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

Abstract

The invention relates to the technical field of unmanned scene charging, and discloses a charging port identification and positioning method and device, computer equipment and a storage medium, and the method comprises the steps: obtaining a target brand and a target model of a target automobile; based on the target brand of the target automobile and the target model of the target automobile, screening a preset database, and determining a three-dimensional position difference of a target charging port position of the target automobile relative to the reference point; after the target automobile runs to the charging parking space, a charging mechanism is controlled to run to the initial charging position of the target automobile according to the three-dimensional position difference; and secondary positioning is conducted on the initial charging position, the target charging port position of the target automobile is determined, and the charging mechanism is controlled to run to the target charging port position. According to the invention, positioning of the automobile charging ports of different brands or models in the unmanned scene is realized, the technical problem of a key link of automatic charging in the unmanned scene is solved, and development of automatic charging in the unmanned scene is promoted.

Description

Technical Field

[0001] The present invention relates to the field of unmanned scene charging technology, and in particular to a charging port identification and positioning method, device, computer equipment and storage medium. Background Art

[0002] With the increase in electric vehicles, the demand for car charging is increasing, and automatic car charging without anyone around is gradually becoming part of people's lives.

[0003] In the related art, since the locations of car charging ports (including fast charging and slow charging) of different car brands are not uniform, it is difficult to find the charging port when charging the car without anyone around, making it difficult to charge the car without anyone around. Summary of the invention

[0004] In view of this, the present invention provides a charging port identification and positioning method, device, computer equipment and storage medium to solve the problem that it is difficult for a car to find a charging port when no one is around.

[0005] In a first aspect, the present invention provides a charging port identification and positioning method, which is applied to an unmanned charging system, and the method includes:

[0006] Get the target brand and target model of the target car;

[0007] Based on the target brand and the target model of the target vehicle, a pre-set database is screened to determine a three-dimensional position difference of a target charging port position of the target vehicle relative to a reference reference point;

[0008] After the target vehicle runs to the charging parking space, the charging mechanism is controlled to run to the initial charging position of the target vehicle according to the three-dimensional position difference;

[0009] Perform secondary positioning on the initial charging position, determine the target charging port position of the target vehicle, and control the charging mechanism to run to the target charging port position.

[0010] In the present invention, the three-dimensional position difference of the position of the charging port of the car relative to the reference reference point is screened and determined from a pre-set database through the brand and model of the car, and the charging mechanism is preliminarily controlled to run to the vicinity of the charging position of the target car. Further secondary precise positioning is performed to determine the exact position of the charging port of the target car, and the charging mechanism is controlled to run to the position of the target charging port. This is suitable for scenarios with different positions of charging ports of different car brands or models, and realizes the positioning of charging ports of cars of different brands or models in unmanned scenarios, and then automatically charging the cars in unmanned scenarios, which solves the technical difficulty of a key link of automatic charging in unmanned scenarios and promotes the development of automatic charging in unmanned scenarios.

[0011] In an optional embodiment, the database includes: pre-acquired brands and models of different cars and the three-dimensional position difference of the car's charging port relative to a reference reference point, and the car's charging port is located in front of the car, left front, right front, left rear, right rear or rear.

[0012] In this method, by establishing a corresponding database of the car's brand, model, and the three-dimensional position difference between the charging port and the reference reference point, the car brand and model are input into the car charging operation human-machine interface, and transportation and charging operations are realized based on the three-dimensional position difference between the car's corresponding charging port and the reference reference point.

[0013] In an optional implementation, based on the target brand and the target model of the target vehicle, a preset database is screened to determine the three-dimensional position difference of the target charging port position of the target vehicle relative to the reference reference point, including:

[0014] Based on the target brand and the target model of the target car, the three-dimensional position difference of the target charging port of the target car relative to the reference reference point is determined by comparing and searching the database. The target charging port is located directly in front of, in front of the left, in front of the right, in rear left, in rear right or directly behind the target car.

[0015] In this method, a pre-constructed database is used to match the three-dimensional position difference pre-stored in the database according to the make and model of the car, and the approximate location of the car's charging port is preliminarily determined, so that the target charging mechanism can quickly run to the approximate location of the charging port, reducing calculation time.

[0016] In an optional embodiment, before controlling the charging mechanism to run to the initial charging position of the target vehicle according to the three-dimensional position difference, the method further includes:

[0017] After receiving the parking confirmation instruction, determine whether there is anyone inside the target car;

[0018] When there is someone inside the target car, wait until there is no one inside the target car;

[0019] After there is no one inside the target car, the car transporting equipment is controlled to transport the target car to a parking space.

[0020] In this method, before the charging mechanism runs to the initial charging position, it is determined whether there is anyone inside the car. The car is not moved until the car stops and the people leave the car. The car is moved to a parking space at several car position reference points for charging, which facilitates the confirmation of the position of the car's charging port.

[0021] In an optional implementation, controlling the charging mechanism to run to the initial charging position of the target vehicle according to the three-dimensional position difference includes:

[0022] A parking stop is set in the forward direction of the car in the parking space, and after the front wheels of the target car reach the parking stop, the front wheel position and the rear wheel position of the target car are determined;

[0023] A push rod is set on the left and right sides of the parking space to adjust the position of the target car, determine the center position between the left front wheel and the right front wheel of the target car, and use the center position as the first reference point;

[0024] An initial charging position is determined according to the first reference point and the three-dimensional position difference, and the charging mechanism is controlled to run to the initial charging position of the target vehicle.

[0025] In this method, the charging mechanism moves to the vicinity of the charging port based on the three-dimensional position difference between the charging port and the reference reference point provided by the system and the position of the vehicle's reference point, and then accurately locates the interface of the charging port or the charging conversion device, reducing the amount of calculation required for accurate positioning and achieving faster positioning.

[0026] In an optional embodiment, a mechanical arm with a 3D camera installed is provided at the front end of the charging mechanism, and the initial charging position is secondary positioned to determine the target charging port position of the target vehicle, including:

[0027] When the robot arm is controlled to move to a first preset distance above the target charging port position, a first 3D camera recognition and positioning is performed to determine the target charging port position and determine whether there are obstacles within the range of movement of the robot arm;

[0028] When there is no obstacle within the range of motion of the robotic arm, the robotic arm is controlled to move to a second preset distance above the target charging port position, and a second 3D camera recognition and positioning is performed to obtain secondary positioning information, wherein the second preset distance is smaller than the first preset distance;

[0029] When there is an obstacle within the range of motion of the robot arm, the process returns to the step of performing the first 3D camera recognition and positioning until there is no obstacle within the range of motion of the robot arm.

[0030] In this method, visual recognition technology is used through precise positioning. Visual three-dimensional recognition technology accurately locates the charging port or the interface of the charging conversion device. The system uses a robotic arm to insert the charging gun into the charging port for charging, and then pull it out after charging is completed, realizing automatic charging in an unmanned scene.

[0031] In a second aspect, the present invention provides a charging port identification and positioning device, the device comprising:

[0032] A data acquisition module, used to acquire a target brand and a target model of a target car;

[0033] A three-dimensional position difference matching module, for screening a pre-set database based on a target brand and a target model of a target vehicle, and determining a three-dimensional position difference of a target charging port position of the target vehicle relative to a reference reference point;

[0034] The initial positioning module is used to control the charging mechanism to move to the initial charging position of the target vehicle according to the three-dimensional position difference after the target vehicle moves to the charging parking space;

[0035] The precise positioning module is used to perform secondary positioning of the initial charging position, determine the target charging port position of the target vehicle, and control the charging mechanism to run to the target charging port position.

[0036] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the charging port identification and positioning method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0037] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the charging port identification and positioning method of the first aspect or any corresponding embodiment thereof.

[0038] In a fifth aspect, the present invention provides a computer program product, including computer instructions, and the computer instructions are used to enable a computer to execute the charging port identification and positioning method of the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 4 is a flow chart of a charging port identification and positioning method according to an embodiment of the present invention.

[0041] Figure 2 4 is a flow chart of another charging port identification and positioning method according to an embodiment of the present invention.

[0042] Figure 3It is a schematic diagram of the three-dimensional position difference of a vehicle charging port corresponding to a middle position of a landing point of a left and right front wheel of a vehicle as a reference benchmark according to an embodiment of the present invention.

[0043] Figure 4 4 is a flow chart of another charging port identification and positioning method according to an embodiment of the present invention.

[0044] Figure 5 4 is a structural block diagram of a charging port identification and positioning device according to an embodiment of the present invention.

[0045] Figure 6 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0047] In the related art, since the locations of car charging ports (including fast charging and slow charging) of different car brands are not uniform, it is difficult to find the charging port when charging the car without anyone around, making it difficult to charge the car without anyone around.

[0048] In order to solve the above problems, a charging port identification and positioning method is provided in an embodiment of the present invention, which is used in a computer device. It should be noted that its execution subject can be a charging port identification and positioning device, which can be implemented as part or all of a computer device through software, hardware, or a combination of software and hardware. The computer device can be a terminal, a client, or a server. The server can be a single server or a server cluster composed of multiple servers. The terminal in the embodiment of the present application can be a smart phone, a personal computer, a tablet computer, or other intelligent hardware devices. In the following method embodiments, the execution subject is taken as an example of a computer device for explanation.

[0049] The computer device in this embodiment is suitable for use in unmanned charging scenarios, where different brands and models of cars have charging ports at different locations for automatic charging. The present invention provides a charging port identification and positioning method, which uses the brand and model of the car to screen and determine the three-dimensional position difference of the car's charging port relative to the reference reference point from a pre-set database, preliminarily controls the charging mechanism to run to the vicinity of the charging position of the target car, and further performs secondary precise positioning to determine the exact position of the charging port of the target car, and controls the charging mechanism to run to the position of the target charging port. It is suitable for scenarios where the charging ports of different car brands or models have different positions, and realizes the positioning of the charging ports of cars of different brands or models in unmanned scenarios, and then automatically charges the car in unmanned scenarios, solving a technical problem of a key link of automatic charging in unmanned scenarios, and promoting the development of automatic charging in unmanned scenarios.

[0050] According to an embodiment of the present invention, an embodiment of a charging port identification and positioning method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0051] In this embodiment, a charging port identification and positioning method is provided, which can be used for the above-mentioned computer device. Figure 1 is a flow chart of a charging port identification and positioning method according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0052] Step S101, obtaining a target brand and a target model of a target car.

[0053] In one example, the user may input or select the brand and exact model of the car to be charged in a human-machine interface to be operated when charging is required, so as to obtain the target brand and target model of the target car.

[0054] Step S102 , based on the target brand and the target model of the target vehicle, a preset database is screened to determine the three-dimensional position difference of the target charging port position of the target vehicle relative to the reference reference point.

[0055] In one example, after obtaining the brand and model of the user's car, the car brand and accurate model are retrieved from the database to obtain the three-dimensional position difference between the charging port and the car reference point.

[0056] Step S103, after the target vehicle runs to the charging parking space, the charging mechanism is controlled to run to the initial charging position of the target vehicle according to the three-dimensional position difference.

[0057] In one example, after determining that the car has stopped and the person has left, a device for transporting the car (including AGV, robot, mechanical garage equipment, etc., which are not limited in the present invention) is used to transfer the car from the parking space to the potential for charging the car or to the parking space waiting for charging and then to the charging space. Both the parking space and the charging space have a positioning method for the car reference point (the landing point of the left front wheel or right front wheel of the car, the middle position of the landing point of the left front wheel and the right front wheel, the landing point of the left rear wheel or the right rear wheel of the car, and the middle position of the landing point of the left rear wheel and the right rear wheel of the car) to ensure that the reference point of the car before and after transportation is at the position specified by the system. The charging mechanism for charging the car (such as a charging robot with a pluggable charging gun, which is not limited in the present invention) moves in a relatively fixed area to complete the charging work, and there is no need to search for the charging port position around the car in the charging parking space. After the car stops steadily in the charging parking space, the control system will send the three-dimensional position of the charging port relative to the reference point to the charging mechanism for charging the car.

[0058] Step S104, performing secondary positioning on the initial charging position, determining the target charging port position of the target vehicle, and controlling the charging mechanism to move to the target charging port position.

[0059] In one example, the charging mechanism moves the three-dimensional position of the charging port relative to the reference point to the vicinity of the charging port and then accurately locates the charging port or the interface of the charging conversion device. The accurate positioning method uses visual recognition technology. The visual three-dimensional recognition technology accurately locates the interface of the charging port or the charging conversion device. The system uses a mechanical arm to insert the charging gun into the charging port for charging, and then pull it out after charging.

[0060] The charging port identification and positioning method provided in the present embodiment uses the brand and model of the car to screen and determine the three-dimensional position difference of the position of the car's charging port relative to a reference reference point from a pre-set database, preliminarily controls the charging mechanism to operate near the charging position of the target car, and further performs secondary precise positioning to determine the exact position of the charging port of the target car, and controls the charging mechanism to operate to the position of the target charging port. The method is suitable for scenarios with different charging port positions of different car brands or models, and realizes the positioning of charging ports of cars of different brands or models in unmanned scenarios, and then automatically charges cars in unmanned scenarios, which solves a technical problem of a key link of automatic charging in unmanned scenarios and promotes the development of automatic charging in unmanned scenarios.

[0061] In this embodiment, a charging port identification and positioning method is provided, which can be used for the above-mentioned computer device. Figure 2 is a flow chart of another charging port identification and positioning method according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0062] Step S201, obtain the target brand and target model of the target car. Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0063] Step S202 , based on the target brand and the target model of the target vehicle, a preset database is screened to determine the three-dimensional position difference of the target charging port position of the target vehicle relative to the reference reference point.

[0064] Specifically, the database includes: pre-acquired brands and models of different cars and the three-dimensional position difference of the car's charging port relative to a reference reference point, where the car's charging port is located directly in front of the car, in front of the left, in front of the right, in rear left, in rear right or directly behind the car.

[0065] In one example, the database is constructed by the following steps: establishing spatial models of cars of different brands and models, and determining the three-dimensional position difference of the car charging port or the socket position of the adapter plugged into the car charging port relative to a certain reference position of the car. Figure 3 is a schematic diagram of a three-dimensional position difference of a vehicle charging port corresponding to a middle position of a landing point of a left and right front wheel of a vehicle as a reference datum according to an embodiment of the present invention, such as Figure 3 As shown, the reference position of the car can be selected from the landing point of the left front wheel or the right front wheel of the car, the middle position of the landing point of the left front wheel and the right front wheel, the landing point of the left rear wheel or the right rear wheel of the car, and the middle position of the landing point of the left rear wheel and the right rear wheel of the car. Among them, the three-dimensional position difference refers to the position difference of the X / Y / Z axis. The position difference of the X / Y / Z axis of the database needs to be actually verified and measured in advance according to the data provided by the car manufacturer.

[0066] Exemplarily, a corresponding database of the car's brand, model, and the three-dimensional position difference between the charging port and the reference reference point is established as a preliminary preparation condition for automatic charging in an unmanned scenario. The three-dimensional position difference of the reference reference point in the corresponding database can also be simplified to an orientation range, at least to clarify whether the charging port is directly in front of the car, left front, right front, left rear, right rear or directly behind.

[0067] The above step S202 includes:

[0068] Step S2021, based on the target brand and the target model of the target vehicle, compare and search the database to determine the three-dimensional position difference of the target charging port position of the target vehicle relative to the reference reference point.

[0069] In an embodiment of the present invention, the target charging port is located in front of, in front of the left, in front of the right, in the rear left, in the rear right, or in front of the target vehicle.

[0070] In one example, after obtaining the user's car information, the car brand and exact model are retrieved from the database to obtain the three-dimensional position difference between the charging port and the car reference point.

[0071] In this method, by establishing a corresponding database of the brand, model, and three-dimensional position difference between the charging port and the reference reference point of the car, the car brand and model are input into the car charging operation human-machine interface, and the transportation and charging operations are realized according to the three-dimensional position difference between the corresponding charging port and the reference reference point of the car. By using the pre-built database, the three-dimensional position difference pre-stored in the database is matched according to the brand and model of the car, and the charging port of the car is preliminarily determined to be located at the approximate position of the car, which facilitates the target charging mechanism to quickly run to the approximate position of the charging port, reducing the calculation time.

[0072] Step S203: After the target vehicle moves to the charging parking space, the charging mechanism is controlled to move to the initial charging position of the target vehicle according to the three-dimensional position difference. Figure 1 Step S103 of the illustrated embodiment will not be described in detail here.

[0073] Step S204: perform secondary positioning on the initial charging position, determine the target charging port position of the target vehicle, and control the charging mechanism to operate to the target charging port position. Figure 1 Step S104 of the illustrated embodiment will not be described in detail here.

[0074] The charging port identification and positioning method provided in this embodiment establishes a corresponding database of the brand and model of the car and the three-dimensional position difference between the charging port and the reference reference point, and inputs the car brand and model in the car charging operation human-machine interface, so as to realize the transportation and charging operation according to the three-dimensional position difference between the corresponding charging port and the reference reference point of the car. By using the pre-built database, the three-dimensional position difference pre-stored in the database is matched according to the brand and model of the car, and the charging port of the car is preliminarily determined to be located at the approximate position of the car, so as to facilitate the target charging mechanism to quickly run to the approximate position of the charging port, thereby reducing the calculation time.

[0075] In this embodiment, a charging port identification and positioning method is provided, which can be used for the above-mentioned computer device. Figure 4 is a flow chart of another charging port identification and positioning method according to an embodiment of the present invention. Figure 4 As shown, the process includes the following steps:

[0076] Step S401, obtain the target brand and target model of the target car. Figure 2 Step S201 of the illustrated embodiment will not be described in detail here.

[0077] Step S402: Based on the target brand and target model of the target vehicle, a preset database is screened to determine the three-dimensional position difference of the target charging port position of the target vehicle relative to the reference reference point. Figure 2 Step S202 of the illustrated embodiment will not be described in detail here.

[0078] Step S403, after receiving the parking confirmation instruction, determine whether there is anyone inside the target car.

[0079] Step S404, when there is still someone inside the target car, wait until there is no one inside the target car.

[0080] Step S405, after there is no one inside the target car, control the car transporting equipment to transport the target car to a parking space.

[0081] In one example, after confirming that the car is parked and the person has left, a car transporting device (including AGV, robot, mechanical garage equipment, etc.) is used to transfer the car from the parking space to the potential for charging the car or to the parking space waiting for charging, and then to the charging space. Both the parking space and the charging space have positioning methods for the car reference points (the landing point of the left front wheel or right front wheel of the car, the middle position of the landing point of the left front wheel and the right front wheel, the landing point of the left rear wheel or right rear wheel of the car, and the middle position of the landing point of the left rear wheel and the right rear wheel of the car), ensuring that the reference points of the car before and after transportation are at the position specified by the system.

[0082] Specifically, the parking space has a living thing detection sensor and an operation screen for parking confirmation and charging demand confirmation. After the user confirms on the operation screen that the parking is complete and determines the amount of electricity required to be charged, the internal living thing detection confirms that there is no one, that is, the car is parked steadily and the person has left. The charging parking space is equipped with a charging gun for electric vehicles in advance. It is a fixed and clear parking space. The charging mechanism is a mobile mechanism that is responsible for the plugging and unplugging of the charging gun and can serve multiple charging parking spaces. The system will fix the position of the charging parking space, and when there is no car in the charging parking space, the car that needs to be charged will be sent to the charging parking space, or the fully charged car will be taken away from the charging parking space.

[0083] In this method, before the charging mechanism runs to the initial charging position, it is determined whether there is anyone inside the car. The car is not moved until the car stops and the people leave the car. The car is moved to a parking space at several car position reference points for charging, which facilitates the confirmation of the position of the car's charging port.

[0084] Step S406, after the target vehicle runs to the charging parking space, the charging mechanism is controlled to run to the initial charging position of the target vehicle according to the three-dimensional position difference.

[0085] Specifically, the above step S406 includes:

[0086] Step S4061, setting a parking stop in the forward direction of the car in the parking space, and after the front wheels of the target car reach the parking stop, determining the front wheel position and the rear wheel position of the target car.

[0087] Step S4062, setting a center push rod on the left and right sides of the parking space, adjusting the position of the target car, determining the center position between the left front wheel and the right front wheel of the target car, and taking the center position as the first reference point.

[0088] Step S4063, determining an initial charging position according to the first reference point and the three-dimensional position difference, and controlling the charging mechanism to move to the initial charging position of the target vehicle.

[0089] In one example, there is a parking stop in the parking space in the direction of the car's forward movement. When the front wheels of the user's car hit the parking stop, the front and rear positions of the front wheels are determined. The parking space is equipped with centering push rods on both sides to push the car straight so that the reference point (such as the center position of the two front wheels) is in a fixed position. The position where the device for transporting cars enters the parking space (including the parking space and) is parked is fixed, and sensors such as QR code positioning sensors can be installed at fixed positions of the device for transporting cars. After the device for transporting cars stops the car in the charging parking space, the control system will send the three-dimensional position of the charging port relative to the reference point to the charging mechanism for charging the car, and the charging mechanism will move to the vicinity of the charging port according to the three-dimensional position of the charging port relative to the reference point.

[0090] In this method, the charging mechanism moves to the vicinity of the charging port based on the three-dimensional position difference between the charging port and the reference reference point provided by the system and the position of the vehicle's reference point, and then accurately locates the interface of the charging port or the charging conversion device, reducing the amount of calculation required for accurate positioning and achieving faster positioning.

[0091] Step S407, performing secondary positioning on the initial charging position, determining the target charging port position of the target vehicle, and controlling the charging mechanism to move to the target charging port position.

[0092] Specifically, a mechanical arm with a 3D camera installed is provided at the front end of the charging mechanism, and the above step S407 includes:

[0093] Step S4071, when the robot arm is controlled to move to a first preset distance above the target charging port position, the first 3D camera recognition and positioning is performed to determine the target charging port position and determine whether there are obstacles within the range of movement of the robot arm.

[0094] In an example, this step is explained in detail.

[0095] Step S4072, when there are no obstacles within the range of motion of the robotic arm, the robotic arm is controlled to move to a second preset distance above the target charging port position, and a second 3D camera recognition and positioning is performed to obtain secondary positioning information.

[0096] In the embodiment of the present invention, the second preset distance is smaller than the first preset distance.

[0097] Step S4073, when there is an obstacle within the range of motion of the robotic arm, return to the step of performing the first 3D camera recognition and positioning until there is no obstacle within the range of motion of the robotic arm.

[0098] In one example, the charging mechanism moves the three-dimensional position of the charging port relative to the reference point to the vicinity of the charging port and then accurately locates the charging port or the interface of the charging conversion device. The accurate positioning method uses visual recognition technology. The visual three-dimensional recognition technology accurately locates the interface of the charging port or the charging conversion device. The system uses a mechanical arm to insert the charging gun into the charging port for charging, and then pull it out after charging.

[0099] Specifically, the precise positioning of the charging mechanism includes: the front end of the charging mechanism is a mechanical arm with a 3D camera at the end. According to the three-dimensional position of the charging port relative to the reference point, the mechanical arm is controlled to move to the vicinity of the charging port, and the first 3D camera recognition positioning is performed at 0.5 meters to 1 meter above the upper position of the charging port or the interface of the charging conversion device, to determine the position of the charging port or the interface of the charging conversion device, and to determine whether there are obstacles in the range of the mechanical arm's activity. According to the detection position result, the mechanical arm moves to about 0.2 to 0.3 meters close to the charging port or the interface of the charging conversion device for secondary precise positioning, obtains positioning information, and controls the charging gun to be inserted into the charging port or the interface of the charging conversion device. Among them, the 3D camera uses infrared light or laser to emit a beam of light, which is irradiated to the surface of the location of the charging port or the interface of the charging conversion device, forming a grid composed of many parallel light rays. When the light emitted by the 3D camera irradiates the surface of the detection object (charging port or charging adapter interface), the light will be scattered or reflected. In this process, the 3D camera measures the time difference between the light leaving the source and reaching the distance. Since the speed of light is fixed, the distance traveled by the light can be calculated. By processing the images taken by the 3D camera, the three-dimensional coordinates corresponding to each pixel can be obtained. By combining the three-dimensional coordinates generated at different viewing angles, a complete three-dimensional model of the detection object (charging port or charging adapter interface) can be obtained, and the physical characteristics such as distance, angle and shape of the detection object (charging port or charging adapter interface) can be calculated on the three-dimensional model. The detection position result can be used to help determine the location of the charging port or the interface of the charging conversion device.

[0100] The charging port identification and positioning method provided in this embodiment determines whether there are people inside the car before the charging mechanism runs to the initial charging position, and then moves the car until the car stops and the people leave the car, and then moves the car to a parking space at several car position reference points for charging, so as to facilitate the confirmation of the position of the car charging port. The charging mechanism moves to the vicinity of the charging port according to the three-dimensional position difference between the charging port and the reference reference point provided by the system and the position of the car reference point, and then accurately locates the charging port or the interface of the charging conversion device, reducing the amount of calculation required for accurate positioning and achieving faster positioning. Through the precise positioning method using visual recognition technology, the visual three-dimensional recognition technology accurately locates the interface of the charging port or the charging conversion device, and the system uses a mechanical arm to insert the charging gun into the charging port for charging, and then pulls it out after charging, realizing automatic charging in unmanned scenes.

[0101] In this embodiment, a charging port identification and positioning device is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments, and will not be repeated here. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0102] This embodiment provides a charging port identification and positioning device, such as Figure 5 As shown, including:

[0103] The data acquisition module 501 is used to acquire the target brand and target model of the target car. Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0104] The three-dimensional position difference matching module 502 is used to screen a pre-set database based on the target brand and target model of the target car to determine the three-dimensional position difference of the target charging port position of the target car relative to the reference reference point. Figure 1 Step S102 of the illustrated embodiment will not be described in detail here.

[0105] The initial positioning module 503 is used to control the charging mechanism to move to the initial charging position of the target vehicle according to the three-dimensional position difference after the target vehicle moves to the charging parking space. Figure 1 Step S103 of the illustrated embodiment will not be described in detail here.

[0106] The precise positioning module 504 is used to perform secondary positioning on the initial charging position, determine the target charging port position of the target vehicle, and control the charging mechanism to move to the target charging port position. Figure 1 Step S104 of the illustrated embodiment will not be described in detail here.

[0107] In some optional embodiments, the database includes: pre-acquired brands and models of different cars and the three-dimensional position difference of the car's charging port relative to a reference reference point, and the car's charging port is located in front of the car, left front, right front, left rear, right rear or rear.

[0108] In some optional implementations, the three-dimensional position difference matching module 502 includes:

[0109] The three-dimensional position difference matching unit is used to compare and retrieve a database based on a target brand and a target model of the target car to determine the three-dimensional position difference of the target charging port position of the target car relative to a reference reference point, and the target charging port position is located directly in front of, left front of, right front of, left rear of, right rear of, or directly behind the target car.

[0110] In some optional implementations, the charging port identification and positioning device further includes:

[0111] The vehicle-passenger-free judgment unit is used to judge whether there is still someone inside the target vehicle after receiving the parking confirmation instruction.

[0112] The vehicle interior occupancy standby unit is used for, when there is still occupancy in the target vehicle, to standby until there is no occupancy in the target vehicle.

[0113] The parking and transporting unit is used to control the vehicle transporting equipment to transport the target vehicle to a parking space after there is no one inside the target vehicle.

[0114] In some optional implementations, the initial positioning module 503 includes:

[0115] The front and rear wheel position determination unit is used to set a parking stop in the forward direction of the car in the parking space, and determine the front wheel position and rear wheel position of the target car after the front wheels of the target car reach the parking stop.

[0116] The vehicle center position determination unit is used to set center push rods on the left and right sides of the parking space, adjust the position of the target vehicle, determine the center position between the left front wheel and the right front wheel of the target vehicle, and use the center position as the first reference point.

[0117] The initial charging position determination unit is used to determine the initial charging position according to the first reference point and the three-dimensional position difference, and control the charging mechanism to run to the initial charging position of the target vehicle.

[0118] In some optional implementations, the precise positioning module 504 includes:

[0119] The first identification and positioning unit is used to perform a first 3D camera identification and positioning when the robot arm is controlled to move to a first preset distance above the target charging port position, determine the target charging port position, and judge whether there are obstacles within the activity range of the robot arm.

[0120] The second identification and positioning unit is used to control the robotic arm to move to a second preset distance above the target charging port position when there are no obstacles within the range of movement of the robotic arm, perform a second 3D camera identification and positioning, and obtain secondary positioning information, wherein the second preset distance is smaller than the first preset distance.

[0121] The obstacle avoidance unit is used to return to the first step of 3D camera recognition and positioning when there is an obstacle within the range of motion of the robot arm, until there is no obstacle within the range of motion of the robot arm.

[0122] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0123] The charging port identification and positioning device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0124] The embodiment of the present invention also provides a computer device having the above Figure 5 The charging port identification and positioning device is shown.

[0125] See also Figure 6 , Figure 6 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 6 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 6 A processor 10 is taken as an example.

[0126] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0127] The memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0128] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0129] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0130] The computer device also includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 may be connected via a bus or other means. Figure 6 The example of connecting through bus is taken in the following.

[0131] The input device 30 can receive input digital or character information, and generate key signal input related to the user settings and function control of the computer device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator bar, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display and a plasma display. In some optional embodiments, the display device can be a touch screen.

[0132] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0133] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0134] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A charging port identification and positioning method, characterized in that: Applied to an unmanned charging system, the method comprises: Get the target brand and target model of the target car; Based on the target brand of the target vehicle and the target model of the target vehicle, a preset database is screened to determine a three-dimensional position difference of a target charging port position of the target vehicle relative to a reference reference point; After the target vehicle runs to the charging parking space, controlling the charging mechanism to run to the initial charging position of the target vehicle according to the three-dimensional position difference; The initial charging position is repositioned to determine the target charging port position of the target vehicle, and the charging mechanism is controlled to move to the target charging port position.

2. The method according to claim 1, characterized in that The database includes: pre-acquired brands and models of different cars and the three-dimensional position difference of the charging port position of the car relative to a reference reference point, and the charging port position of the car is located directly in front of, left front, right front, left rear, right rear or directly behind the car.

3. The method according to claim 2, characterized in that The method of screening a preset database based on the target brand and the target model of the target vehicle to determine the three-dimensional position difference of the target charging port position of the target vehicle relative to the reference reference point includes: Based on the target brand and the target model of the target car, the database is compared and retrieved to determine the three-dimensional position difference of the target charging port position of the target car relative to a reference reference point, and the target charging port position is located directly in front of, in front of the left, in front of the right, in rear left, in rear right or directly behind the target car.

4. The method according to claim 1, characterized in that: Before controlling the charging mechanism to run to the initial charging position of the target vehicle according to the three-dimensional position difference, the method further includes: After receiving the parking confirmation instruction, determining whether there is still someone inside the target car; When there is still someone inside the target car, wait until there is no one inside the target car; After there is no one inside the target car, the car transporting equipment is controlled to transport the target car to a parking space.

5. The method according to claim 4, characterized in that The step of controlling the charging mechanism to move to the initial charging position of the target vehicle according to the three-dimensional position difference comprises: A parking stop is set in the forward direction of the car in the parking space, and after the front wheel of the target car reaches the parking stop, the front wheel position and the rear wheel position of the target car are determined; A center push rod is arranged on the left and right sides of the parking space to adjust the position of the target vehicle, determine the center position between the left front wheel and the right front wheel of the target vehicle, and use the center position as a first reference point; The initial charging position is determined according to the first reference point and the three-dimensional position difference, and the charging mechanism is controlled to operate to the initial charging position of the target vehicle.

6. The method according to claim 1, characterized in that The front end of the charging mechanism is provided with a mechanical arm equipped with a 3D camera, and the secondary positioning of the initial charging position to determine the target charging port position of the target vehicle includes: When the robot arm is controlled to move to a first preset distance above the target charging port position, a first 3D camera recognition and positioning is performed to determine the target charging port position and determine whether there is an obstacle within the range of movement of the robot arm; When there is no obstacle within the range of motion of the robotic arm, the robotic arm is controlled to move to a second preset distance above the target charging port position, and a second 3D camera recognition and positioning is performed to obtain secondary positioning information, wherein the second preset distance is less than the first preset distance; When there is an obstacle within the range of motion of the robotic arm, the process returns to the step of performing the first 3D camera recognition and positioning until there is no obstacle within the range of motion of the robotic arm.

7. A charging port identification and positioning device, characterized in that: The device comprises: A data acquisition module, used to acquire a target brand and a target model of a target car; A three-dimensional position difference matching module, used to screen a pre-set database based on a target brand of the target car and a target model of the target car, and determine a three-dimensional position difference of a target charging port position of the target car relative to a reference reference point; An initial positioning module, used to control the charging mechanism to move to the initial charging position of the target vehicle according to the three-dimensional position difference after the target vehicle moves to the charging parking space; The precise positioning module is used to perform secondary positioning on the initial charging position, determine the target charging port position of the target vehicle, and control the charging mechanism to run to the target charging port position.

8. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the charging port identification and positioning method according to any one of claims 1 to 6 by executing the computer instructions.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the charging port identification and positioning method according to any one of claims 1 to 6.

10. A computer program product, characterized in that The method comprises computer instructions for causing a computer to execute the charging port identification and positioning method according to any one of claims 1 to 6.

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