Mechanical arm charging position determination method, electronic equipment and storage medium

Abstract

The invention provides a mechanical arm charging position determining method, electronic equipment and a storage medium, and relates to the technical field of mobile charging vehicles. The method comprises the steps that the contour LF of a target part of a to-be-charged vehicle is obtained; acquiring a standard preset model MH corresponding to the to-be-charged vehicle; the MH is placed in QT to be matched with the LF, and the matching degree eta of the MH and the LF is obtained; if eta is greater than or equal to eta ', determining a coordinate CH of the charging port of the to-be-charged vehicle in the QT according to the coordinate of the charging port of the to-be-charged vehicle in the QR; eta'is a preset matching degree threshold value, and the preset position corresponding to CH is determined as the charging position of the mechanical arm of the mobile charging vehicle. The position of the charging port of the vehicle to be charged can be accurately determined, and therefore it can be ensured that a camera at the front end of the mechanical arm can shoot the charging port of the vehicle to be charged at the determined charging position of the mechanical arm.

Description

Technical Field

[0001] This invention relates to the field of mobile charging vehicle technology, and in particular to a method for determining the charging position of a robotic arm, an electronic device, and a storage medium. Background Technology

[0002] With the rapid development of new energy technologies, more and more new energy vehicles are being put into use. These vehicles require repeated charging during use. To improve the convenience of charging, intelligent mobile charging vehicles are used in some situations. After receiving a user's charging instruction, the mobile charging vehicle autonomously travels to the user's vehicle, determines the location of the charging port, takes a photo and scans it for positioning, and then inserts the charging gun to begin charging. Typically, the mobile charging vehicle travels along a fixed trajectory to the designated parking area for the vehicle, and then its robotic arm moves along a fixed trajectory to the charging port location. However, users may not park their vehicles in standard parking spaces; there may be some misalignment between the parked vehicle and the parking space. Additionally, the location of the mobile charging vehicle may differ from the pre-set location. In such cases, if the above method is still used to determine the charging port location, the mobile charging vehicle may not be able to capture the charging port of the vehicle being charged. Summary of the Invention

[0003] To address the aforementioned technical problems, the technical solution adopted by this invention is as follows: According to a first aspect of this application, a method for determining the charging position of a robotic arm is provided, the method comprising the following steps: S100, in response to the mobile charging vehicle arriving at the target position corresponding to the vehicle to be charged, the contour LF of the target part of the vehicle to be charged is obtained; wherein, the mobile charging vehicle corresponds to a preset mobile charging vehicle coordinate system QT; the contour of the target part of the vehicle to be charged is fixed in QT.

[0004] S200, obtain the standard preset model MH corresponding to the vehicle to be charged; where MH corresponds to the vehicle coordinate system QR of the vehicle to be charged, and MH includes the coordinates of the charging port of the vehicle to be charged in QR.

[0005] S300, place MH in QT and match it with LF, and obtain the matching degree η between MH and LF.

[0006] S400, if η≥η', then determine the coordinates CH of the charging port of the vehicle to be charged in QT based on the coordinates of the charging port of the vehicle to be charged in QR; η' is a preset matching degree threshold.

[0007] S500 determines the preset position corresponding to CH as the charging position of the robotic arm of the mobile charging vehicle.

[0008] According to another aspect of this application, a non-transitory computer-readable storage medium is also provided, wherein at least one instruction or at least one program is stored in the storage medium, and the at least one instruction or at least one program is loaded and executed by a processor to implement the above-described robotic arm charging position determination method.

[0009] According to another aspect of this application, an electronic device is also provided, including a processor and the aforementioned non-transitory computer-readable storage medium.

[0010] The present invention has at least the following beneficial effects: The present invention provides a method for determining the charging position of a robotic arm. This method involves acquiring the contour LF of the target part of the vehicle to be charged and the corresponding standard preset model MH; matching MH with LF in a QT, and obtaining the matching degree η between MH and LF; if η ≥ η', determining the coordinates CH of the charging port in the QT based on the coordinates of the charging port in the QR; and determining the preset position corresponding to CH as the charging position of the robotic arm of the mobile charging vehicle. In this invention, η ≥ η' indicates that MH is at the actual parking position of the vehicle to be charged. At this point, regardless of whether the parking position of the vehicle to be charged is tilted relative to the mobile charging vehicle, the position of the charging port of the vehicle to be charged can be accurately determined, thereby ensuring that the camera at the front end of the robotic arm can capture the charging port of the vehicle to be charged at the determined charging position of the robotic arm. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 A flowchart of a method for determining the charging position of a robotic arm provided in an embodiment of the present invention. Detailed Implementation

[0013] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0014] It should be noted that, based on this disclosure, those skilled in the art will understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects set forth herein can be used to implement the device and / or practice the method. Furthermore, this device and / or practice the method can be implemented using other structures and / or functionalities besides one or more of the aspects set forth herein.

[0015] The following will refer to Figure 1 The flowchart shown illustrates a method for determining the charging position of a robotic arm, introducing such a method.

[0016] The method for determining the charging position of the robotic arm may include the following steps: S100, in response to the mobile charging vehicle arriving at the target position corresponding to the vehicle to be charged, the contour LF of the target part of the vehicle to be charged is obtained; wherein, the mobile charging vehicle corresponds to a preset mobile charging vehicle coordinate system QT; the contour of the target part of the vehicle to be charged is fixed in QT.

[0017] In this embodiment, after the mobile charging vehicle receives a charging request from a user, it can autonomously drive to the target location corresponding to the vehicle to be charged based on the vehicle's location. For example, the target location corresponding to the vehicle to be charged can be a parallel position at a preset distance from the rear of the vehicle. The mobile charging vehicle is equipped with a single-line LiDAR and a multi-line LiDAR, which can obtain the outline of the rear of the vehicle to be charged. The mobile charging vehicle itself has a three-dimensional mobile charging vehicle coordinate system QT, with the center point of the mobile charging vehicle as the origin of QT.

[0018] S200, obtain the standard preset model MH corresponding to the vehicle to be charged; where MH corresponds to the vehicle coordinate system QR of the vehicle to be charged, and MH includes the coordinates of the charging port of the vehicle to be charged in QR.

[0019] In this embodiment, the information processing unit of the mobile charging vehicle pre-stores a standard preset model corresponding to each vehicle model. When a user requests charging, they will fill in their vehicle model, which will then match the standard preset model MH corresponding to the vehicle to be charged from among many standard preset models. The origin of QR can be a point at the tail of MH.

[0020] S300, place MH in QT and match it with LF, and obtain the matching degree η between MH and LF.

[0021] In this embodiment, the LF can be obtained by scanning with a pre-set multi-line LiDAR on the mobile charging vehicle. The LF obtained by the multi-line LiDAR scanning is a three-dimensional point cloud contour, that is, a contour composed of multiple points. It can be understood that the LF is only the contour of a part of the vehicle to be charged, for example, the contour of the rear of the vehicle to be charged. Step S300 may include the following steps: S310, place MH in QT, so that the part of MH corresponding to LF is placed at LF.

[0022] In this embodiment, for example, if LF corresponds to the rear of the vehicle to be charged, then the rear of MH is placed at LF; thereby, the number of times MH is adjusted can be reduced and the subsequent matching efficiency can be improved.

[0023] S311, adjust the pose of MH and obtain the number of points on the MH surface from all points included in LF, to obtain a list of point counts A = (A1, A2, ..., A...). i A n ), i=1, 2,...,n; among them, A i Let n be the number of points on the MH surface among all points included in LF after the i-th adjustment of MH's pose, and n be the number of times MH's pose is adjusted.

[0024] In this embodiment, adjusting the pose of MH includes adjusting the position coordinates of MH and the rotation angle in each direction; each time the pose of MH is adjusted, the number of points on the surface of MH among all points included in LF can be obtained, thereby obtaining A.

[0025] S312, obtain the target quantity TA=MAX(A); where MAX() is the preset maximum value function.

[0026] In this embodiment, the larger the number of points on the MH surface among all the points included in LF, the higher the matching degree between LF and MH, that is, the pose of MH is approximately the same as the pose of the corresponding actual vehicle to be charged.

[0027] S313, based on TA and NUM LF Determine η = TA / NUM LF Among them, NUM LF This represents the number of all points included in LF.

[0028] In this embodiment, the larger η is, the higher the matching degree between LF and MH.

[0029] S400, if η≥η', then determine the coordinates CH of the charging port of the vehicle to be charged in QT based on the coordinates of the charging port of the vehicle to be charged in QR; η' is a preset matching degree threshold.

[0030] In this embodiment, η' can be set to 95%; if η≥η', it can be considered that the pose of MH at this time is the same as the pose of the actual vehicle to be charged; it is understood that the coordinates of the charging port of the vehicle to be charged in the QR are known, and CH can be determined based on the coordinates of the charging port of the vehicle to be charged in the QR; specifically, CH can be determined through the following steps: S410, obtain the coordinates of at least three points that coincide with MH and LF in QR and in QT.

[0031] In this embodiment, when η≥η', among all the points included in LF, there are some points located on the MH surface. Among the points located on the LF surface, the coordinates of at least three points in QR and the coordinates in QT can be obtained.

[0032] S411, based on the coordinates of at least three points that coincide with MH and LF in QR and in QT, determine the coordinate transformation matrix K between QR and QT.

[0033] It should be noted that those skilled in the art can use existing coordinate transformation matrix determination methods according to actual needs to determine the coordinate transformation matrix K between QR and QT based on the coordinates of at least three points that coincide with MH and LF in QR and in QT. This will not be elaborated here. K includes the rotation angle relationship and coordinate offset relationship between QR and QT.

[0034] S412, obtain the coordinates YB=(x0, y0, z0) of the charging port of the vehicle to be charged in the QR; where x0, y0 and z0 are the X-axis coordinates, Y-axis coordinates and Z-axis coordinates of the charging port of the vehicle to be charged in the QR, respectively.

[0035] In this embodiment, the coordinates YB of the charging port of the vehicle to be charged in the QR can be directly obtained through the data corresponding to MH.

[0036] S413, based on K and YB, determine CH = K × YB.

[0037] After obtaining K and YB, those skilled in the art can use existing coordinate transformation methods to determine CH according to actual needs, which will not be elaborated here.

[0038] S500 determines the preset position corresponding to CH as the charging position of the robotic arm of the mobile charging vehicle.

[0039] In this embodiment, after determining the specific location coordinates of the charging port of the vehicle to be charged, the front end of the robotic arm of the mobile charging vehicle first needs to determine a moving position, namely the preset position corresponding to CH. The preset position corresponding to CH can be a position at a preset distance from CH; then, taking pictures accurately determines the location of the charging port of the vehicle to be charged.

[0040] Furthermore, after step S500, the method may include the following steps: S600 controls the charging gun at the front end of the robotic arm of the mobile charging vehicle to move to the preset position corresponding to CH.

[0041] The S610 uses a camera at the front end of the robotic arm of the mobile charging vehicle to take a picture of the charging port of the vehicle to be charged in order to determine the location of the charging port of the vehicle to be charged.

[0042] In this embodiment, after the camera at the front end of the robotic arm captures the location of the charging port, the location of the charging port can be accurately determined through the captured image, thereby enabling the insertion of the charging gun.

[0043] The robotic arm charging position determination method of this embodiment obtains the contour LF of the target part of the vehicle to be charged and the standard preset model MH corresponding to the vehicle to be charged; MH is placed in QT and matched with LF, and the matching degree η between MH and LF is obtained; if η≥η', the coordinates CH of the charging port of the vehicle to be charged in QT are determined according to the coordinates of the charging port of the vehicle to be charged in QR; the preset position corresponding to CH is determined as the robotic arm charging position of the mobile charging vehicle; in this embodiment, η≥η' indicates that MH is at the actual parking position of the vehicle to be charged. At this time, regardless of whether the parking position of the vehicle to be charged is tilted relative to the mobile charging vehicle, and regardless of whether the LiDAR can scan the charging port of the vehicle to be charged, the position of the charging port of the vehicle to be charged can be accurately determined, thereby ensuring that the camera at the front end of the robotic arm can capture the charging port of the vehicle to be charged at the determined robotic arm charging position.

[0044] In one exemplary embodiment, the standard preset model corresponding to the vehicle to be charged is established based on a certain fixed load state of the vehicle to be charged. However, during actual use, the load of the vehicle to be charged may deviate, causing the height of the charging port to be different from the height of the charging port in the corresponding preset model when the vehicle is parked. To address the above problem, another method for determining CH is provided. In this method, LF can be obtained by scanning with a preset single-line LiDAR on the mobile charging vehicle. The LF obtained by the single-line LiDAR scanning is a single-line point cloud contour. The method may include the following steps: S320, obtain the height H' of the single-line lidar above the ground.

[0045] In this embodiment, the single-line lidar is installed in a fixed position on the mobile charging vehicle, and can directly acquire H'. It should be noted that the single-line lidar scans a horizontal plane, and H' is the height of the single-line point cloud contour from the ground.

[0046] S321, Match the LF with the target part of the vehicle to be charged in the corresponding area of ​​MH at different heights to obtain a matching degree list D = (D1, D2, ..., D...). j D m ), j=1,2,…,m; where, D j Let H be the height of the target part of LF and the vehicle to be charged in MH. j The matching degree of the region, where m is the number of different height locations; H j ∈[H'-Ha, H'+Ha]; Ha is a preset height threshold.

[0047] In this embodiment, a height range from H'-Ha to H'+Ha can be determined at the H' height of the part of MH corresponding to LF. Then, this height range is divided into m matching positions, which are matched with LF respectively to obtain m matching degrees, and thus D is obtained.

[0048] For D j This can be determined through the following steps: S3211, obtain the height H of all points in MH among all points included in LF. j The number of points on the surface of the part NUM j .

[0049] S3212, according to NUM j And NUM0, determine D j =NUM j / NUM0; where NUM0 is the number of points included in LF.

[0050] S322, Based on D, determine η = MAX(D); where MAX() is the preset maximum value function.

[0051] In this embodiment, the position of MH corresponding to the maximum matching degree in D is the actual position of LF in MH, thereby avoiding the problem that the determined charging port height is different from the charging port height in MH due to the different actual loads of the vehicles to be charged, and further improving the accuracy of determining the charging port position.

[0052] Furthermore, after obtaining η, CH can be determined through the following steps: S420, obtain the coordinates of at least three points that overlap between MH and LF in QR and in QT.

[0053] S421. Determine the coordinate transformation matrix K between QR and QT based on the coordinates of at least three points that coincide with MH and LF in QR and in QT.

[0054] S422, obtain the coordinates YB=(x0, y0, z0) of the charging port of the vehicle to be charged in the QR; where x0, y0 and z0 are the X-axis coordinates, Y-axis coordinates and Z-axis coordinates of the charging port of the vehicle to be charged in the QR, respectively.

[0055] S423, determine CH based on K, YB, HE and Ha; where HE is the height of the position of MH corresponding to η.

[0056] In this embodiment, steps S420-S422 are the same as steps S410-S412 in the above embodiment, and will not be described again here.

[0057] Furthermore, step S423 may include the following steps: S430, based on K and YB, determine the coordinates of the middle position of the charging port of the vehicle to be charged in QT: CH'=K×YB=(x2,y2,z2); where x2, y2 and z2 are the X-axis coordinates, Y-axis coordinates and Z-axis coordinates corresponding to the middle position coordinates of the charging port of the vehicle to be charged in QT, respectively.

[0058] Understandably, CH' did not take into account the charging port height error caused by different loads.

[0059] S431, if HE > Ha, then CH = (x3, y3, z3) is determined according to CH', HE and Ha; x3, y3 and z3 are the X-axis coordinates, Y-axis coordinates and Z-axis coordinates of the charging port of the vehicle to be charged in QT respectively; where x3 = x2; y3 = y2; z3 = z2 - (Ha - HE).

[0060] In this embodiment, if HE > Ha, it means that the actual height of the vehicle to be charged scanned by the single-line lidar is less than the height of the standard preset model corresponding to the vehicle to be charged. At this time, the load of the vehicle to be charged is large. Therefore, it is necessary to reduce the Z-axis coordinate of CH', that is, the height of the charging port, by Ha-HE, so as to obtain the actual height of the charging port of the vehicle to be charged.

[0061] S431, if HE < Ha, then based on CH', HE and Ha, determine CH = (x3, y3, z3); ​​where x3 = x2; y3 = y2; z3 = z2 + (Ha - HE).

[0062] In this embodiment, if HE < Ha, it means that the actual height of the vehicle to be charged scanned by the single-line lidar is greater than the height of the standard preset model corresponding to the vehicle to be charged. At this time, the load of the vehicle to be charged is small. Therefore, the Z-axis coordinate of CH', that is, the height of the charging port, needs to be increased by Ha-HE to obtain the actual height of the charging port of the vehicle to be charged.

[0063] S432, if HE = Ha, then based on CH', HE and Ha, determine CH = (x3, y3, z3); ​​where x3 = x2; y3 = y2; z3 = z2.

[0064] In this embodiment, if HE = Ha, it means that the actual height of the vehicle to be charged scanned by the single-line lidar is equal to the height of the standard preset model corresponding to the vehicle to be charged. In this case, there is no need to adjust the coordinates of CH'.

[0065] In this embodiment, the above method can accurately determine the actual location of the charging port of the vehicle to be charged, regardless of the actual load of the vehicle to be charged, thus avoiding the problem of inaccurate location determination of the charging port due to different loads of the vehicle to be charged.

[0066] Furthermore, since the above embodiments use single-line lidar, its efficiency in constructing the LF is also relatively high, thereby further improving the efficiency of determining the location of the charging port of the vehicle to be charged.

[0067] Furthermore, although the steps of the method in this disclosure are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additional or alternative steps may be omitted, multiple steps may be combined into one step, and / or a step may be broken down into multiple steps.

[0068] Embodiments of the present invention also provide a non-transitory computer-readable storage medium that can be disposed in an electronic device to store at least one instruction or at least one program related to implementing a method in the method embodiments, wherein the at least one instruction or the at least one program is loaded and executed by the processor to implement the method provided in the above embodiments.

[0069] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0070] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0071] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0072] Program code for performing the operations of this application can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0073] Embodiments of the present invention also provide an electronic device, including a processor and the aforementioned non-transitory computer-readable storage medium.

[0074] The electronic device is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments in this application.

[0075] Electronic devices are manifested in the form of general-purpose computing devices. Components of an electronic device may include, but are not limited to: at least one processor, at least one memory, and a bus connecting different system components (including memory and processor).

[0076] The memory stores program code that can be executed by the processor, causing the processor to perform the steps in the various embodiments described in this specification.

[0077] The memory may include readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory, and may further include read-only memory (ROM).

[0078] The memory may also include programs / utilities having a set (at least one) of program modules, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0079] A bus can represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus that uses any of the various bus structures.

[0080] The electronic device can also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the electronic device, and / or any device that enables the electronic device to communicate with one or more other computing devices (e.g., routers, modems, etc.). This communication can be performed via input / output (I / O) interfaces. Furthermore, the electronic device can communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter. The network adapter communicates with other modules of the electronic device via a bus. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with the electronic device, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0081] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0082] Embodiments of the present invention also provide a computer program product including program code, which, when the program product is run on an electronic device, causes the electronic device to perform the steps of the methods described above in various exemplary embodiments of the present invention.

[0083] While specific embodiments of the invention have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and are not intended to limit the scope of the invention. Those skilled in the art should also understand that various modifications can be made to the embodiments without departing from the scope and spirit of the invention.

Claims

1. A method for determining the charging position of a robotic arm, characterized in that, The method includes the following steps: S100, in response to the mobile charging vehicle arriving at the target position corresponding to the vehicle to be charged, the contour LF of the target part of the vehicle to be charged is obtained; wherein, the mobile charging vehicle corresponds to a preset mobile charging vehicle coordinate system QT; the contour of the target part of the vehicle to be charged is fixed in QT. S200, obtain the standard preset model MH corresponding to the vehicle to be charged; where MH corresponds to the vehicle coordinate system QR of the vehicle to be charged, and MH includes the coordinates of the charging port of the vehicle to be charged in QR. S300, place MH in QT and match it with LF, and obtain the matching degree η between MH and LF; S400, if η≥η', then determine the coordinates CH of the charging port of the vehicle to be charged in QT based on the coordinates of the charging port of the vehicle to be charged in QR; η' is a preset matching degree threshold. S500 determines the preset position corresponding to CH as the charging position of the robotic arm of the mobile charging vehicle.

2. The method for determining the charging position of a robotic arm according to claim 1, characterized in that, LF is obtained by scanning with a pre-set multi-line lidar on the mobile charging vehicle, and LF is a three-dimensional point cloud contour; step S300 includes the following steps: S310, place MH in QT, so that the part of MH corresponding to LF is placed at LF; S311, adjust the pose of MH and obtain the number of points on the MH surface from all points included in LF, to obtain a list of point counts A = (A1, A2, ..., A...). i A n ), i=1, 2,...,n; among them, A i Let n be the number of points on the MH surface among all points included in LF after the i-th adjustment of MH pose, and n be the number of times the MH pose is adjusted. S312, obtain the target quantity TA = MAX(A); where MAX() is the preset maximum value function; S313, based on TA and NUM LF Determine η = TA / NUM LF Among them, NUM LF This represents the number of all points included in LF.

3. The method for determining the charging position of a robotic arm according to claim 1, characterized in that, CH is determined through the following steps: S410, obtain the coordinates of at least three points that overlap between MH and LF in QR and in QT; S411, Determine the coordinate transformation matrix K between QR and QT based on the coordinates of at least three points that coincide with MH and LF in QR and in QT. S412, obtain the coordinates of the charging port of the vehicle to be charged in the QR: YB=(x0, y0, z0). Where x0, y0, and z0 are the X-axis, Y-axis, and Z-axis coordinates of the charging port of the vehicle to be charged in the QR, respectively; S413, based on K and YB, determine CH = K × YB.

4. The method for determining the charging position of a robotic arm according to claim 1, characterized in that, LF is obtained by scanning with a pre-set single-line lidar on the mobile charging vehicle, and LF is a single-line point cloud contour; step S300 includes the following steps: S320, obtain the height H' of the single-line lidar above the ground; S321, Match the LF with the target part of the vehicle to be charged in the corresponding area of ​​MH at different heights to obtain a matching degree list D = (D1, D2, ..., D...). j D m ), j=1,2,…,m; where, D j Let H be the height of the target part of LF and the vehicle to be charged in MH. j The matching degree of the region, where m is the number of different height locations; H j ∈[H'-Ha, H'+Ha]; Ha is a preset height threshold; S322, Based on D, determine η = MAX(D); where MAX() is the preset maximum value function.

5. The method for determining the charging position of a robotic arm according to claim 4, characterized in that, CH is determined through the following steps: S420, obtain the coordinates of at least three points that overlap between MH and LF in QR and in QT; S421, Determine the coordinate transformation matrix K between QR and QT based on the coordinates of at least three points that coincide with MH and LF in QR and in QT. S422, obtain the coordinates of the charging port of the vehicle to be charged in the QR: YB=(x0, y0, z0). Where x0, y0, and z0 are the X-axis, Y-axis, and Z-axis coordinates of the charging port of the vehicle to be charged in the QR, respectively; S423, determine CH based on K, YB, HE and Ha; where HE is the height of the position of MH corresponding to η.

6. The method for determining the charging position of a robotic arm according to claim 5, characterized in that, Step S423 includes the following steps: S430, Based on K and YB, determine the coordinates of the middle position of the charging port of the vehicle to be charged in QT: CH'=K×YB=(x2,y2,z2;where x2, y2 and z2 are the X-axis coordinates, Y-axis coordinates and Z-axis coordinates of the middle position of the charging port of the vehicle to be charged in QT, respectively. S431, if HE > Ha, then based on CH', HE, and Ha, determine CH = (x3, y3, z3); ​​x3, y3, and z3 are the X-axis, Y-axis, and Z-axis coordinates of the charging port of the vehicle to be charged in QT, respectively; where x3 = x2; y3 = y2; z3 = z2 - (Ha - HE). S431, if HE < Ha, then based on CH', HE and Ha, determine CH = (x3, y3, z3); ​​where x3 = x2; y3 = y2; z3 = z2 + (Ha - HE); S432, if HE = Ha, then based on CH', HE and Ha, determine CH = (x3, y3, z3); ​​where x3 = x2; y3 = y2; z3 = z2.

7. The method for determining the charging position of a robotic arm according to claim 1, characterized in that, After step S500, the method includes the following steps: S600 controls the charging gun at the front end of the robotic arm of the mobile charging vehicle to move to the preset position corresponding to CH; The S610 uses a camera at the front end of the robotic arm of the mobile charging vehicle to take a picture of the charging port of the vehicle to be charged in order to determine the location of the charging port of the vehicle to be charged.

8. A non-transitory computer-readable storage medium, wherein the storage medium stores at least one instruction or at least one program segment, characterized in that, The at least one instruction or the at least one program segment is loaded and executed by the processor to implement the robotic arm charging position determination method as described in any one of claims 1-7.

9. An electronic device, characterized in that, Includes a processor and the non-transitory computer-readable storage medium as described in claim 8.

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