Vehicle charging method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of vehicles, and discloses a vehicle charging method and device, electronic equipment and a storage medium, and the method comprises the steps: controlling a vehicle to move to a preset parking posture based on the position of a charging seat of the vehicle and the movable range of a charging robot in response to a charging instruction, acquiring a first image and a second image under a preset parking pose; determining a relative position between the charging gun and the charging seat according to the first image and the second image, and determining a moving target point of the charging gun according to the relative position; and the charging robot is controlled to move the charging gun to the moving target point, and when the moving target point is matched with the position of the charging base, the charging robot is controlled to insert the charging gun into the charging base so as to charge the vehicle. According to the invention, automatic charging for different types of vehicles can be realized, and the convenience and intelligence of charging are improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and particularly to a charging method, device, electronic device and storage medium for a vehicle. Background Art

[0002] With the popularization of electric vehicles, the charging method of electric vehicles has become an important research topic. Among them, the research on intelligent charging robots is used to solve the problem of low convenience when manually operating the charging gun to insert into the vehicle charging socket under the traditional charging method.

[0003] However, due to the non-fixed parking position of the vehicle and the different positions of the charging sockets of vehicles of different models, the related intelligent charging robots cannot adapt to the charging scenarios of different vehicles. Therefore, the convenience and intelligence of intelligent charging robots still need to be improved. Summary of the Invention

[0004] In view of the above problems, the present application provides a charging method, device, electronic device and storage medium for a vehicle, which are used to solve the problem of low convenience of charging electric vehicles under the related technologies.

[0005] According to one aspect of the present application, a charging method for a vehicle is provided. The charging method includes: in response to a charging instruction, based on the position of the vehicle's charging socket and the movable range of the charging robot, controlling the vehicle to move to a preset parking pose, and obtaining a first image and a second image in the preset parking pose; wherein, the first image is an image of the charging gun environment collected based on the position of the charging socket, and the second image is an image of the charging socket environment collected based on the position where the charging gun is located; determining the relative position between the charging gun and the charging socket according to the first image and the second image, and determining the moving target point of the charging gun according to the relative position; controlling the charging robot to move the charging gun to the moving target point, and when the moving target point matches the position of the charging socket, controlling the charging robot to insert the charging gun into the charging socket to charge the vehicle.

[0006] In an alternative manner, controlling the vehicle to move to a preset parking pose based on the position of the vehicle-based charging dock and the movable range of the charging robot includes: determining the preset parking position of the vehicle according to the movable range of the charging robot; determining a spatial position margin when inserting the charging gun into the charging dock of the vehicle according to the position of the charging dock of the vehicle, and determining the preset parking pose of the vehicle based on the spatial position margin; wherein the spatial position margin represents the allowable spatial error range when the charging robot controls the charging gun to insert into the charging dock; and controlling the vehicle to move to the preset parking pose based on the preset parking position and the preset parking pose.

[0007] In an alternative manner, the spatial position margin includes a lateral margin, a longitudinal margin, and a vertical margin; and determining the preset parking pose of the vehicle based on the spatial position margin includes: determining the lateral parameter, the longitudinal parameter, and the vertical parameter of the vehicle at the preset parking position respectively based on the lateral margin, the longitudinal margin, and the vertical margin, so as to determine the preset parking pose of the vehicle.

[0008] In an alternative manner, the spatial position margin includes a lateral margin, a longitudinal margin, and a vertical margin; and determining the preset parking pose of the vehicle based on the spatial position margin includes: determining an axis-aligned bounding box based on the lateral margin, the longitudinal margin, and the vertical margin, and respectively reducing the length, width, and height of the vehicle proportionally, so that the reduced vehicle model is completely located within the axis-aligned bounding box, and at least one dimension of the vehicle model is equal to the corresponding dimension of the axis-aligned bounding box in one direction; and determining the preset parking pose of the vehicle according to the position parameter of the geometric center of the vehicle model in the axis-aligned bounding box.

[0009] In an alternative manner, determining the relative position between the charging gun and the charging dock according to the first image and the second image, and determining the moving target point of the charging gun according to the relative position includes: converting the depth information of each pixel point in the first image and the second image to the same coordinate system, and determining the relative position between the charging gun and the charging dock according to the three-dimensional coordinates of the charging gun and the charging dock respectively in the same coordinate system; starting from the position where the charging gun is located, segmenting the lateral distance, the longitudinal distance, and the vertical distance included in the relative position according to a preset step length, and taking the first three-dimensional coordinate obtained after segmentation as the moving target point of the charging gun; wherein the first three-dimensional coordinate point is the coordinate point closest to the position where the charging gun is located.

[0010] In an alternative manner, the charging method further includes: if the moving target point does not match the position of the charging dock, acquiring a new first image and a new second image; wherein, the new first image is an image of the environment after the position update of the charging gun acquired based on the position of the charging dock, and the new second image is an image of the charging dock environment acquired based on the updated position of the charging gun; determining a new relative position between the charging gun and the charging dock according to the new first image and the new second image, and determining a new moving target point according to the new relative position.

[0011] In an alternative manner, the charging method further includes: if a dynamic obstacle is detected between the charging gun and the charging dock based on the first image and / or the second image, controlling the charging robot to pause moving the charging gun and sending an alarm message.

[0012] According to another aspect of the embodiments of the present application, there is provided a charging device for a vehicle, the charging device includes: a parking module, configured to, in response to a charging instruction, based on the position of the charging dock of the vehicle and the movable range of the charging robot, control the vehicle to move to a preset parking pose, and acquire a first image and a second image in the preset parking pose; wherein, the first image is an image of the charging gun environment acquired based on the position of the charging dock, and the second image is an image of the charging dock environment acquired based on the position where the charging gun is located; a calculation module, configured to determine a relative position between the charging gun and the charging dock according to the first image and the second image, and determine a moving target point of the charging gun according to the relative position; a control module, configured to control the charging robot to move the charging gun to the moving target point, and when the moving target point matches the position of the charging dock, control the charging robot to insert the charging gun into the charging dock to charge the vehicle.

[0013] In the scenario where the vehicle needs to be automatically charged, based on the position of the charging dock of the vehicle and the movable range of the charging robot, the vehicle is moved to a preset parking pose, so that the distance between the charging dock and the charging gun does not exceed the movable range of the charging robot, avoiding the problem that the charging dock cannot be directly exposed in front of the charging gun due to the vehicle being parked too far away or the parking attitude angle being too deviated, resulting in the charging robot being unable to insert the charging gun into the charging dock. At the same time, the safety risk caused by the charging cable being pulled too long is also avoided; in the preset parking pose, based on the first image of the charging dock environment collected based on the position of the charging gun and the second image of the charging gun environment collected based on the position of the charging dock, the relative position between the charging gun and the charging dock is calculated. Since the first image and the second image are relative to each other, through the fusion of relative perspective information, the calculation accuracy of the relative position can be improved, thereby providing a judgment basis for accurate gun insertion and improving the accuracy of gun insertion; based on the relative position, a moving target point is determined, and the charging robot is controlled to move the charging gun so that the charging gun is inserted into the charging dock to charge the vehicle, realizing automatic charging for vehicles of different models and improving the convenience and intelligence of charging.

[0014] The above description is only an overview of the technical solution of the embodiment of the present application. In order to be able to understand the technical means of the embodiment of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the embodiment of the present application more obvious and understandable, the following specifically gives the specific implementation manners of the present application. Brief Description of the Drawings

[0015] The drawings here are incorporated into the specification and form a part of this specification, showing the embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained according to these drawings without creative efforts.

[0016] Figure 1 It is a schematic flowchart of a charging method for a vehicle shown in an exemplary embodiment of the present application.

[0017] Figure 2 is based on Figure 1 shown in the exemplary embodiment, which is a schematic flowchart of a method for determining a preset parking pose.

[0018] Figure 3 is based on Figure 1 shown in the exemplary embodiment, which is a schematic flowchart of another charging method for a vehicle.

[0019] Figure 4 is based on Figure 1Schematic flowchart of another vehicle charging method shown in the exemplary embodiments

[0020] Figure 5 is based on Figures 1 to 4 Schematic flowchart of another vehicle charging method shown in any of the exemplary embodiments

[0021] Figure 6 Schematic diagram of the application scenario of the vehicle charging method of the present application

[0022] Figure 7 Schematic diagram of the structure of the vehicle charging device shown in an exemplary embodiment of the present application

[0023] Figure 8 Schematic diagram of the structure of the computer system of the electronic device shown in an exemplary embodiment of the present application Detailed implementation manners

[0024] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all the implementation manners consistent with the present application. On the contrary, they are merely examples of the devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0025] The block diagrams shown in the drawings are only functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0026] The flowcharts shown in the drawings are only exemplary descriptions and do not necessarily include all the contents and operations / steps, nor do they necessarily need to be executed in the described order. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined. Therefore, the actual execution order may change according to the actual situation.

[0027] In the present application, "a plurality of" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0028] Since the parking positions of vehicles are not fixed and the positions of the charging sockets of vehicles of different models are also different, the intelligent charging robots in the related art cannot adapt to the charging scenarios of different vehicles, and their convenience and intelligence still need to be improved.

[0029] For this reason, one aspect of the present application provides a charging method for a vehicle. For details, please refer to Figure 1 , Figure 1 which is a schematic flowchart of a charging method for a vehicle shown in an exemplary embodiment of the present application. The charging method at least includes S110 to S130, which are introduced in detail as follows: S110: In response to a charging instruction, based on the position of the charging socket of the vehicle and the movable range of the charging robot, control the vehicle to move to a preset parking pose, and obtain a first image and a second image in the preset parking pose.

[0030] Among them, the first image is an image of the charging gun environment collected based on the position of the charging socket, and the second image is an image of the charging socket environment collected based on the position where the charging gun is located.

[0031] The vehicle in the present application is a vehicle configured with an in-vehicle controller. The in-vehicle controller, as the execution main body of the present application, integrates an algorithm program for planning and controlling the gun-inserting action of the charging robot's robotic arm. A 3D camera is installed on the vehicle charging socket to collect images of the environment around the charging robot carrying the charging gun (i.e., the first image in the present application) and transmit the images to the in-vehicle controller.

[0032] The charging robot includes a robotic arm, and a charging gun is connected to the robotic arm. The charging gun can be connected to the robotic arm by physical connection or integrated with the robotic arm. The robotic arm can move in different spatial dimension directions to achieve the action of accurately inserting the charging gun into the charging socket. A 3D camera is installed on the charging robot to collect images of the environment around the charging socket (i.e., the second image in the present application) and transmit the images to the in-vehicle controller.

[0033] The present application also includes a charging pile, which supplies power to the charging gun through a charging cable and supplies electric energy to the vehicle during the charging process.

[0034] When the vehicle enters the parking lot with a charging robot and the operator triggers a charging instruction to confirm that the vehicle needs to be automatically charged, the vehicle creates a communication connection with the charging robot, and initializes the components of the vehicle and the charging robot, including the self-check of the 3D camera, the initialization of the communication connection module, and the startup of the in-vehicle controller and the robotic arm, etc. The charging instruction can be an instruction triggered by a preset button or an instruction sent by a mobile phone software or the cloud.

[0035] The vehicle-mounted controller determines the preset parking pose of the vehicle based on the position of the charging socket of the vehicle and the movable range of the charging robot that has established a communication connection with the vehicle, and controls the vehicle to move to the preset parking pose through a parking algorithm, so that the vehicle-mounted controller controls the charging robot to perform the gun insertion action.

[0036] Among them, the preset parking pose is a preset spatial parameter representing the vehicle in different dimensions. For example, the preset parking pose includes but is not limited to preset three-dimensional coordinate parameters, three-dimensional space image parameters, etc.

[0037] S120: Determine the relative position between the charging gun and the charging socket based on the first image and the second image, and determine the moving target point of the charging gun according to the relative position.

[0038] In this application, the vehicle-mounted controller receives the first image collected by the 3D camera installed on the charging socket, and receives the second image collected by the 3D camera installed on the robotic arm of the charging robot, extracts the spatial position parameters related to the charging gun from the first image, and extracts the spatial position parameters related to the charging socket from the second image to calculate the relative position between the charging gun and the charging socket, and then determines the moving target point of the charging gun based on the relative position.

[0039] S130: Control the charging robot to move the charging gun to the moving target point, and when the moving target point matches the position of the charging socket, control the charging robot to insert the charging gun into the charging socket to charge the vehicle.

[0040] In this application, the vehicle-mounted controller can generate an action instruction for the robotic arm of the charging robot according to the moving target point of the charging gun, and send the action instruction to the charging robot through the communication connection, so as to control the charging robot to move the charging gun to the moving target point through the robotic arm. If the moving target point matches the position of the charging socket, the vehicle-mounted controller controls the charging robot to insert the charging gun into the charging socket, thereby charging the vehicle.

[0041] Among them, the action instruction of the robotic arm of the charging robot includes but is not limited to moving direction, moving speed, moving acceleration, etc.

[0042] When the charging gun is inserted into the charging socket and the vehicle successfully starts charging, the vehicle-mounted controller can control the robotic arm of the charging robot to maintain the current posture and enter the charging sleep state, thereby saving energy consumption.

[0043] In this embodiment, in a scenario where the vehicle needs to be automatically charged, based on the position of the charging dock of the vehicle and the movable range of the charging robot, the vehicle is moved to a preset parking pose so that the distance between the charging dock and the charging gun does not exceed the movable range of the charging robot, avoiding the problem that the charging dock cannot be directly exposed in front of the charging gun due to the vehicle being parked too far away or the parking attitude angle being too deviated, resulting in the charging robot being unable to insert the charging gun into the charging dock. At the same time, the safety risk caused by the charging cable being pulled too long is also avoided; in the preset parking pose, based on the first image of the charging dock environment collected based on the position of the charging gun, and the second image of the charging gun environment collected based on the position of the charging dock, the relative position between the charging gun and the charging dock is calculated. Since the first image and the second image are relative to each other, through the fusion of relative perspective information, the calculation accuracy of the relative position can be improved, thereby providing a judgment basis for accurate gun insertion and improving the accuracy of gun insertion; based on the relative position, a moving target point is determined, and the charging robot is controlled to move the charging gun so that the charging gun is inserted into the charging dock to charge the vehicle, realizing automatic charging for vehicles of different models and improving the convenience and intelligence of charging.

[0044] In another exemplary embodiment of the present application, a method for determining the preset parking pose is introduced in detail. For details, please refer to Figure 2 , Figure 2 is based on Figure 1 FIG. shows a schematic flowchart of a method for determining a preset parking pose shown in an exemplary embodiment. This method includes at least S210 to S230, which are introduced in detail as follows: S210: Determine the preset parking position of the vehicle according to the movable range of the charging robot.

[0045] The movable range of the charging robot generally refers to the maximum range that the robotic arm can reach in the physical space, which is usually determined by factors such as the structural design of the robotic arm, the arm length, and the position of the charging robot.

[0046] In the present application, there is a one-to-one association relationship between the charging robot and the parking space, that is, one parking space corresponds to one charging robot. Therefore, on the basis of excluding objective factors such as the structural design of the charging robot, its movable range generally does not exceed the occupied area of its corresponding parking space. Therefore, the vehicle-mounted controller determines the preset parking position of the vehicle as the parking space corresponding to the charging robot.

[0047] S220: Determine the spatial position margin when inserting the gun into the charging dock of the vehicle according to the position of the charging dock of the vehicle, and determine the preset parking attitude of the vehicle based on the spatial position margin.

[0048] Among them, the spatial position margin represents the allowable spatial error range when the charging robot controls the charging gun to insert into the charging dock.

[0049] On the one hand, since the charging seat positions of different vehicle models (such as height, horizontal position, etc.) may be different, and the designs of the charging seats (such as the depth of the charging seat, the opening direction, etc.) vary by vehicle model, in order to ensure that the charging gun can adapt to the charging seat positions of different vehicle models and avoid the failure of gun insertion due to differences in charging seat positions, it is necessary to set a spatial position margin, so as to provide sufficient adjustment space for the charging gun to adapt to the design differences of the charging seats.

[0050] On the other hand, there may be certain errors in the movement of the robotic arm of the charging robot, such as position deviation, angle deviation, etc. Setting the spatial position margin can also allow the robotic arm to still be able to successfully insert the charging gun into the charging seat within a certain error range.

[0051] In this application, the vehicle-mounted controller sends the basic information of the vehicle (such as vehicle model, charging seat position, etc.) to the charging robot through the communication connection with the charging robot, so that the charging robot can determine the spatial position margin when inserting the gun into the charging seat of the vehicle during the initialization process. The vehicle-mounted controller receives the spatial position margin returned by the charging robot and determines the preset parking attitude of the vehicle according to the spatial position margin.

[0052] S230: Based on the preset parking position and the preset parking attitude, control the vehicle to move to the preset parking pose.

[0053] The vehicle-mounted controller determines the final preset parking pose according to the preset parking position and the preset parking attitude, and controls the vehicle to move to the preset parking pose through the parking algorithm integrated in the vehicle.

[0054] This embodiment determines the preset parking position of the vehicle according to the movable range of the charging robot, so that the vehicle can meet the necessary conditions for the charging gun to be inserted into the charging seat, designs the corresponding spatial position margin according to the charging seat positions of different vehicle models, and then determines the preset parking pose of the vehicle, so that the charging robot can adapt to the design differences of the charging seats of different vehicle models, ensuring that the charging gun can be successfully inserted into the charging seat in different situations, thereby improving the gun insertion accuracy.

[0055] In another exemplary embodiment of this application, how to determine the preset parking attitude of the vehicle based on the spatial position margin is introduced in detail, specifically including: based on the lateral margin, the longitudinal margin, and the vertical margin, respectively determining the lateral parameter, the longitudinal parameter, and the vertical parameter of the vehicle at the preset parking position to determine the preset parking attitude of the vehicle.

[0056] In this application, the spatial position margin generally includes the allowable deviations in the x, y, and z directions, which respectively represent the lateral margin, the longitudinal margin, and the vertical margin. A three-dimensional space area can be defined around the charging seat according to the spatial position margin.

[0057] Exemplarily, assume that the central position of the charging dock is , and the spatial position margin is . Then the preset parking pose needs to make the position of the charging dock located within the three-dimensional space region . The vehicle-mounted controller randomly selects any one of the parameters as the lateral parameter of the vehicle at the preset parking position, randomly selects any one of the parameters as the longitudinal parameter of the vehicle at the preset parking position, and randomly selects any one of the parameters as the vertical parameter of the vehicle at the preset parking position, so as to determine the final preset parking pose.

[0058] When the vehicle-mounted controller controls the vehicle to move to the preset parking pose, the horizontal direction where the vehicle body is located is taken as the x-axis, the direction perpendicular to the vehicle body and parallel to the ground is taken as the y-axis, and the direction perpendicular to the ground is taken as the z-axis. Through the parking algorithm, the vehicle is planned to park at the position corresponding to the lateral parameter and the longitudinal parameter. After the position adjustment in the xy direction is completed, the vehicle-mounted controller further adjusts the height of the charging dock to the position corresponding to the vertical parameter on the z-axis through the vehicle suspension or other means that can adjust the height of the charging dock.

[0059] Among them, the above order of position adjustment in the three directions of x, y, and z is only an example. In practical applications, the adjustment order can be switched according to the actual situation, and the present application does not limit this.

[0060] This embodiment introduces a method for determining the preset parking pose of a vehicle. Based on the position of the charging dock, a three-dimensional space region is defined through the spatial position margin, and the preset parking pose of the vehicle is selected within this region, which improves the fault tolerance rate when the vehicle docks while ensuring that the charging robot can successfully complete the gun insertion task.

[0061] In another exemplary embodiment of the present application, another method for determining the preset parking pose is introduced in detail. This method at least includes S21 to S22, and the details are as follows: S21: Based on the lateral margin, longitudinal margin, and vertical margin, determine an axis-aligned bounding box, and respectively reduce the length, width, and height of the vehicle in equal proportion, so that the reduced vehicle model is completely located within the axis-aligned bounding box, and at least one dimension of the vehicle model is equal to the corresponding dimension of the axis-aligned bounding box.

[0062] Exemplarily, assume that the lateral margin is cm, the longitudinal margin is cm, and the vertical margin is If it is 20 centimeters, then according to the horizontal margin, vertical margin, and perpendicular margin, an axis-aligned bounding box in the shape of a cuboid with a length of 20 centimeters, a width of 10 centimeters, and a height of 6 centimeters can be determined. The geometric center of the cuboid is the coordinate origin of the axis-aligned bounding box.

[0063] Reduce the length, width, and height of the vehicle proportionally until the reduced vehicle model can just fit into the axis-aligned bounding box, that is, at least one dimension of the vehicle model (at least one of the length, width, and height) is equal to the corresponding dimension of the axis-aligned bounding box (at least one of the length, width, and height).

[0064] S22: Determine the preset parking pose of the vehicle according to the position parameters of the geometric center of the vehicle model in the axis-aligned bounding box.

[0065] Exemplarily, in the three-dimensional coordinate system to which the axis-aligned bounding box belongs, determine the three-dimensional coordinate points of the geometric center of the vehicle model, and based on the horizontal parameter, vertical parameter, and perpendicular parameter of the three-dimensional coordinate points, determine the final preset parking pose.

[0066] This embodiment determines the preset parking pose through geometric calculation, so that a certain error range can be evenly reserved for the gun insertion action in different directions for the final charging seat position, avoiding the uncontrollability of the random selection method.

[0067] In addition to the above method of determining the preset parking pose through three-dimensional coordinate parameters, in some alternative embodiments, the preset parking pose can also be determined through stereo space image parameters. For example, according to the spatial position margin, establish the stereo space image of one or more virtual vehicles as the preset parking pose. When the vehicle moves to coincide with the stereo space image, or the coincidence degree reaches the preset threshold, it indicates that the vehicle reaches the preset parking pose.

[0068] In another exemplary embodiment of the present application, the determination method of the moving target point is introduced in detail. For details, please refer to Figure 3 , Figure 3 is based on Figure 1 shown in the flow chart of another vehicle charging method shown in the exemplary embodiment. This charging method in S120 as shown in Figure 1 shown at least includes S310 to S320, which are introduced in detail as follows: S310: Convert the depth information of each pixel point in the first image and the second image to the same coordinate system, and determine the relative position between the charging gun and the charging seat according to the three-dimensional coordinates of the charging gun and the charging seat in the same coordinate system.

[0069] In this application, each pixel point in the first image and the second image contains not only color information but also depth information, that is, the distance of each pixel point relative to the camera. The vehicle-mounted controller aligns the first image and the second image to the same coordinate system (usually with the position of the charging gun or the center of the charging base as the origin), and calculates the relative position between the charging gun and the charging base, including the distances in the x, y, and z directions.

[0070] Exemplarily, assume that the charging gun is located at the end of the robotic arm of the charging robot, with an initial position of Pstart(0, 0, 0), and the center position of the charging base is Ptarget(x1, y1, z1). The vehicle-mounted controller needs to control the charging robot to move the charging gun from Pstart to Ptarget in three-dimensional space, and the relative position between the charging gun and the charging base is (x1 - 0, y1 - 0, z1 - 0).

[0071] S320: Starting from the position of the charging gun, segment the horizontal distance, vertical distance, and vertical distance included in the relative position according to a preset step size, and use the first three-dimensional coordinate obtained after segmentation as the moving target point of the charging gun.

[0072] Among them, the first three-dimensional coordinate point is the coordinate point closest to the position of the charging gun.

[0073] In this application, in order to ensure the smooth movement of the robotic arm and improve the accuracy of controlling the movement of the charging gun, the vehicle-mounted controller segments the horizontal distance, vertical distance, and vertical distance included in the relative position. Among them, the preset step size can be a fixed step size or a step size adaptively adjusted according to the distance of the relative position.

[0074] Exemplarily, assume that the charging gun needs to move from the starting point Pstart(0, 0, 0) to the end point Ptarget(100, 50, 30). The relative position can be segmented at equal intervals by using a fixed step size of (10, 5, 3), and the segmented points are respectively (10, 5, 3), (20, 10, 6), …, (100, 50, 30); or the key-point segmentation method can be used, with each inflection point as the segmented point, and the segmented points are respectively (0, 0, 30), (0, 50, 30), (100, 50, 30).

[0075] The vehicle-mounted controller uses the first three-dimensional coordinate obtained after segmentation as the moving target point of the charging gun to plan the moving path of the charging gun.

[0076] By fusing the information from different perspectives of the first image and the second image, this embodiment can improve the calculation accuracy of the relative position between the charging gun and the charging base, thereby enhancing the reliability of the automatic charging process. At the same time, it also avoids the problem of missing environmental information caused by limited perspective when only a single camera captures images from a single perspective.

[0077] In another exemplary embodiment of the present application, the situation where the position of the moving target point does not match the position of the charging base is introduced in detail. For specific details, please refer to Figure 4 , Figure 4 is based on Figure 1 FIG. is a schematic flowchart of another charging method for a vehicle shown in the exemplary embodiment. Based on S110 to S130 shown in Figure 1 , this charging method further includes at least S410 to S420, which are introduced in detail as follows: S410: If the position of the moving target point does not match the position of the charging base, obtain a new first image and a new second image.

[0078] Among them, the new first image is an image of the environment after the position of the charging gun is updated, collected based on the position of the charging base, and the new second image is an image of the charging base environment collected based on the updated position of the charging gun.

[0079] In the present application, each time the in-vehicle controller moves the charging gun to the moving target point, it determines whether the current moving target point matches the position of the charging base. If not, the in-vehicle controller uses the 3D camera on the charging base to collect an image of the environment after the position of the charging gun is updated. At the same time, the in-vehicle controller controls the 3D camera installed on the robotic arm of the charging robot to collect an image of the charging base environment, so as to obtain the updated first image and second image.

[0080] S420: Determine the new relative position between the charging gun and the charging base according to the new first image and the new second image, and determine a new moving target point according to the new relative position.

[0081] The determination methods of the new relative position and the new moving target point in this step are the same as those described above, and will not be elaborated here.

[0082] It can be understood that when the new moving target point matches the position of the charging base, this moving target point is usually the only segmentation point obtained after segmenting the relative position.

[0083] In some optional embodiments, the first image and the second image can be updated in real time by reducing the image acquisition frequency, further refining the calculation frequency of the relative position and the moving target point, and thus more precisely controlling the movement of the charging gun microscopically.

[0084] Based on the descriptions in S410 to S420, in the present application, every time the charging gun is moved, the vehicle-mounted controller needs to determine whether the current moving target point matches the position of the charging base. In the case of non-matching, new first images and second images are obtained in real time, so as to gradually adjust the position of the charging gun, guide the charging robot to accurately align the charging gun with the charging base, ensure that the charging gun can be smoothly inserted into the charging base, and achieve automatic charging connection. In this embodiment, by updating the first image and the second image, the dynamic changes in the relative position during the gun insertion process are monitored, providing a basis for position judgment for accurate gun insertion, thereby improving the accuracy of gun insertion.

[0085] In another exemplary embodiment of the present application, a collision protection method during the movement of the charging gun is introduced in detail. For details, please refer to Figure 5 , Figure 5 which is based on Figures 1 to 4 a schematic flowchart of another vehicle charging method shown in any of the exemplary embodiments shown in Step S510: If it is detected based on the first image and / or the second image that there is a dynamic obstacle between the charging gun and the charging base, control the charging robot to pause moving the charging gun and send out an alarm message.

[0086] During the process of the vehicle-mounted controller controlling the charging robot to move the charging gun, according to the first image before and after the update and / or the second image before and after the update, it is judged whether there is a dynamic obstacle between the charging gun and the charging base (such as a pedestrian, or other objects or animals that will interfere with the gun insertion action). If there is, the protection program is started, and the movement of the charging gun is paused until it is recognized that there is no dynamic obstacle, and then the movement process of the charging gun is restarted.

[0087] In some optional embodiments, there may be a static obstacle between the charging gun and the charging base. At this time, there is no need to pause moving the charging gun, but directly re-plan the movement path of the charging gun according to the position of the static obstacle, thereby improving the efficiency of automatic charging.

[0088] Based on the description in S510, by designing an automatic protection program, it is possible to prevent injuries to pedestrians or animals during the automatic charging process, and prevent damage to the charging equipment and the vehicle, improving the reliability of automatic charging. Moreover, in the way of combining the dual perspectives of the first image and the second image, it is possible to more accurately identify obstacles and avoid the problem of obstacle recognition failure caused by the observation dead angle of a single camera.

[0089] In some other alternative embodiments, when the operation object triggers a charging end instruction, or after the vehicle reaches the charging power requirement, the vehicle-mounted controller ends the charging process, and when it is confirmed that there are no obstacles in the return path of the charging gun, the charging robot is controlled to pull out the charging gun through the robotic arm, return to the initial position, and complete the entire automatic charging process.

[0090] In another exemplary embodiment of the present application, an exemplary description of the application scenarios of the above-mentioned multiple methods is provided. For details, please refer to Figure 6 , Figure 6 is a schematic diagram of the application scenario of the charging method of the vehicle in the present application. Among them, it includes vehicle 100, vehicle-mounted controller 200, charging robot 300, charging gun 400, and charging pile 500.

[0091] The vehicle-mounted controller 300 can be used as the execution entity to execute the methods shown in any of the above exemplary embodiments. The exemplary description is as follows: The vehicle-mounted controller 200 receives a charging instruction triggered by the operation object, establishes a connection communication with the charging robot 300. The vehicle-mounted controller 200 controls the vehicle 100 to move to a preset parking pose based on the charging seat position of the vehicle 100 and the movable range of the charging robot 300, and obtains a first image and a second image in the preset parking pose; wherein, the first image is an image of the environment of the charging gun 400 collected by a 3D camera installed at the charging seat position of the vehicle 100, and the second image is an image of the charging seat environment collected by a 3D camera installed at the position where the charging gun 400 is located; the vehicle-mounted controller 200 determines the relative position between the charging gun 400 and the charging seat according to the first image and the second image, and determines the moving target point of the charging gun 400 according to the relative position; the vehicle-mounted controller 200 controls the charging robot 300 to move the charging gun 400 to the moving target point, and when the moving target point matches the charging seat position, controls the charging robot 300 to insert the charging gun 400 into the charging seat, and the charging pile 500 supplies power to the charging gun 400 through the charging line to charge the vehicle 100.

[0092] In addition, the execution entity of the present application can also be a third-party entity such as a cloud server other than the vehicle-mounted controller that has data processing and data communication functions. The present application does not limit this.

[0093] On the other hand, the present application also provides a charging device for a vehicle, as Figure 7 shown, Figure 7 is a schematic structural diagram of the charging device for a vehicle shown in an exemplary embodiment of the present application. The charging device 700 includes: The parking module 710 is configured to, in response to a charging instruction, control the vehicle to move to a preset parking pose based on the position of the charging socket of the vehicle and the movable range of the charging robot, and obtain a first image and a second image in the preset parking pose; wherein, the first image is an image of the charging gun environment collected based on the position of the charging socket, and the second image is an image of the charging socket environment collected based on the position where the charging gun is located; The calculation module 720 is configured to determine the relative position between the charging gun and the charging socket according to the first image and the second image, and determine the movement target point of the charging gun according to the relative position; The control module 730 is configured to control the charging robot to move the charging gun to the movement target point, and when the movement target point matches the position of the charging socket, control the charging robot to insert the charging gun into the charging socket to charge the vehicle.

[0094] In an alternative embodiment, the parking module 710 further includes: The first determination unit is configured to determine the preset parking position of the vehicle according to the movable range of the charging robot; The second determination unit is configured to determine the spatial position margin when inserting the charging gun into the charging socket of the vehicle according to the position of the charging socket of the vehicle, and determine the preset parking pose of the vehicle based on the spatial position margin; wherein, the spatial position margin represents the allowable spatial error range when the charging robot controls the charging gun to be inserted into the charging socket; The parking unit is configured to control the vehicle to move to the preset parking pose based on the preset parking position and the preset parking pose.

[0095] In an alternative embodiment, the second determination unit further includes: The first sub-unit for parameter determination is configured to determine the lateral parameter, longitudinal parameter and vertical parameter of the vehicle at the preset parking position respectively based on the lateral margin, longitudinal margin and vertical margin, so as to determine the preset parking pose of the vehicle.

[0096] In an alternative embodiment, the second determination unit further includes: The space construction unit is configured to determine an axis-aligned bounding box based on the lateral margin, longitudinal margin and vertical margin, and reduce the length, width and height of the vehicle proportionally respectively, so that the reduced vehicle model is completely located inside the axis-aligned bounding box, and at least one dimension of the vehicle model is equal to the corresponding dimension of the axis-aligned bounding box; The second sub-unit for parameter determination is configured to determine the preset parking pose of the vehicle according to the position parameters of the geometric center of the vehicle model in the axis-aligned bounding box.

[0097] In an alternative embodiment, the calculation module 720 further includes: A conversion unit is configured to convert the depth information of each pixel point in the first image and the second image to the same coordinate system, and determine the relative position between the charging gun and the charging base according to the three-dimensional coordinates of the charging gun and the charging base respectively in the same coordinate system; A segmentation unit is configured to start from the position of the charging gun, segment the horizontal distance, vertical distance and vertical distance included in the relative position according to a preset step length, and use the first three-dimensional coordinate obtained after segmentation as the moving target point of the charging gun; wherein, the first three-dimensional coordinate point is the coordinate point closest to the position of the charging gun.

[0098] In an optional manner, the charging device 700 further includes: A judgment module is configured to, if the moving target point does not match the position of the charging base, obtain a new first image and a new second image; wherein, the new first image is an image of the environment after the position of the charging gun is updated based on the position of the charging base, and the new second image is an image of the charging base environment collected based on the updated position of the charging gun. An update module is configured to determine a new relative position between the charging gun and the charging base according to the new first image and the new second image, and determine a new moving target point according to the new relative position.

[0099] In an optional manner, the charging device 700 further includes: A protection module is configured to, if it is detected based on the first image and / or the second image that there is a dynamic obstacle between the charging gun and the charging base, control the charging robot to pause moving the charging gun and send out an alarm message.

[0100] It should be noted that the charging device of the vehicle provided in the above embodiment belongs to the same concept as any method provided in the foregoing embodiment. The specific manners in which each module and unit perform operations have been described in detail in the method embodiment and will not be elaborated here.

[0101] On the other hand, the present application further provides an electronic device, including: a controller; a memory for storing one or more programs, which when executed by the controller, are configured to execute the above management method.

[0102] Please refer to Figure 8 , Figure 8 which is a schematic structural diagram of a computer system of an electronic device shown in an exemplary embodiment of the present application, and shows a schematic structural diagram of a computer system of an electronic device suitable for implementing the embodiment of the present application.

[0103] It should be noted that Figure 8 the computer system 800 of the electronic device shown is only an example and should not bring any limitation to the functions and usage scopes of the embodiments of the present application.

[0104] As Figure 8 shown, computer system 800 includes a central processing unit (CPU) 801, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage section 808 into a random access memory (RAM) 803, such as executing the methods in the above embodiments. In the RAM 803, various programs and data required for system operations are also stored. The CPU 801, ROM 802, and RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0105] The following components are connected to the I / O interface 805: an input section 806 including a keyboard, a mouse, etc.; an output section 807 including, for example, a cathode ray tube (CRT), a liquid crystal display (LCD), etc. and a speaker; a storage section 808 including a hard disk, etc.; and a communication section 809 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to the I / O interface 805 as required. A removable medium 811, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 810 as required so that a computer program read from it can be installed into the storage section 808 as required.

[0106] Specifically, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 809 and / or installed from the removable medium 811. When the computer program is executed by a central processing unit (CPU) 801, various functions defined in the system of the present application are executed.

[0107] It should be noted that the computer-readable medium shown in the embodiments of the present application can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, apparatus, or device. In the present application, a computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable computer program. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, and this computer-readable medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0108] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. Among them, each block in the flowchart or block diagram can represent a module, a program segment, or a part of code, and the above module, program segment, or part of code contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in an order different from that marked in the accompanying drawings. For example, two consecutive blocks shown can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, as well as the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0109] The units involved in the embodiments of the present application can be implemented in software or in hardware, and the described units can also be provided in a processor. In some cases, the names of these units do not constitute a limitation on the units themselves.

[0110] Another aspect of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the management method as described above is implemented. The computer-readable storage medium can be included in the electronic device described in the above embodiments, or can exist alone without being assembled into the electronic device.

[0111] Another aspect of the present application also provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the management methods provided in the above various embodiments.

[0112] According to one aspect of the embodiments of the present application, a computer system is also provided, including a Central Processing Unit (CPU), which can perform various appropriate actions and processes according to the program stored in a Read-Only Memory (ROM) or the program loaded from a storage section into a Random Access Memory (RAM), such as executing the method in the above embodiments. In the RAM, various programs and data required for system operation are also stored. The CPU, ROM, and RAM are connected to each other via a bus. An Input / Output (I / O) interface is also connected to the bus.

[0113] The following components are connected to the I / O interface: an input section including a keyboard, a mouse, etc.; an output section including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), etc. and a speaker; a storage section including a hard disk, etc.; and a communication section including a network interface card such as a Local Area Network (LAN) card, a modem, etc. The communication section performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface as required. A removable medium, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive as required, so that the computer program read from it can be installed into the storage section as required.

[0114] The above content is only a preferred exemplary embodiment of the present application and is not intended to limit the implementation of the present application. Those of ordinary skill in the art can easily make corresponding adaptations or modifications according to the main concept and spirit of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope required by the claims.

Claims

1. A charging method for a vehicle, characterized in that, The charging method includes: In response to a charging instruction, based on the position of the charging socket of the vehicle and the movable range of the charging robot, control the vehicle to move to a preset parking pose, and obtain a first image and a second image in the preset parking pose; wherein, the first image is an image of the charging gun environment collected based on the position of the charging socket, and the second image is an image of the charging socket environment collected based on the position where the charging gun is located; According to the first image and the second image, determine the relative position between the charging gun and the charging socket, and determine the movement target point of the charging gun according to the relative position; Control the charging robot to move the charging gun to the movement target point, and when the movement target point matches the position of the charging socket, control the charging robot to insert the charging gun into the charging socket to charge the vehicle.

2. The charging method according to claim 1, wherein The controlling the vehicle to move to a preset parking pose based on the position of the charging socket of the vehicle and the movable range of the charging robot includes: Determine the preset parking position of the vehicle according to the movable range of the charging robot; Determine the spatial position margin when inserting the charging gun into the charging socket of the vehicle according to the position of the charging socket of the vehicle, and determine the preset parking pose of the vehicle based on the spatial position margin; wherein, the spatial position margin represents the allowable spatial error range when the charging robot controls the charging gun to insert into the charging socket; Based on the preset parking position and the preset parking pose, control the vehicle to move to the preset parking pose.

3. The charging method according to claim 2, wherein The spatial position margin includes a lateral margin, a longitudinal margin and a vertical margin; the determining the preset parking pose of the vehicle based on the spatial position margin includes: Based on the lateral margin, the longitudinal margin and the vertical margin, respectively determine the lateral parameter, the longitudinal parameter and the vertical parameter of the vehicle at the preset parking position to determine the preset parking pose of the vehicle.

4. The charging method according to claim 2, wherein The spatial position margin includes a lateral margin, a longitudinal margin and a vertical margin; the determining the preset parking pose of the vehicle based on the spatial position margin includes: Based on the lateral margin, the longitudinal margin and the vertical margin, determine an axis-aligned bounding box, and respectively reduce the length, width and height of the vehicle in equal proportion so that the reduced vehicle model is completely located inside the axis-aligned bounding box, and the vehicle model has at least one dimension in one direction equal to the corresponding dimension of the axis-aligned bounding box; Determine the preset parking pose of the vehicle according to the position parameters of the geometric center of the vehicle model in the axis-aligned bounding box.

5. The charging method according to claim 1, wherein The determining the relative position between the charging gun and the charging socket according to the first image and the second image, and determining the movement target point of the charging gun according to the relative position includes: Convert the depth information of each pixel point in the first image and the second image to the same coordinate system, and determine the relative position between the charging gun and the charging socket according to the three-dimensional coordinates of the charging gun and the charging socket respectively in the same coordinate system; Starting from the position of the charging gun, segment the horizontal distance, vertical distance, and vertical distance included in the relative position according to a preset step size, and use the first three-dimensional coordinate obtained after segmentation as the moving target point of the charging gun; wherein, the first three-dimensional coordinate point is the coordinate point closest to the position of the charging gun.

6. The charging method according to claim 1, characterized in that The charging method further includes: If the moving target point does not match the position of the charging base, obtain a new first image and a new second image; wherein, the new first image is an image of the environment after the position of the charging gun is updated based on the position of the charging base, and the new second image is an image of the charging base environment collected based on the updated position of the charging gun. According to the new first image and the new second image, determine the new relative position between the charging gun and the charging base, and determine the new moving target point according to the new relative position.

7. The charging method according to any one of claims 1 to 6, characterized in that, The charging method further includes: If it is detected based on the first image and / or the second image that there is a dynamic obstacle between the charging gun and the charging base, control the charging robot to pause moving the charging gun and send an alarm message.

8. A charging device for a vehicle, characterized in that, The charging device includes: A parking module, configured to respond to a charging instruction, based on the position of the charging base of the vehicle and the movable range of the charging robot, control the vehicle to move to a preset parking pose, and obtain a first image and a second image in the preset parking pose; wherein, the first image is an image of the environment of the charging gun collected based on the position of the charging base, and the second image is an image of the charging base environment collected based on the position where the charging gun is located. A calculation module, configured to determine the relative position between the charging gun and the charging base according to the first image and the second image, and determine the moving target point of the charging gun according to the relative position. A control module, configured to control the charging robot to move the charging gun to the moving target point, and when the moving target point matches the position of the charging base, control the charging robot to insert the charging gun into the charging base to charge the vehicle.

9. An electronic device, characterized in that, Includes: A controller; A memory, configured to store one or more programs, and when the one or more programs are executed by the controller, enable the controller to implement the charging method according to any one of claims 1 to 7.

10. A storage medium, characterized in that, Computer-readable instructions are stored thereon, and when the computer-readable instructions are executed by a processor of a computer, cause the computer to execute the charging method according to any one of claims 1 to 7.

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