AGV wireless charging calibration method and system

Abstract

The invention provides an AGV wireless charging calibration method and system, and relates to the technical field of AGV charging, image information of a wireless charging receiving end of an AGV is collected in real time through a binocular camera to obtain three-dimensional coordinate information of the AGV, and the distance between a wireless charging transmitting end and the wireless charging receiving end is determined through the binocular camera; the horizontal angle and the pitch angle of the wireless charging receiving end relative to the binocular camera are determined through the three-dimensional coordinate information, so that displacement parameters of the wireless charging receiving end can be calculated and generated, and the wireless charging receiving end is sent to a charging position through the mechanical arm; the effective charging distance between the wireless charging transmitting end and the wireless charging receiving end is ensured, and the situation that the production efficiency is affected due to the fact that charging cannot be carried out is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV charging, and particularly relates to a method for calibrating wireless charging of AGV; in addition, the present invention also relates to a system for calibrating wireless charging of AGV. Background Art

[0002] Currently, when an AGV vehicle charges wirelessly, the wireless charging transmitter of the charging pile and the wireless charging receiver of the AGV approach each other to ensure that the deviation of the X-axis and Y-axis does not exceed 3 cm, and the Z-axis is maintained at 3 - 7 cm, so as to ensure normal charging or maximum charging efficiency. Wireless charging has high requirements for the charging distance, and the charging efficiency is greatly affected by the position and alignment degree, ranging from 70% to 90%. However, in many cases, due to the insufficient accuracy of the AGV stop or the error of map positioning, it is impossible to always stay at the optimal charging position. After hundreds of trips, the error gradually increases, and charging cannot be carried out, resulting in the final exhaustion of the AGV battery and seriously affecting production efficiency. Summary of the Invention

[0003] In order to solve the problems existing in the prior art, at least one embodiment of the present invention provides a method for calibrating wireless charging of AGV, which ensures the effective charging distance between the wireless charging transmitter and the wireless charging receiver, and avoids affecting production efficiency due to the inability to charge. For this reason, at least one embodiment of the present invention also provides a system for calibrating wireless charging of AGV.

[0004] In a first aspect, an embodiment of the present invention provides a method for calibrating wireless charging of AGV, including:

[0005] Real-time collecting image information of the wireless charging receiver of the AGV vehicle;

[0006] Identifying the image information through a trained wireless charging receiver recognition model;

[0007] Constructing a spatial position unit of the wireless charging receiver through the identification information;

[0008] Controlling the movement trajectory of the wireless charging transmitter through the spatial position unit to keep an effective charging distance from the wireless charging receiver.

[0009] Preferably, in a method for calibrating wireless charging of AGV provided by the present invention, real-time collecting image information of the wireless charging receiver of the AGV vehicle includes:

[0010] Real-time collecting image information of the wireless charging receiver of the AGV vehicle through a binocular camera set on the top of the charging pile.

[0011] Preferably, for an AGV wireless charging calibration method provided by the present invention, the spatial position unit includes three-dimensional coordinate information of the wireless charging receiving end.

[0012] Preferably, for an AGV wireless charging calibration method provided by the present invention, controlling the movement trajectory of the wireless charging transmitting end by the spatial position unit includes:

[0013] Calculating the pixel position difference in the image information by a binocular camera to determine the distance between the wireless charging transmitting end and the wireless charging receiving end, which is represented by the following formula 1:

[0014]

[0015] Wherein, Z is the distance between the wireless charging transmitting end and the wireless charging receiving end, B is the baseline distance between the two cameras, f is the focal length of the camera, and d is the pixel parallax of the same object in the left and right images;

[0016] Determining the horizontal angle and pitch angle of the wireless charging receiving end relative to the binocular camera through the three-dimensional coordinate information, which is represented by the following formula 2 and formula 3:

[0017]

[0018] Wherein, θ is the horizontal angle of the binocular camera, is the pitch angle of the binocular camera, and X, Y, and Z are the three-dimensional coordinates respectively.

[0019] In a second aspect, an embodiment of the present invention further provides an AGV wireless charging calibration system, including:

[0020] An acquisition module, configured to acquire image information of the wireless charging receiving end of the AGV vehicle in real time;

[0021] An identification module, configured to identify the image information through a trained wireless charging receiving end identification model;

[0022] A spatial position construction module, configured to construct a spatial position unit of the wireless charging receiving end through the identification information;

[0023] A control module, configured to control the movement trajectory of the wireless charging transmitting end through the spatial position unit to keep an effective charging distance from the wireless charging receiving end.

[0024] Preferably, the control module includes:

[0025] A mechanical execution module, configured to carry the wireless charging transmitting end and receive control instructions for three-dimensional space movement.

[0026] Preferably, the mechanical execution module includes:

[0027] A dynamic compensation unit for dynamically compensating the motion trajectory through the installed pressure sensor and buffer device;

[0028] A contact detection unit for preventing collisions through the installed millimeter-wave radar sensor.

[0029] In a third aspect, an embodiment of the present invention further provides an AGV wireless charging calibration device, including at least one processor; a memory coupled to the at least one processor, where the memory stores executable instructions, and the executable instructions, when executed by the at least one processor, cause the steps of any method in the first aspect above to be implemented.

[0030] In a fourth aspect, an embodiment of the present invention further provides a chip for executing the steps of the method in the first aspect above. Specifically, the chip includes: a processor for calling and running a computer program from a memory, so that a device installed with the chip is used to execute the steps of the method in the first aspect above.

[0031] In a fifth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of any method in the first aspect above are implemented.

[0032] It can be seen that for an AGV wireless charging calibration method and system according to an embodiment of the present invention, the image information of the wireless charging receiving end of the AGV vehicle is collected in real time through a binocular camera to obtain its three-dimensional coordinate information, the distance between the wireless charging transmitting end and the wireless charging receiving end is determined through the binocular camera, and the horizontal angle and pitch angle of the wireless charging receiving end relative to the binocular camera are determined through the three-dimensional coordinate information, so that the displacement parameters of the wireless charging receiving end can be calculated and generated, and the wireless charging receiving end is sent to the charging position by the robotic arm, ensuring the effective charging distance between the wireless charging transmitting end and the wireless charging receiving end, and avoiding affecting the production efficiency due to the inability to charge. Description of the Drawings

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings without creative efforts based on these drawings.

[0034] Figure 1 It shows a flowchart of an AGV wireless charging calibration method in an embodiment of the present invention;

[0035] Figure 2 It shows a framework schematic diagram of an AGV wireless charging calibration system in an embodiment of the present invention. Detailed Embodiments

[0036] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are only a part rather than all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0037] It should be noted that in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. In this article, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0038]

Embodiment 1

[0039] In the prior art, in many cases, due to insufficient accuracy of AGV stop or errors in map positioning, it is impossible to always stay at the optimal charging position. After hundreds of trips, the error gradually increases, charging cannot be carried out, resulting in the final exhaustion of the AGV's battery, seriously affecting production efficiency. Embodiment 1 of the present invention provides the following solution:

[0040] As Figure 1 shown, this embodiment provides an AGV wireless charging calibration method, including:

[0041] Step 1, collect image information of the wireless charging receiver of the AGV vehicle in real time.

[0042] In some embodiments, the image information of the wireless charging receiver of the AGV vehicle is collected in real time by a binocular camera set on the top of the charging pile.

[0043] Step 2, identify the image information through a trained wireless charging receiver recognition model.

[0044] It should be noted that the wireless charging receiver recognition model can be trained using an object detection model, such as the YOLOv10 framework. The trained wireless charging receiver recognition model can identify the feature identifiers of different models of wireless charging receivers, so as to accurately detect the image information of the wireless charging receiver.

[0045] Step 3, construct a spatial position unit of the wireless charging receiver through the recognition information.

[0046] In some embodiments, the spatial position unit includes the three-dimensional coordinate information of the wireless charging receiver. The three-dimensional coordinates of the wireless charging receiver are calculated using binocular vision positioning technology. The wireless charging receiver can be in motion or completely stationary.

[0047] Step 4, control the movement trajectory of the wireless charging transmitter through the spatial position unit to keep an effective charging distance from the wireless charging receiver.

[0048] In some embodiments, the distance between the wireless charging transmitter and the wireless charging receiver is determined by calculating the pixel position difference in the image information through a binocular camera, which is represented by Equation 1 below:

[0049]

[0050] where Z is the distance between the wireless charging transmitter and the wireless charging receiver, B is the baseline distance between the two cameras, f is the focal length of the camera, and d is the pixel disparity of the same object in the left and right images. It can be understood that the larger the disparity, the closer the object; the smaller the disparity, the farther the object.

[0051] The horizontal angle and pitch angle of the wireless charging receiver relative to the binocular camera are determined through the three-dimensional coordinate information, which are represented by Equation 2 and Equation 3 below:

[0052]

[0053] where θ is the horizontal angle of the binocular camera, is the pitch angle of the binocular camera, and X, Y, and Z are the three-dimensional coordinates respectively.

[0054] It should be noted that by positioning the three-dimensional coordinates of the wireless charging receiver during movement or at rest, and then calculating the relative position and angle of the wireless charging receiver, the wireless charging transmitter is controlled to move to an appropriate position for charging. Specifically, the wireless charging transmitter is installed on a six-axis robotic arm, which is equipped with a pressure sensor, a buffer device, and a millimeter-wave radar sensor. When the wireless charging receiver is moving, the six-axis robotic arm is driven to move synchronously to send the wireless charging transmitter to a position with the optimal charging distance from the wireless charging receiver; when the wireless charging receiver is completely stationary, the six-axis robotic arm is directly driven to move to send the wireless charging transmitter to a position with the optimal charging distance from the wireless charging receiver.

[0055]

Embodiment 2

[0056] As Figure 2 shown, this embodiment provides an AGV wireless charging calibration system, including:

[0057] An acquisition module for real-time acquisition of image information of the wireless charging receiver of the AGV vehicle.

[0058] In some embodiments, the image information of the wireless charging receiver of the AGV vehicle is real-time acquired by a binocular camera arranged on the top of the charging pile.

[0059] An identification module for identifying the image information through a trained wireless charging receiver identification model.

[0060] It should be noted that the wireless charging receiver identification model can be trained using an object detection model, such as the YOLOv10 framework. The trained wireless charging receiver identification model can identify the characteristic identifiers of different models of wireless charging receivers, so as to accurately detect the image information of the wireless charging receiver.

[0061] A spatial position construction module for constructing a spatial position unit of the wireless charging receiver through the identification information.

[0062] In some embodiments, the spatial position unit includes the three-dimensional coordinate information of the wireless charging receiver, and the three-dimensional coordinates of the wireless charging receiver are calculated using binocular vision positioning technology. The wireless charging receiver can be in movement or completely stationary.

[0063] A control module for controlling the movement trajectory of the wireless charging transmitter through the spatial position unit to keep an effective charging distance from the wireless charging receiver.

[0064] In some embodiments, the distance between the wireless charging transmitter and the wireless charging receiver is determined by calculating the pixel position difference in the image information through the following formula 1:

[0065]

[0066] Wherein, Z is the distance between the wireless charging transmitter and the wireless charging receiver, B is the baseline distance between the two cameras, f is the focal length of the camera, and d is the pixel parallax of the same object in the left and right images. It can be understood that the larger the parallax, the closer the object; the smaller the parallax, the farther the object.

[0067] The horizontal angle and pitch angle of the wireless charging receiver relative to the binocular camera are determined by the three-dimensional coordinate information, which are represented by the following formulas (2) and (3):

[0068]

[0069] Wherein, θ is the horizontal angle of the binocular camera, is the pitch angle of the binocular camera, and X, Y, and Z are the three-dimensional coordinates respectively.

[0070] It should be noted that by positioning the three-dimensional coordinates of the wireless charging receiver during movement or at rest, and then calculating the relative position and angle of the wireless charging receiver, the wireless charging transmitter is controlled to move to an appropriate position for charging.

[0071] In some embodiments, the control module includes a mechanical execution module. The mechanical execution module is used to carry the wireless charging transmitter and receive control instructions for three-dimensional space movement. The mechanical execution module includes a dynamic compensation unit and a contact detection unit. The dynamic compensation unit is used to perform dynamic compensation of the movement trajectory through the installed pressure sensor and buffer device; the contact detection unit is used to prevent collisions through the installed millimeter-wave radar sensor.

[0072] It should be noted that the wireless charging transmitter is installed on a six-axis robotic arm, and the six-axis robotic arm is configured with a pressure sensor, a buffer device, and a millimeter-wave radar sensor. When the wireless charging receiver is moving, the six-axis robotic arm is driven to move synchronously to send the wireless charging transmitter to a position with the optimal charging distance from the wireless charging receiver; when the wireless charging receiver is completely stationary, the six-axis robotic arm is driven to move directly to send the wireless charging transmitter to a position with the optimal charging distance from the wireless charging receiver.

[0073]

Embodiment 3

[0074] This embodiment provides an AGV wireless charging calibration device, including:

[0075] At least one processor; a memory coupled to the at least one processor, and the memory stores executable instructions, wherein the executable instructions, when executed by the at least one processor, cause the method steps of Embodiment 1 of the present invention to be implemented.

[0076] An AGV wireless charging calibration device provided by an embodiment of the present invention. The processor and the memory can be set separately or integrated together.

[0077] For example, the memory may include random access memory, flash memory, read-only memory, programmable read-only memory, non-volatile memory, or registers, etc. The processor may be a central processing unit (CPU), etc. Or it may be a graphic processing unit (GPU). The memory can store executable instructions. The processor can execute the executable instructions stored in the memory, thereby implementing the various processes described herein.

[0078] It can be understood that the memory in this embodiment can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. Among them, the non-volatile memory can be ROM (Read-Only Memory), PROM (Programmable ROM), EPROM (Erasable PROM), EEPROM (Electrically EPROM), or flash memory. The volatile memory can be RAM (Random Access Memory), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as SRAM (Static RAM), DRAM (Dynamic RAM), SDRAM (Synchronous DRAM), DDR SDRAM (Double Data Rate SDRAM), ESDRAM (Enhanced SDRAM), SLDRAM (Synchlink DRAM), and DRRAM (Direct Rambus RAM). The memory described herein is intended to include but not be limited to these and any other suitable types of memory.

[0079] In some embodiments, the memory stores the following elements: an upgrade package, an executable unit, or a data structure, or a subset thereof, or an extended set thereof: an operating system and an application program.

[0080] Among them, the operating system includes various system programs, such as the framework layer, the core library layer, the driver layer, etc., which are used to implement various basic services and handle hardware-based tasks. The application programs include various application programs, which are used to implement various application services. The program for implementing the method of the embodiment of the present invention can be included in the application programs.

[0081] In the embodiment of the present invention, the processor calls the program or instruction stored in the memory, specifically, it can be the program or instruction stored in the application program, and the processor is used to execute the method steps of Embodiment 1 of the present invention.

[0082]

Embodiment 4

[0083] This embodiment provides a chip for executing the method of Embodiment 1 of the present invention above. Specifically, the chip includes: a processor, which is used to call and run a computer program from the memory, so that the device installed with the chip is used to execute the method of Embodiment 1 of the present invention.

[0084]

Embodiment 5

[0085] This embodiment provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method of Embodiment 1 of the present invention are realized.

[0086] For example, the machine-readable storage medium may include but is not limited to various known and unknown types of non-volatile memories.

[0087] In summary, Embodiments 1-5 of the present invention provide an AGV wireless charging calibration method and system. By using a binocular camera to collect image information of the wireless charging receiving end of the AGV vehicle in real time to obtain its three-dimensional coordinate information, the distance between the wireless charging transmitting end and the wireless charging receiving end is determined by the binocular camera, and the horizontal angle and pitch angle of the wireless charging receiving end relative to the binocular camera are determined through the three-dimensional coordinate information, so that the displacement parameters of the wireless charging receiving end can be calculated and generated, and the wireless charging receiving end is sent into the charging position by the robotic arm, ensuring the effective charging distance between the wireless charging transmitting end and the wireless charging receiving end, and avoiding affecting the production efficiency due to the inability to charge.

[0088] Those skilled in the art can understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or by a combination of software and electronic hardware. Whether these functions are implemented in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different ways to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0089] In the embodiments of the present application, the disclosed systems, devices, and methods may be implemented in other ways. For example, the division of units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system. Additionally, the coupling between each unit may be direct coupling or indirect coupling. Moreover, in the embodiments of the present application, each functional unit may be integrated in a processing unit or exist as a separate physical entity, etc.

[0090] It should be understood that in various embodiments of the present application, the magnitude of the sequence numbers of each process does not imply the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0091] If the described functions are implemented in the form of software functional units and sold or used as independent products, they may be stored in a machine-readable storage medium. Therefore, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a machine-readable storage medium and may include several instructions to enable an electronic device to execute all or part of the processes of the technical solution described in the embodiments of the present application. The above storage medium may include various media capable of storing program codes, such as ROM, RAM, removable disks, hard disks, magnetic disks, or optical discs.

[0092] The above content is only the specific implementation manner of the present application, and the protection scope of the present application is not limited thereto. Those skilled in the art may make changes or substitutions within the technical scope disclosed in the present application, and these changes or substitutions should be within the protection scope of the present application.

Claims

1. A calibration method for AGV wireless charging, characterized in that, Including: Real-time collecting image information of the wireless charging receiver of the AGV vehicle; Identifying the image information through a trained wireless charging receiver identification model; Constructing a spatial position unit of the wireless charging receiver through the identification information; Controlling the movement trajectory of the wireless charging transmitter through the spatial position unit to keep an effective charging distance from the wireless charging receiver.

2. The AGV wireless charging calibration method according to claim 1, wherein The real-time collecting of the image information of the wireless charging receiver of the AGV vehicle includes: Real-time collecting the image information of the wireless charging receiver of the AGV vehicle through a binocular camera arranged on the top of the charging pile.

3. The AGV wireless charging calibration method according to claim 2, wherein The spatial position unit includes three-dimensional coordinate information of the wireless charging receiver.

4. The AGV wireless charging calibration method according to claim 3, wherein The controlling of the movement trajectory of the wireless charging transmitter through the spatial position unit includes: Calculating the distance between the wireless charging transmitter and the wireless charging receiver by determining the pixel position difference in the image information through the binocular camera, which is represented by the following formula 1: Where Z is the distance between the wireless charging transmitter and the wireless charging receiver, B is the baseline distance between the two cameras, f is the focal length of the camera, and d is the pixel parallax of the same object in the left and right images; Determining the horizontal angle and pitch angle of the wireless charging receiver relative to the binocular camera through the three-dimensional coordinate information, which is represented by the following formula 2 and formula 3: where θ is the horizontal angle of the binocular camera, is the pitch angle of the binocular camera, and X, Y, and Z are three-dimensional coordinates respectively.

5. An AGV wireless charging calibration system, characterized in that, Including: An acquisition module for real-time collecting image information of the wireless charging receiver of the AGV vehicle; An identification module for identifying the image information through a trained wireless charging receiver identification model; A spatial position construction module for constructing a spatial position unit of the wireless charging receiver through the identification information; A control module for controlling the movement trajectory of the wireless charging transmitter through the spatial position unit to keep an effective charging distance from the wireless charging receiver.

6. The AGV wireless charging calibration system according to claim 5, wherein, The control module includes: A mechanical execution module for carrying the wireless charging transmitter and receiving control instructions for three-dimensional space movement.

7. The AGV wireless charging calibration system according to claim 6, wherein The mechanical execution module includes: A dynamic compensation unit for performing dynamic compensation of the movement trajectory through a mounted pressure sensor and a buffer device; A contact detection unit for preventing collisions through a mounted millimeter-wave radar sensor.

8. An AGV wireless charging calibration device, comprising at least one processor; a memory coupled to the at least one processor, the memory storing executable instructions, characterized in that: The executable instructions, when executed by the at least one processor, cause the steps of the method according to any one of claims 1 to 4 to be implemented.

9. A chip, characterized in that: Including a processor for calling and running a computer program from a memory, such that a device installed with the chip executes the steps of the method according to any one of claims 1 to 4.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer program, when executed by the processor, implements the steps of the method according to any one of the above claims 1 to 4.

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