0217] Furthermore, even if the QR code on the second charging device is damaged or cannot be recognized, the second charging device can recognize the QR code on the first charging device to obtain pose data. This pose data can then be used to instruct the first charging device and the second charging device to complete the docking of their power supply connection interfaces and achieve automatic charging. This can improve the accuracy of QR code recognition and enhance robustness.

[0218] As another possible implementation, after the first charging device (vehicle) determines the usage priority of the first pose data and the second pose data, and the second charging device (charging pile) determines the usage priority of the third pose data and the fourth pose data, the first charging device (vehicle) can receive pose data (e.g., the third pose data) sent by the charging pile. The first charging device (vehicle) then converts and fuses this data to obtain more accurate pose data. The specific steps are as follows: Figure 5 As shown.

[0219] The methods of the embodiments of this application have been described in detail above. The apparatus of the embodiments of this application is provided below.

[0220] Please see Figure 6, Figure 6 This is a schematic diagram of a charging device provided in an embodiment of this application. The charging device 60 may include an acquisition unit 601 and a processing unit 602. The charging device 60 is applied to a first charging device and is used to implement the aforementioned charging docking method, for example... Figure 3 , Figure 5 The charging docking method in the illustrated embodiment.

[0221] It should be noted that the above division of multiple units is only a logical division based on function and does not constitute a limitation on the specific structure of the charging device 60. In actual implementation, some functional modules may be further subdivided into more smaller functional modules, and some functional modules may be combined into a single functional module.

[0222] In one possible implementation, the acquisition unit 601 is used to acquire a first image, the first image including an image corresponding to a second charging device, the second charging device being provided with a second power supply connection interface, a first graphic and a first anchor point module, the first graphic being used to record information, and the first anchor point module having a relative position to the first graphic.

[0223] The processing unit 602 is used for:

[0224] Based on the position of the first anchor point module in the first image, a first recognition region of the first image is determined. The first recognition region is the region in the first image that contains the image corresponding to the first graphic.

[0225] The first pose data is determined based on the local image of the first image within the first recognition area;

[0226] Wherein, the first pose data is used to indicate the relative position of the first charging device and the second charging device, and the first charging device or the second charging device is a mobile device;

[0227] The first charging device includes a first power supply connection interface, and the second charging device includes a second power supply connection interface. The relative positions of the first charging device and the second charging device are used to enable charging docking between the first power supply connection interface and the second power supply connection interface.

[0228] In one possible implementation, the first anchor module is a chromatic color. Here, chromatic color refers to a color with a certain standard color tendency, encompassing various colors other than a range of neutral grays from white to black. Examples include red, yellow, blue, green, and purple. In addition to a certain lightness value, chromatic color also has a chroma value (including hue and vividness).

[0229] In one possible implementation, the processing unit 602 is further configured to:

[0230] Color recognition is performed on the first image to determine the position of the first anchor point module in the first image.

[0231] In one possible implementation, the anchor point module is a colored light, and the processing unit 602 is further configured to:

[0232] Determine the size of the light spot of the colored light;

[0233] The first identification area is determined based on the size of the light spot of the colored light.

[0234] Among them, colored lights are lights with bright colors, that is, light sources that are not black and white. For example, bright colors can be red, blue, green, yellow, etc. Furthermore, the light can be an LED. For example, colored lights can be red LEDs, etc.

[0235] In one possible implementation, the processing unit 602 is further configured to:

[0236] The size of the identification area is determined based on the distance between the first charging device and the second charging device;

[0237] The first recognition region of the first image is determined based on the position of the first anchor point module in the first image and the size of the recognition region.

[0238] In one possible implementation, the first image is an image identified by a visible light image sensor; the first charging device includes a first visible light image sensor, and the acquisition unit 601 is further configured to determine the first image using the first visible light image sensor.

[0239] In one possible implementation, the first pattern is a pattern identified by an infrared image sensor; the first charging device includes a first infrared image sensor, and the acquisition unit 601 is further configured to determine the first image using the first infrared image sensor.

[0240] In one possible implementation, the acquisition unit 601 is further configured to acquire a second image, wherein the second charging device is provided with a second graphic and a second anchor point module, the second graphic is a graphic identified under a visible light image sensor, the second graphic is used to record information, and the second anchor point module has a relative position to the second graphic.

[0241] In one possible implementation, the processing unit 602 is further configured to:

[0242] Based on the position corresponding to the second anchor point module in the second image, a second recognition region of the second image is determined. The second recognition region is the region in the second image that contains the image corresponding to the second graphic.

[0243] Based on a partial image of the second image within the second recognition area, second pose data is determined; wherein the second pose data is used to indicate the relative position of the first charging device and the second charging device.

[0244] In one possible implementation, the processing unit 602 is further configured to:

[0245] Based on environmental information, the priority of using the first pose data and the second pose data is determined, wherein the environmental information includes at least one of weather information, illumination information, and time period information;

[0246] Based on the usage priority of the first pose data and the second pose data, the first pose data or the second pose data is used for charging docking.

[0247] In one possible implementation, the charging device further includes a communication unit 603, which is configured to receive third pose data from the second charging device, the third pose data being used to indicate the relative positions of the first charging device and the second charging device.

[0248] In one possible implementation, the processing unit 602 is further configured to:

[0249] The third pose data is transformed to obtain the fourth pose data;

[0250] The fourth pose data and the first pose data are fused to obtain the fifth pose data;

[0251] Based on the fifth pose data, the first power supply connection interface of the first charging device is aligned with the second power supply connection interface of the second charging device.

[0252] It should be noted that the above modules (acquisition unit 601, processing unit 602, and communication unit 603) are used to execute the relevant steps of the above method. For example, acquisition unit 601 is used to execute the relevant content of step S301, processing unit 602 is used to execute the relevant content of S302-S303 and S502-S504, and communication unit 603 is used to execute the relevant content of S501.

[0253] Figure 7The diagram shown is a structural schematic of a charging device provided in an embodiment of this application. The charging device 70 is a device with processing capabilities. This device can be a physical device, such as a server (e.g., a rack server) or a host, or it can be a virtual device, such as a virtual machine or a container.

[0254] like Figure 7 As shown, the charging device 70 includes: a processor 701, a memory 702, an image sensor 703, a power connection interface 704, and one or more programs, possibly including a communication interface 705. It should be understood that this application does not limit the number of processors and memories in the charging device 70.

[0255] Processor 701 is a module for performing calculations and may include a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), a digital signal processor (DSP), a microcontroller unit (MCU), or one or more integrated circuits for controlling the execution of programs in the above schemes.

[0256] Memory 702 provides storage space, in which application data, user data, operating system, and computer programs can be optionally stored. Memory 702 may include read-only memory (ROM) or other types of static storage devices capable of storing static information and instructions, random access memory (RAM) or other types of dynamic storage devices capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto.

[0257] The memory 702 can exist independently and be connected to the processor 701 via a bus. Alternatively, the memory 702 can be integrated with the processor 701.

[0258] The image sensor 703 can be a visible light image sensor or an infrared image sensor, used to acquire images.

[0259] The power connection interface 704 can be a device for connecting a cable to a power source or electric vehicle power supply equipment, consisting of a power plug and a power socket, or a device for enabling charging docking.

[0260] The communication interface 705 is used to provide information input or output to the at least one processor. And / or, the communication interface 705 can be used to receive data transmitted externally and / or transmit data externally. The communication interface 705 can be a wired link interface, such as an Ethernet cable, or a wireless link interface (Wi-Fi, Bluetooth, general wireless transmission, and other wireless communication technologies). Optionally, the communication interface 705 may also include a transmitter (such as a radio frequency transmitter, antenna, etc.) or a receiver coupled to the interface.

[0261] In this embodiment, one or more programs are stored in the memory 702 in the form of program code and configured to be executed by the processor 701. The programs include instructions for implementing the steps in the aforementioned charging docking method. For example... Figure 3 The charging docking method is shown. Specifically, memory 702 stores executable instructions, and processor 701 executes these instructions to implement the aforementioned charging docking method, for example... Figure 3 The charging docking method in the embodiment. That is, the memory 702 stores instructions for executing the method.

[0262] Alternatively, the memory 702 stores executable instructions, and the processor 701 executes the executable instructions to implement the functions of one or more of the aforementioned acquisition unit, processing unit, and communication unit (or devices), thereby realizing the charging docking method.

[0263] This application also provides a vehicle that includes charging equipment, for example... Figure 7 The charging device 70 shown.

[0264] This application also provides a vehicle that includes an image sensor, a power connection interface, and a charging device. The charging device may include, for example: Figure 6 The charging device 60 is shown. This vehicle can be used to achieve... Figure 3 or Figure 5 The charging docking method shown can be used in which the vehicle can serve as a first charging device and / or a second charging device.

[0265] The image sensor can include one or more of the following: visible light image sensor, infrared image sensor, hyperspectral image sensor, etc. For example... Figure 1As shown, the vehicle may include a first power supply connection interface 105 and a first image sensor 106, and may further include a second image sensor 107. See related descriptions. Figure 1 .

[0266] Furthermore, the vehicle may also include anchoring devices and one or more graphic representations containing recorded information. Other devices can obtain the vehicle's or its own pose data by scanning the graphic. See also Figure 2 The vehicle may include a third graphic 112 and a second anchor point module 111. The third graphic 112 may be a graphic that is recognizable under visible light or a graphic that is recognizable under infrared light.

[0267] Furthermore, the vehicle may also include a fourth graphic 113. This fourth graphic 113 may be a graphic that is identifiable under infrared light or a graphic that is identifiable under visible light.

[0268] Optionally, the vehicle may also include a signal receiving device for receiving pose data, etc., sent by other devices. For example... Figure 2 The vehicle may also include a signal receiving device 114.

[0269] For example, the vehicle can be seen Figure 8 , Figure 8 This is a schematic diagram of the layout of a vehicle provided in an embodiment of this application. The vehicle may include a red LED light, a regular QR code, an infrared QR code, a camera, and a signal receiving module.

[0270] This application also provides a charging pile, which includes charging equipment, such as... Figure 7 The charging device 70 shown.

[0271] This application also provides a charging pile, which includes an image sensor, a power connection interface, and a charging device. The charging device may include, for example: Figure 6 The charging device 60 shown is used to achieve [the following]. Figure 3 The charging docking method shown can be used as a first charging device and / or a second charging device.

[0272] The image sensor may include one or more of the following: visible light image sensor, infrared image sensor, hyperspectral image sensor, etc.

[0273] like Figure 1 As shown, the charging pile may include a first graphic 101, a first anchor point module 103, and a second power supply connection interface 104, and may further include a second graphic 102. Please refer to the relevant description. Figure 1 .

[0274] Furthermore, the charging station may also include a third image sensor 108. This sensor can capture and recognize images from other devices to obtain pose data of those devices or its own. See also... Figure 2 The third image sensor 108 can be a visible light image sensor, which can capture images that can be recognized under visible light conditions.

[0275] Furthermore, the charging station may also include a fourth image sensor 109. See also Figure 2 The fourth image sensor 109 can be an infrared image sensor, which can capture images that can be identified under infrared conditions.

[0276] Optionally, the charging station may also include a signal transmitting device for sending pose data, etc., to other devices. For example... Figure 2 The charging station may also include a signal transmitting device 110.

[0277] For example, the charging pile can be seen in... Figure 9 , Figure 9 This is a schematic diagram of the layout of a charging pile according to an embodiment of this application. The charging pile may include a red LED light, a regular QR code, an infrared QR code, a camera, and a signal transmission module.

[0278] This application also provides a computer program product including instructions. The computer program product may be a software or program product containing instructions, capable of running on a computing device or stored on any usable medium. The computer program instructions are used to implement the aforementioned method, for example... Figure 3 The charging docking method in the embodiments.

[0279] This application also provides a computer-readable storage medium. The computer-readable storage medium includes instructions for implementing the aforementioned charging docking method, for example... Figure 3 The charging docking method in the embodiments.

[0280] The computer-readable storage medium can be any available medium that the device can store, or a data storage device such as a data center that contains one or more available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state drives).

[0281] In this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0282] In this application, "at least one" in the embodiments refers to one or more items, and "more than one" refers to two or more items. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, and c can be single or multiple. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0283] Furthermore, unless otherwise stated, the use of ordinal numbers such as "first" and "second" in the embodiments of this application is for distinguishing multiple objects and is not used to limit the order, timing, priority, or importance of the multiple objects. For example, "first image sensor" and "second image sensor" are only for ease of description and do not indicate any difference in the deployment order or importance of the first image sensor. In some scenarios, the first image sensor and the second image sensor may also be the same image sensor.

[0284] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0285] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. A charging docking method, characterized in that, The method includes: The first charging device acquires a first image, the first image includes an image corresponding to the second charging device, the second charging device is provided with a first graphic and a first anchor point module, the first graphic is used to record information, the first anchor point module and the first graphic have a relative position, and the first charging device or the second charging device is a mobile device. The first charging device determines a first recognition area of ​​the first image based on the position of the first anchor point module in the first image. The first recognition area is the area in the first image that contains the image corresponding to the first graphic. The first charging device determines the first pose data based on a partial image of the first image within the first recognition area; Wherein, the first pose data is used to indicate the relative position of the first charging device and the second charging device; the first charging device includes a first power supply connection interface, the second charging device includes a second power supply connection interface, and the relative position of the first charging device and the second charging device is used to realize the charging docking of the first power supply connection interface and the second power supply connection interface.

2. The method according to claim 1, characterized in that, The first anchor point module is colored, and the method further includes: The first charging device performs color recognition on the first image to determine the position of the first anchor point module in the first image.

3. The method according to claim 1 or 2, characterized in that, The first charging device determines a first recognition region of the first image based on the position corresponding to the first anchor point module in the first image, including: The first charging device determines the size of the identification area based on the distance between the first charging device and the second charging device; The first charging device determines the first recognition area of ​​the first image based on the position of the first anchor point module in the first image and the size of the recognition area.

4. The method according to any one of claims 1-3, characterized in that, The first image is an image identified by a visible light image sensor; The first charging device includes a first visible light image sensor, and the first charging device acquires a first image, including: The first charging device determines the first image using the first visible light image sensor.

5. The method according to any one of claims 1-3, characterized in that, The first image is an image identified by an infrared image sensor; The first charging device includes a first infrared image sensor, and the first charging device acquires a first image, including: The first charging device determines the first image using the first infrared image sensor.

6. The method according to claim 5, characterized in that, The method further includes: The first charging device acquires a second image. The second charging device is provided with a second graphic and a second anchor point module. The second graphic is a graphic that is recognized under a visible light image sensor. The second graphic is used to record information. The second anchor point module and the second graphic have a relative position. The first charging device determines the second recognition area of ​​the second image based on the position of the second anchor point module in the second image. The second recognition area is the area in the second image that contains the image corresponding to the second graphic. The first charging device determines second pose data based on a partial image of the second image within the second recognition area; wherein the second pose data is used to indicate the relative position of the first charging device and the second charging device.

7. The method according to claim 6, characterized in that, The method further includes: The first charging device determines the usage priority of the first pose data and the second pose data based on environmental information, wherein the environmental information includes at least one of weather information, illumination information, and time period information; The first charging device uses the first pose data or the second pose data for charging docking according to the usage priority of the first pose data and the second pose data.

8. The method according to any one of claims 1-7, characterized in that, The first charging device is a mobile terminal that uses electricity, the second charging device is a power supply terminal, and the method further includes: The first charging device receives third pose data from the second charging device, the third pose data being used to indicate the relative position of the first charging device and the second charging device; The first charging device performs pose data conversion on the third pose data to obtain the fourth pose data; The first charging device fuses the fourth pose data and the first pose data to obtain the fifth pose data; The first charging device aligns its first power supply connection interface with the second power supply connection interface of the second charging device according to the fifth pose data.

9. A charging docking method, characterized in that, The charging docking method is applied to a charging system comprising a first charging device and a second charging device. The first charging device is a mobile device. The second charging device comprises a second image sensor, a second power supply connection interface, a first graphic, and a first anchor point module. The first graphic is used to record information, and the first anchor point module is in a relative position to the first graphic. The first charging device also comprises a first image sensor, a first power supply connection interface, a third graphic, and a third anchor point module. The third graphic is used to record information, and the third anchor point module is in a relative position to the third graphic. The method includes: The first charging device obtains a first image through the first image sensor, and the first image includes the image corresponding to the second charging device. The first charging device determines the first recognition area of ​​the first image based on the position of the first anchor point module in the first image. The first recognition area is the area in the first image that contains the image corresponding to the first graphic. The first charging device determines first pose data based on a partial image of the first image within the first recognition area. The first pose data is used to indicate the relative position of the first charging device and the second charging device. The second charging device obtains a third image through a second image sensor, and the third image includes the image corresponding to the first charging device; The second charging device determines the third recognition area of ​​the third image based on the position of the third anchor point module in the third image. The third recognition area is the area in the third image that contains the image corresponding to the third graphic. The second charging device determines third pose data based on a partial image of the third image within the third recognition area. The third pose data is used to indicate the relative position of the first charging device and the second charging device. The second charging device sends the third pose data to the first charging device; The first charging device obtains the fifth pose data based on the third pose data and the first pose data; The first charging device aligns its first power supply connection interface with the second power supply connection interface of the second charging device according to the fifth pose data.

10. A charging device, characterized in that, Applied to a first charging device, the charging device includes an acquisition unit and a processing unit. The acquisition unit is used for: A first image is acquired, which includes an image corresponding to a second charging device. The second charging device is provided with a second power supply connection interface, a first graphic, and a first anchor point module. The first graphic is used to record information, and the position of the first anchor point module is relative to that of the first graphic. The processing unit is used for: Based on the position of the first anchor point module in the first image, a first recognition region of the first image is determined. The first recognition region is the region in the first image that contains the image corresponding to the first graphic. The first pose data is determined based on the local image of the first image within the first recognition area; Wherein, the first pose data is used to indicate the relative position of the first charging device and the second charging device, and the first charging device or the second charging device is a mobile device; The first charging device includes a first power supply connection interface, and the second charging device includes a second power supply connection interface. The relative positions of the first charging device and the second charging device are used to enable charging docking between the first power supply connection interface and the second power supply connection interface.

11. A charging device, characterized in that, The charging device includes an image sensor, a power connection interface, a processor, and a memory, wherein the memory stores a program that includes instructions for executing the method as described in any one of claims 1-8.

12. A vehicle, characterized in that, The vehicle includes an image sensor, a power connection interface, and a charging device as described in claim 10.

13. A charging pile, characterized in that, The charging pile includes an image sensor, a power connection interface, and a charging device as described in claim 10.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program, the computer program including instructions for performing the method as described in any one of claims 1-8.

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