Remote calibration method and system for automatic charging device

Abstract

The present application relates to the technical field of remote calibration of automatic charging equipment, and discloses a remote calibration method and system for automatic charging equipment, to solve the technical problem that the automatic charging precision of automatic charging equipment is affected due to long-term movement wear or collision and other factors. The method comprises the following steps: when the self-checking condition is met, a first detection image of a calibration plate is acquired, and it is determined whether the calibration plate is abnormal. If the calibration plate is not abnormal, it is determined whether a calibration recognition camera is abnormal. If the calibration recognition camera is not abnormal, the automatic charging robot is controlled to move the charging gun head to a plurality of different first specified poses, and a second detection image of a calibration sheet is acquired. It is determined whether the automatic charging robot is abnormal. If the automatic charging robot is not abnormal, a third detection image of the calibration plate is acquired, and it is determined whether the internal and external parameters of the charging interface recognition camera have changed according to the third detection image. If the internal and external parameters of the charging interface recognition camera have not changed, it is determined that the remote calibration is completed.

Description

Technical Field

[0001] This invention relates to the field of remote calibration technology for automatic charging equipment, and specifically to a remote calibration method and system for automatic charging equipment. Background Technology

[0002] In related technologies, automatic charging equipment typically uses a charging interface recognition camera set on the reference surface of the end flange of an automatic charging robot to locate the charging port of the vehicle to be charged. Then, based on the positioning, it controls the charging gun head to insert into the charging port of the vehicle to be charged to ensure that the charging gun head is accurately inserted into the charging port of the vehicle to be charged.

[0003] However, in actual operation, the automatic charging accuracy of automatic charging equipment can be affected by factors such as long-term wear and tear or collisions. Even using the methods described above, this situation cannot be completely avoided, thus compromising the accuracy of the automatic charging equipment. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a remote calibration method for automatic charging equipment. This method enables the overall calibration of the automatic charging equipment, effectively preventing the automatic charging accuracy from being affected by factors such as long-term wear and tear or collisions, thereby ensuring the automatic charging accuracy of the automatic charging equipment.

[0005] The technical solution adopted in this invention is as follows:

[0006] A remote calibration method for an automatic charging device includes a charging control cabinet and an automatic charging robot. A calibration plate and a calibration recognition camera are fixedly mounted on the charging control cabinet. A charging interface recognition camera and a charging gun head are mounted on the end flange reference surface of the automatic charging robot. A calibration plate is mounted on the surface of the charging gun head. The calibration recognition camera forms a fixed shooting angle with the calibration plate, and the charging gun head moves the calibration plate within the shooting range of the calibration recognition camera. The remote calibration method includes the following steps: acquiring the operating status parameters of the automatic charging device and determining whether self-test conditions are met based on the operating status parameters; if the self-test conditions are met, controlling the calibration recognition camera to acquire a first detection image of the calibration plate and determining whether the calibration plate is abnormal based on the first detection image; if the calibration plate is not abnormal, determining the calibration recognition camera based on the first detection image. If no abnormality is found, the system determines whether the calibration recognition camera is malfunctioning. If no abnormality is found, the system controls the automatic charging robot to move the charging gun head to multiple different first designated poses, and controls the calibration recognition camera to acquire a second detection image of the calibration plate in each first designated pose. The system then determines whether the automatic charging robot is malfunctioning based on the second detection image corresponding to the calibration plate in each first designated pose. If no abnormality is found, the system controls the automatic charging robot to move the charging gun head to multiple different second designated poses, and controls the charging interface recognition camera to acquire a third detection image of the calibration plate in each second designated pose. The system then determines whether the intrinsic and extrinsic parameters of the charging interface recognition camera have changed based on each second designated pose and the corresponding third detection image. If the intrinsic and extrinsic parameters of the charging interface recognition camera have not changed, the system determines that the remote calibration is complete.

[0007] In one embodiment of the present invention, the operating status parameters include: the last remote calibration time of the automatic charging device, and / or the number of automatic charging times from the last remote calibration time to the current time, and / or whether a collision has occurred.

[0008] In one embodiment of the present invention, multiple circles of the same size are arranged on the calibration plate in a preset sequence, and the center-to-center distance between adjacent circles is a fixed value.

[0009] In one embodiment of the present invention, determining whether the calibration board is abnormal based on the first detection image includes: preprocessing the first detection image to obtain circular regions within the first detection image; obtaining the number of circular regions within the first detection image and determining whether the number of circular regions within the first detection image is consistent with a first preset value; if the number of circular regions within the first detection image is consistent with the first preset value, then determining that the calibration board is not abnormal; if the number of circular regions within the first detection image is inconsistent with the first preset value, then determining that the calibration board is abnormal and sending a first self-test failure command to the cloud server.

[0010] In one embodiment of the present invention, determining whether the calibration recognition camera is malfunctioning based on the first detection image includes: sorting the circular regions within the first detection image in character form and dividing them into corresponding rows and columns according to serial numbers; performing ellipse fitting on each sorted circular region to obtain the center point and major and minor axes of each circular region; extracting the center points of each row and column of circular regions according to serial numbers and performing straight line fitting, and determining whether the deviation of the spacing between adjacent rows from a second preset value is within a first preset deviation range and whether the deviation of the spacing between adjacent columns from a third preset value is within a second preset deviation range, and determining according to serial numbers... The system checks whether the deviation of the center point of each circular region from the set center point is within the third preset deviation range and whether the deviation of the major and minor axes from the preset major and minor axes is within the fourth preset deviation range. If the deviation of the adjacent row spacing from the second preset value is not within the first preset deviation range, or the deviation of the adjacent column spacing from the third preset value is not within the second preset deviation range, or the deviation of the center point of the circular region from the set center point is not within the third preset deviation range, or the deviation of the major and minor axes from the preset major and minor axes is not within the fourth preset deviation range, then it determines that the calibration recognition camera has malfunctioned and sends a second self-test failure command to the cloud server.

[0011] In one embodiment of the present invention, the calibration plate has a QR code on its surface. The system determines whether the automatic charging robot is malfunctioning based on the second detection image corresponding to the calibration plate in each first specified pose. This includes: preprocessing the second detection image to obtain a QR code region image; extracting the outer contour of the QR code region and performing straight line fitting; extracting corner points after straight line fitting to extract corresponding QR code corner points; mapping the extracted QR code corner points according to preset corner point positions, and determining whether the deviation between the extracted QR code corner point positions and the corresponding preset corner point positions is within a fifth preset deviation range; if the deviation between the extracted QR code corner point positions and the corresponding preset corner point positions is not within the fifth preset deviation range, then the automatic charging robot is determined to be malfunctioning, and a third self-test failure command is sent to the cloud server.

[0012] In one embodiment of the present invention, determining whether the intrinsic and extrinsic parameters of the charging interface recognition camera have changed based on each of the second specified poses and the corresponding third detection images includes: obtaining the outline and corner points of a calibration board based on the third detection images, and performing eye-on-hand calibration based on the outline and corner points of the calibration board and the corresponding second specified poses to obtain the displacement and rotation variables of the calibration board relative to the automatic charging robot base coordinate system, as well as the displacement, rotation variables, and intrinsic parameters of the charging interface recognition camera relative to the automatic charging robot base coordinate system; determining whether the deviation of the displacement of the calibration board relative to the automatic charging robot base coordinate system from the fourth preset value is within a sixth preset deviation range, and whether the deviation of the rotation variable of the calibration board relative to the automatic charging robot base coordinate system from the fifth preset value is within a seventh preset deviation range; if If the deviation of the calibration plate's displacement relative to the automatic charging robot's base coordinate system from the fourth preset value is within the sixth preset deviation range, and the deviation of the calibration plate's rotation variable relative to the automatic charging robot's base coordinate system from the fifth preset value is within the seventh preset deviation range, then it is determined that the intrinsic and extrinsic parameters of the charging interface recognition camera have not changed. If the deviation of the calibration plate's displacement relative to the automatic charging robot's base coordinate system from the fourth preset value is not within the sixth preset deviation range, or the deviation of the calibration plate's rotation variable relative to the automatic charging robot's base coordinate system from the fifth preset value is not within the seventh preset deviation range, then it is determined that the intrinsic and extrinsic parameters of the charging interface recognition camera have changed, and the displacement, rotation variable, and intrinsic parameters of the charging interface recognition camera relative to the automatic charging robot's base coordinate system are overridden with the original factory-set intrinsic and extrinsic parameters of the charging interface recognition camera.

[0013] A remote calibration system for an automatic charging device includes a charging control cabinet and an automatic charging robot. A calibration plate and a calibration recognition camera are fixedly mounted on the charging control cabinet. A charging interface recognition camera and a charging gun head are mounted on the end flange reference surface of the automatic charging robot. A calibration plate is mounted on the surface of the charging gun head. The calibration recognition camera forms a fixed shooting angle with the calibration plate, and the charging gun head moves the calibration plate within the shooting range of the calibration recognition camera. The remote calibration system includes: a first judgment module, used to acquire the operating status parameters of the automatic charging device and determine whether a self-test condition is met based on the operating status parameters; a second judgment module, used to control the calibration recognition camera to acquire a first detection image of the calibration plate when the self-test condition is met, and to determine whether the calibration plate is abnormal based on the first detection image; and a third judgment module, used to determine whether the calibration recognition camera is abnormal based on the first detection image when it is determined that the calibration plate is not abnormal. The system comprises a control module, which, when determining that the calibration recognition camera is not malfunctioning, controls the automatic charging robot to move the charging gun head to multiple different first designated poses, and controls the calibration recognition camera to acquire a second detection image of the calibration plate in each of the first designated poses; a fourth judgment module, which determines whether the automatic charging robot is malfunctioning based on the second detection image corresponding to the calibration plate in each of the first designated poses; a fifth judgment module, which, when the automatic charging robot is not malfunctioning, controls the automatic charging robot to move the charging gun head to multiple different second designated poses, and controls the charging interface recognition camera to acquire a third detection image of the calibration plate in each of the second designated poses, and determines whether the intrinsic and extrinsic parameters of the charging interface recognition camera have changed based on each of the second designated poses and the corresponding third detection image; and a sixth judgment module, which determines that remote calibration is complete when the intrinsic and extrinsic parameters of the charging interface recognition camera have not changed.

[0014] The beneficial effects of this invention are:

[0015] This invention can perform overall calibration of automatic charging equipment, thereby effectively avoiding the impact on the automatic charging accuracy of the automatic charging equipment caused by long-term wear and tear or collisions, thus ensuring the automatic charging accuracy of the automatic charging equipment. Attached Figure Description

[0016] Figure 1 This is a flowchart of a remote calibration method for an automatic charging device according to an embodiment of the present invention;

[0017] Figure 2 This is a block diagram of a remote calibration system for an automatic charging device according to an embodiment of the present invention. Detailed Implementation

[0018] 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.

[0019] In related technologies, automatic charging equipment includes an automatic charging robot and a charging interface recognition camera. After the automatic charging equipment has been run multiple times, the automatic charging robot may experience insufficient motion accuracy due to wear, or the relative position between the charging interface recognition camera and the flange of the automatic charging robot may change after a collision. This may cause the charging interface recognition camera to give an incorrect charging interface pose in the base coordinates of the automatic charging robot after visual recognition, which may lead to a collision during the docking of the charging interface.

[0020] Therefore, this invention proposes a remote calibration method for automatic charging equipment.

[0021] Figure 1 This is a flowchart of a remote calibration method for an automatic charging device according to an embodiment of the present invention.

[0022] In one embodiment of the present invention, the automatic charging device includes a charging control cabinet and an automatic charging robot. A calibration plate and a calibration identification camera are fixedly installed on the charging control cabinet. A charging interface identification camera and a charging gun head are installed on the reference surface of the end flange of the automatic charging robot. A calibration plate is installed on the surface of the charging gun head. The calibration identification camera is at a fixed shooting angle with the calibration plate, and the charging gun head drives the calibration plate to move within the shooting range of the calibration identification camera.

[0023] like Figure 1 As shown, the remote calibration method for an automatic charging device according to an embodiment of the present invention may include the following steps:

[0024] S1, acquire the operating status parameters of the automatic charging device, and determine whether the self-test conditions are met based on the operating status parameters.

[0025] In one embodiment of the present invention, the operating status parameters may include: the last remote calibration time of the automatic charging device, and / or the number of automatic charging times from the last remote calibration time to the current time, and / or whether a collision has occurred.

[0026] Specifically, if the set calibration time is met between the last remote calibration time and the current time, or the number of automatic charging cycles between the last remote calibration time and the current time reaches the set number of automatic charging cycles, or the automatic charging device experiences a collision, then the self-test conditions are deemed met; otherwise, the self-test conditions are deemed not met.

[0027] It should be noted that if the self-test conditions are not met, that is, if the set calibration time has not been met from the last remote calibration time to the current time, and the number of automatic charging times has not reached the set number of automatic charging times within the time from the last remote calibration time to the current time, and the automatic charging device does not experience any collision behavior, then the automatic charging device does not need to perform a self-test and can work normally, because there is no need to perform remote calibration of the automatic charging device.

[0028] S2, if the self-test conditions are met, control the calibration recognition camera to acquire the first detection image of the calibration board, and determine whether the calibration board is abnormal based on the first detection image.

[0029] In one embodiment of the present invention, multiple circles of the same size are arranged on the calibration plate in a preset sequence, and the center-to-center distance between adjacent circles is a fixed value.

[0030] It should be noted that a rotatable dust cover is installed on top of the calibration plate to prevent dust accumulation. This dust cover can be opened when a self-test is required.

[0031] In one embodiment of the present invention, determining whether the calibration board is abnormal based on the first detection image specifically includes the following steps:

[0032] S21, preprocess the first detection image to obtain the inner circular region of the first detection image.

[0033] Specifically, after acquiring the first detection image, the inner circular region of the first detection image can be obtained by preprocessing the first detection image such as threshold segmentation, erosion and dilation processing, connected component separation, area and shape filtering.

[0034] S22, obtain the number of inner circular regions in the first detection image, and determine whether the number of inner circular regions in the first detection image is consistent with the first preset value.

[0035] S23, if the number of inner circular regions in the first detection image is consistent with the first preset value, then it is determined that the calibration plate has no abnormality.

[0036] S24, if the number of inner circular regions in the first detection image is inconsistent with the first preset value, it is determined that the calibration board is abnormal and a first self-test failure command is sent to the cloud server.

[0037] Specifically, if the number of inner circular regions in the first detection image is inconsistent with the first preset value, it is determined that the surface of the calibration board is too dirty or the position of the calibration board has changed. At this time, a first self-test failure instruction, i.e. a calibration board abnormal instruction, can be sent to the cloud server to remind the maintenance engineer to handle the abnormality of the calibration board.

[0038] S3. If it is determined that the calibration board is not abnormal, then determine whether the calibration recognition camera is abnormal based on the first detection image.

[0039] In one embodiment of the present invention, determining whether the calibration recognition camera is malfunctioning based on the first detection image includes: firstly, sorting the inner circular regions of the first detection image in character form and dividing them into corresponding rows and columns according to the serial number; secondly, performing ellipse fitting on each sorted circular region to obtain the center point and major and minor axes of each circular region; then, extracting the center points of each row and column of circular regions according to the serial number and performing straight line fitting; and determining whether the deviation between the spacing between adjacent rows and a second preset value is within a first preset deviation range and whether the deviation between the spacing between adjacent columns and a third preset value is within a second preset deviation range; and determining whether the deviation between the center point of each circular region and a set center point is within a third preset deviation range and whether the deviation between the major and minor axes and preset major and minor axes is within a fourth preset deviation range according to the serial number. If the deviation between the adjacent row spacing and the second preset value is not within the first preset deviation range, or the deviation between the adjacent column spacing and the third preset value is not within the second preset deviation range, or the deviation between the center point of the circular area and the set center point is not within the third preset deviation range, or the deviation between the major and minor axis diameters and the preset major and minor axis diameters is not within the fourth preset deviation range, then it is determined that the calibration recognition camera is abnormal, that is, the calibration recognition camera's internal parameters are incorrect. At this time, a second self-test failure command, that is, a calibration recognition camera abnormality command, can be sent to the cloud server to remind the maintenance engineer to handle the abnormality of the calibration recognition camera.

[0040] The determination of whether the deviation between the major and minor axis diameters and preset major and minor axis diameters falls within a fourth preset deviation range includes: determining whether the deviation between the major axis diameter and the preset major axis diameter is greater than a first preset deviation value and whether the deviation between the minor axis diameter and the preset minor axis diameter is greater than a second preset deviation value. If the deviation between the major axis diameter and the preset major axis diameter is greater than the first preset deviation value, or the deviation between the minor axis diameter and the preset minor axis diameter is greater than the second preset deviation value, then the deviation between the major and minor axis diameters and the preset major and minor axis diameters is determined to be outside the fourth preset deviation range; otherwise, the deviation between the major and minor axis diameters and the preset major and minor axis diameters is determined to be within the fourth preset deviation range.

[0041] S4. If it is determined that the calibration recognition camera is not abnormal, control the automatic charging robot to move the charging gun head to multiple different first designated poses, and control the calibration recognition camera to collect the second detection image of the calibration piece in each first designated pose.

[0042] S5, determine whether the automatic charging robot has an abnormality based on the second detection image corresponding to each calibration piece in the first specified pose.

[0043] In one embodiment of the present invention, a QR code is provided on the surface of the calibration plate. The method for determining whether the automatic charging robot has malfunctioned is based on the second detection image corresponding to the calibration plate at each first specified pose, including the following steps:

[0044] S51, preprocess the second detection image to obtain the QR code area image.

[0045] Specifically, after threshold segmentation and shape-area selection of the acquired second detection image, the overall calibration patch region is extracted. After image enhancement, threshold segmentation, and shape-area selection of the calibration patch region, the QR code region image is obtained.

[0046] S52, extract the outer contour of the QR code area and perform line fitting, and extract corner points after line fitting to extract the corresponding QR code corner points.

[0047] S53, map the extracted QR code corner points according to the preset corner point positions, and determine whether the deviation between the extracted QR code corner point positions and the corresponding preset corner point positions is within the fifth preset deviation range; if the deviation between the extracted QR code corner point positions and the corresponding preset corner point positions is not within the fifth preset deviation range, then determine that the automatic charging robot has malfunctioned, and send a third self-check failure command to the cloud server.

[0048] Specifically, the extracted QR code corner points are mapped according to preset corner point positions, i.e., invalid data is removed, ensuring a one-to-one correspondence between the extracted QR code corner points and the preset corner points. Then, it is determined whether the deviation between the extracted QR code corner point positions and the corresponding preset corner point positions falls within a fifth preset deviation range. If it exceeds this range, the automatic charging robot is deemed to have malfunctioned, indicating an overall motion accuracy deviation that prevents further calibration. In this case, a third self-check failure command, indicating an accuracy error in the automatic charging robot, is sent to the cloud server to alert maintenance engineers to handle the anomaly.

[0049] It should be noted that if an abnormality is detected in the automatic charging robot based on the corresponding second detection image under any first specified pose, then the automatic charging robot is considered to be abnormal.

[0050] S6. If the automatic charging robot does not malfunction, control the automatic charging robot to move the charging gun head to multiple different second specified poses, and control the charging interface recognition camera to collect the third detection image of the calibration board in each second specified pose, and determine whether the internal and external parameters of the charging interface recognition camera have changed based on each second specified pose and the corresponding third detection image.

[0051] In one embodiment of the present invention, determining whether the intrinsic and extrinsic parameters of the charging interface recognition camera have changed based on each second specified pose and the corresponding third detection image includes the following steps:

[0052] S61, obtain the calibration board contour and corner points based on the third detection image, and perform eye-on-hand calibration based on the calibration board contour and corner points and the corresponding second specified pose, so as to obtain the displacement and rotation variables of the calibration board relative to the automatic charging robot base coordinate system, the displacement and rotation variables of the charging interface recognition camera relative to the automatic charging robot base coordinate system, and the intrinsic parameters of the charging interface recognition camera.

[0053] Among them, the intrinsic parameters of the charging interface recognition camera may include parameters such as the lens focal length and lens distortion parameters of the charging interface recognition camera.

[0054] S62, determine whether the deviation of the calibration plate's displacement relative to the automatic charging robot's base coordinate system from the fourth preset value is within the sixth preset deviation range, and whether the deviation of the calibration plate's rotation variable relative to the automatic charging robot's base coordinate system from the fifth preset value is within the seventh preset deviation range; if the deviation of the calibration plate's displacement relative to the automatic charging robot's base coordinate system from the fourth preset value is within the sixth preset deviation range, and the deviation of the calibration plate's rotation variable relative to the automatic charging robot's base coordinate system from the fifth preset value is within the seventh preset deviation range, then determine that the intrinsic and extrinsic parameters of the charging interface recognition camera have not changed.

[0055] S63, if the deviation of the calibration plate's displacement relative to the automatic charging robot's base coordinate system from the fourth preset value is not within the sixth preset deviation range, or the deviation of the calibration plate's rotation variable relative to the automatic charging robot's base coordinate system from the fifth preset value is not within the seventh preset deviation range, then it is determined that the intrinsic and extrinsic parameters of the charging interface recognition camera have changed, and the displacement, rotation variable, and intrinsic parameters of the charging interface recognition camera relative to the automatic charging robot's base coordinate system are overwritten with the original factory-set intrinsic and extrinsic parameters of the charging interface recognition camera.

[0056] It should be noted that the preset values ​​and preset deviation ranges in the above embodiments can be calibrated according to the actual situation.

[0057] S7: If the charging port recognizes that the camera's intrinsic and extrinsic parameters have not changed, then the remote calibration is considered complete.

[0058] Specifically, if the charging interface recognizes that the camera's internal and external parameters have not changed, it can determine that the overall self-test is error-free and send a remote calibration success command to the cloud server. The cloud server then updates the number of automatic charging movements and the last calibration time.

[0059] Therefore, this invention effectively avoids collisions with the charging interface during docking due to excessive deviation in the overall motion accuracy of the automatic charging robot after prolonged or repeated movements. It also effectively avoids collisions with the charging interface during docking due to changes in the relative position of the charging interface recognition camera and the end flange of the automatic charging robot after a collision. In addition, the cloud server of this invention only needs to send instructions to complete the overall remote calibration of the automatic charging equipment, without the need for human operation, thus saving labor costs.

[0060] In summary, the remote calibration method for an automatic charging device according to embodiments of the present invention acquires the operating status parameters of the automatic charging device and determines whether the self-test conditions are met based on the operating status parameters. If the self-test conditions are met, the calibration recognition camera is controlled to acquire a first detection image of the calibration board, and the calibration board is judged to be abnormal based on the first detection image. If the calibration board is judged not to be abnormal, the calibration recognition camera is judged to be abnormal based on the first detection image. If the calibration recognition camera is judged not to be abnormal, the automatic charging robot is controlled to move with the charging gun head to multiple different first designated poses, and the calibration recognition camera is controlled to acquire a second detection image of the calibration plate in each first designated pose. The automatic charging robot is judged to be abnormal based on the second detection image corresponding to the calibration plate in each first designated pose. If the automatic charging robot is not abnormal, the automatic charging robot is controlled to move with the charging gun head to multiple different second designated poses, and the charging interface recognition camera is controlled to acquire a third detection image of the calibration board in each second designated pose. The intrinsic and extrinsic parameters of the charging interface recognition camera are judged to be changed based on each second designated pose and the corresponding third detection image. If the intrinsic and extrinsic parameters of the charging interface recognition camera are not changed, the remote calibration is judged to be complete. Therefore, the automatic charging equipment can be calibrated as a whole, which can effectively avoid the automatic charging accuracy of the automatic charging equipment being affected by factors such as long-term wear and tear or collisions, thus ensuring the automatic charging accuracy of the automatic charging equipment.

[0061] In accordance with the remote calibration method for automatic charging equipment described in the above embodiments, the present invention also proposes a remote calibration system for automatic charging equipment.

[0062] In one embodiment of the present invention, the automatic charging device includes a charging control cabinet and an automatic charging robot. A calibration plate and a calibration identification camera are fixedly installed on the charging control cabinet. A charging interface identification camera and a charging gun head are installed on the reference surface of the end flange of the automatic charging robot. A calibration plate is installed on the surface of the charging gun head. The calibration identification camera is at a fixed shooting angle with the calibration plate, and the charging gun head drives the calibration plate to move within the shooting range of the calibration identification camera.

[0063] like Figure 2 As shown, the remote calibration system for the automatic charging device in this embodiment of the invention may include: a first judgment module 100, a second judgment module 200, a third judgment module 300, a control module 400, a fourth judgment module 500, a fifth judgment module 600, and a sixth judgment module 700.

[0064] The system comprises the following modules: a first judgment module 100, which acquires the operating status parameters of the automatic charging device and determines whether the self-test conditions are met based on these parameters; a second judgment module 200, which, when the self-test conditions are met, controls the calibration recognition camera to acquire the first detection image of the calibration board and determines whether the calibration board is malfunctioning based on the first detection image; a third judgment module 300, which, when the calibration board is determined to be normal, determines whether the calibration recognition camera is malfunctioning based on the first detection image; and a control module 400, which, when the calibration recognition camera is determined to be normal, controls the automatic charging robot to move the charging gun head to multiple different first designated poses and, in each first designated pose, controls the calibration recognition camera to acquire images. The fourth judgment module 500 is used to determine whether the automatic charging robot has an abnormality based on the second detection image corresponding to the calibration plate under each first specified pose; the fifth judgment module 600 is used to control the automatic charging robot to move the charging gun head to multiple different second specified poses when the automatic charging robot has no abnormality, and to control the charging interface recognition camera to collect the third detection image of the calibration plate under each second specified pose, and to determine whether the intrinsic and extrinsic parameters of the charging interface recognition camera have changed based on each second specified pose and the corresponding third detection image; the sixth judgment module 700 is used to determine that the remote calibration is completed when the intrinsic and extrinsic parameters of the charging interface recognition camera have not changed.

[0065] In one embodiment of the present invention, the operating status parameters include: the last remote calibration time of the automatic charging device, and / or the number of automatic charging times from the last remote calibration time to the current time, and / or whether a collision has occurred.

[0066] In one embodiment of the present invention, multiple circles of the same size are arranged on the calibration plate in a preset sequence, and the center-to-center distance between adjacent circles is a fixed value.

[0067] In one embodiment of the present invention, the second judgment module 200 is specifically used to: preprocess the first detection image to obtain the inner circular region of the first detection image; obtain the number of inner circular regions of the first detection image, and determine whether the number of inner circular regions of the first detection image is consistent with a first preset value; if the number of inner circular regions of the first detection image is consistent with the first preset value, then determine that the calibration board is not abnormal; if the number of inner circular regions of the first detection image is inconsistent with the first preset value, then determine that the calibration board is abnormal, and send a first self-test failure instruction to the cloud server.

[0068] In one embodiment of the present invention, the third judgment module 300 is specifically used to: sort the inner circular regions of the first detection image in character form, and divide them into corresponding rows and columns according to the serial number; perform ellipse fitting on each sorted circular region to obtain the center point and major and minor axes of each circular region; extract the center point of each row and each column of circular regions according to the serial number and perform straight line fitting, and determine whether the deviation of the adjacent row spacing from the second preset value is within the first preset deviation range and whether the deviation of the adjacent column spacing from the third preset value is within the second preset deviation range, and determine whether the deviation of the center point of each circular region from the set center point is within the third preset deviation range and whether the deviation of the major and minor axes from the preset major and minor axes is within the fourth preset deviation range; if the deviation of the adjacent row spacing from the second preset value is not within the first preset deviation range, or the deviation of the adjacent column spacing from the third preset value is not within the second preset deviation range, or the deviation of the center point of the circular region from the set center point is not within the third preset deviation range, or the deviation of the major and minor axes from the preset major and minor axes is not within the fourth preset deviation range, then it is determined that the calibration recognition camera is abnormal, and a second self-test failure command is sent to the cloud server.

[0069] In one embodiment of the present invention, a QR code is provided on the surface of the calibration sheet. The fourth judgment module 500 is specifically used for: preprocessing the second detection image to obtain a QR code area image; extracting the outer contour of the QR code area and performing straight line fitting, and extracting corner points after straight line fitting to extract the corresponding QR code corner points; mapping the extracted QR code corner points according to the preset corner point positions, and judging whether the deviation between the extracted QR code corner point positions and the corresponding preset corner point positions is within a fifth preset deviation range; if the deviation between the extracted QR code corner point positions and the corresponding preset corner point positions is not within the fifth preset deviation range, it is judged that the automatic charging robot has malfunctioned, and a third self-test failure command is sent to the cloud server.

[0070] In one embodiment of the present invention, the fifth judgment module 600 is specifically used for: obtaining the calibration board contour and corner points according to the third detection image, and performing eye-on-hand calibration according to the calibration board contour and corner points and the corresponding second specified pose, so as to obtain the displacement and rotation variables of the calibration board relative to the automatic charging robot base coordinate system, the displacement and rotation variables of the charging interface recognition camera relative to the automatic charging robot base coordinate system, and the intrinsic parameters of the charging interface recognition camera; judging whether the deviation of the calibration board relative to the automatic charging robot base coordinate system from the fourth preset value is within the sixth preset deviation range, and whether the deviation of the calibration board relative to the automatic charging robot base coordinate system from the fifth preset value is within the seventh preset deviation range; if the deviation of the calibration board relative to the automatic charging robot base coordinate system from the fourth preset value is within the sixth preset deviation range, the fifth preset deviation range is within the seventh preset deviation range; if the deviation of the calibration board relative to the automatic charging robot base coordinate system from the fifth preset value is within the seventh preset deviation range, the fifth preset deviation range is within the seventh preset deviation range. If the deviation of the displacement from the fourth preset value is within the sixth preset deviation range, and the deviation of the rotation variable of the calibration plate relative to the automatic charging robot base coordinate system from the fifth preset value is within the seventh preset deviation range, then it is determined that the intrinsic and extrinsic parameters of the charging interface recognition camera have not changed; if the deviation of the displacement of the calibration plate relative to the automatic charging robot base coordinate system from the fourth preset value is not within the sixth preset deviation range, or the deviation of the rotation variable of the calibration plate relative to the automatic charging robot base coordinate system from the fifth preset value is not within the seventh preset deviation range, then it is determined that the intrinsic and extrinsic parameters of the charging interface recognition camera have changed, and the displacement, rotation variable, and intrinsic parameters of the charging interface recognition camera relative to the automatic charging robot base coordinate system are overridden with the original factory-set intrinsic and extrinsic parameters of the charging interface recognition camera.

[0071] It should be noted that for details not disclosed in the remote calibration system of the automatic charging device in the embodiments of the present invention, please refer to the details disclosed in the remote calibration method of the automatic charging device described above, which will not be elaborated here.

[0072] According to an embodiment of the present invention, a remote calibration system for an automatic charging device acquires operating status parameters of the automatic charging device through a first judgment module, and determines whether self-test conditions are met based on the operating status parameters. When the self-test conditions are met, a second judgment module controls a calibration recognition camera to acquire a first detection image of the calibration board, and determines whether the calibration board is malfunctioning based on the first detection image. When the calibration board is determined not to be malfunctioning, a third judgment module determines whether the calibration recognition camera is malfunctioning based on the first detection image. When the calibration recognition camera is determined not to be malfunctioning, a control module controls an automatic charging robot to move the charging gun head to multiple different first designated poses, and controls the calibration in each first designated pose. The quasi-recognition camera acquires the second detection image of the calibration plate, and the fourth judgment module determines whether the automatic charging robot has malfunctioned based on the second detection image corresponding to the calibration plate in each first specified pose. The fifth judgment module, if the automatic charging robot is not malfunctioning, controls the automatic charging robot to move the charging gun head to multiple different second specified poses. In each second specified pose, the charging interface recognition camera acquires the third detection image of the calibration plate, and determines whether the intrinsic and extrinsic parameters of the charging interface recognition camera have changed based on each second specified pose and the corresponding third detection image. The sixth judgment module, if the intrinsic and extrinsic parameters of the charging interface recognition camera have not changed, determines that the remote calibration is complete. This effectively avoids the automatic charging accuracy of the automatic charging equipment being affected by long-term wear and tear or collisions, thus ensuring the automatic charging accuracy of the automatic charging equipment.

[0073] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. "A plurality of" means two or more, unless otherwise explicitly specified.

[0074] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0075] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0076] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0077] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0078] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A remote calibration method for an automatic charging device, characterized in that, The automatic charging equipment includes a charging control cabinet and an automatic charging robot. A calibration plate and a calibration identification camera are fixedly mounted on the charging control cabinet. A charging interface identification camera and a charging gun head are mounted on the end flange reference surface of the automatic charging robot. A calibration plate is mounted on the surface of the charging gun head. The calibration identification camera forms a fixed shooting angle with the calibration plate. The charging gun head drives the calibration plate to move within the shooting range of the calibration identification camera. The remote calibration method includes the following steps: Obtain the operating status parameters of the automatic charging device, and determine whether the self-test conditions are met based on the operating status parameters; If the self-test conditions are met, the calibration recognition camera is controlled to acquire the first detection image of the calibration board, and the calibration board is judged to be abnormal based on the first detection image. If it is determined that the calibration board is not abnormal, then it is determined whether the calibration recognition camera is abnormal based on the first detection image; If it is determined that the calibration recognition camera is not abnormal, the automatic charging robot is controlled to carry the charging gun head to multiple different first designated poses, and the calibration recognition camera is controlled to collect the second detection image of the calibration piece in each first designated pose. Based on the second detection image corresponding to the calibration piece in each of the first specified poses, determine whether the automatic charging robot has malfunctioned; If the automatic charging robot does not malfunction, the automatic charging robot is controlled to carry the charging gun head to multiple different second designated poses, and the charging interface recognition camera is controlled to collect the third detection image of the calibration board under each second designated pose. The internal and external parameters of the charging interface recognition camera are determined according to each second designated pose and the corresponding third detection image. If the charging interface recognizes that the camera's intrinsic and extrinsic parameters have not changed, then the remote calibration is considered complete.

2. The remote calibration method for automatic charging equipment according to claim 1, characterized in that, The operating status parameters include: The last remote calibration time of the automatic charging device, and / or the number of automatic charging times from the last remote calibration time to the current time, and / or whether a collision has occurred.

3. The remote calibration method for automatic charging equipment according to claim 1, characterized in that, The calibration plate has multiple circles of the same size arranged in a preset sequence, and the center-to-center distance between adjacent circles is a fixed value.

4. The remote calibration method for automatic charging equipment according to claim 3, characterized in that, Determining whether the calibration board is abnormal based on the first detected image includes: The first detection image is preprocessed to obtain the inner circular region of the first detection image; Obtain the number of circular regions in the first detection image, and determine whether the number of circular regions in the first detection image is consistent with a first preset value; If the number of circular regions in the first detection image is consistent with the first preset value, then it is determined that the calibration plate is not abnormal; If the number of circular regions in the first detection image is inconsistent with the first preset value, it is determined that the calibration board is abnormal, and a first self-test failure command is sent to the cloud server.

5. The remote calibration method for an automatic charging device according to claim 4, characterized in that, Determining whether the calibration recognition camera is malfunctioning based on the first detected image includes: The circular regions within the first detected image are sorted in character form, and then divided into corresponding rows and columns according to their sequence numbers; Ellipse fitting is performed on each of the sorted circular regions to obtain the center point and major and minor axes of each circular region. According to the sequence number, extract the center point of each row and column circular area and perform straight line fitting. Then, determine whether the deviation of the adjacent row spacing from the second preset value is within the first preset deviation range and whether the deviation of the adjacent column spacing from the third preset value is within the second preset deviation range. According to the sequence number, determine whether the deviation of the center point of each circular area from the set center point is within the third preset deviation range and whether the deviation of the major and minor axis diameters from the preset major and minor axis diameters is within the fourth preset deviation range. If the deviation between the adjacent row spacing and the second preset value is not within the first preset deviation range, or the deviation between the adjacent column spacing and the third preset value is not within the second preset deviation range, or the deviation between the center point of the circular area and the set center point is not within the third preset deviation range, or the deviation between the major and minor axis diameters and the preset major and minor axis diameters is not within the fourth preset deviation range, then it is determined that the calibration recognition camera is abnormal, and a second self-test failure command is sent to the cloud server.

6. The remote calibration method for automatic charging equipment according to claim 1, characterized in that, The calibration plate has a QR code on its surface. Based on the second detection image corresponding to the calibration plate in each of the first specified poses, the system determines whether the automatic charging robot has malfunctioned, including: The second detected image is preprocessed to obtain the QR code region image; Extract the outer contour of the QR code area and perform line fitting, and extract the corner points after line fitting to extract the corresponding QR code corner points; The extracted QR code corner points are mapped according to the preset corner point positions, and it is determined whether the deviation between the extracted QR code corner point positions and the corresponding preset corner point positions is within the fifth preset deviation range; if the deviation between the extracted QR code corner point positions and the corresponding preset corner point positions is not within the fifth preset deviation range, it is determined that the automatic charging robot has malfunctioned, and a third self-check failure command is sent to the cloud server.

7. The remote calibration method for an automatic charging device according to claim 6, characterized in that, Determining whether the intrinsic and extrinsic parameters of the charging interface recognition camera have changed based on each of the second specified poses and the corresponding third detection images includes: The calibration board contour and corner points are obtained based on the third detection image, and eye calibration is performed on the hand based on the calibration board contour and corner points and the corresponding second specified pose, so as to obtain the displacement and rotation variables of the calibration board relative to the automatic charging robot base coordinate system, the displacement and rotation variables of the charging interface recognition camera relative to the automatic charging robot base coordinate system, and the intrinsic parameters of the charging interface recognition camera. Determine whether the deviation of the displacement of the calibration plate relative to the base coordinate system of the automatic charging robot from the fourth preset value is within the sixth preset deviation range, and whether the deviation of the rotation variable of the calibration plate relative to the base coordinate system of the automatic charging robot from the fifth preset value is within the seventh preset deviation range; if the deviation of the displacement of the calibration plate relative to the base coordinate system of the automatic charging robot from the fourth preset value is within the sixth preset deviation range, and the deviation of the rotation variable of the calibration plate relative to the base coordinate system of the automatic charging robot from the fifth preset value is within the seventh preset deviation range, then determine that the intrinsic and extrinsic parameters of the charging interface recognition camera have not changed; If the deviation of the calibration plate's displacement relative to the automatic charging robot's base coordinate system from the fourth preset value is not within the sixth preset deviation range, or the deviation of the calibration plate's rotation variable relative to the automatic charging robot's base coordinate system from the fifth preset value is not within the seventh preset deviation range, then it is determined that the intrinsic and extrinsic parameters of the charging interface recognition camera have changed, and the displacement, rotation variable, and intrinsic parameters of the charging interface recognition camera relative to the automatic charging robot's base coordinate system are overwritten with the original factory-set intrinsic and extrinsic parameters of the charging interface recognition camera.

8. A remote calibration system for an automatic charging device, characterized in that, The automatic charging equipment includes a charging control cabinet and an automatic charging robot. A calibration plate and a calibration identification camera are fixedly mounted on the charging control cabinet. A charging interface identification camera and a charging gun head are mounted on the end flange reference surface of the automatic charging robot. A calibration plate is mounted on the surface of the charging gun head. The calibration identification camera forms a fixed shooting angle with the calibration plate. The charging gun head drives the calibration plate to move within the shooting range of the calibration identification camera. The remote calibration system includes: The first judgment module is used to obtain the operating status parameters of the automatic charging device and determine whether the self-test conditions are met based on the operating status parameters. The second judgment module is used to control the calibration recognition camera to acquire the first detection image of the calibration board when the self-test conditions are met, and to determine whether the calibration board is abnormal based on the first detection image. The third judgment module is used to determine whether the calibration recognition camera is abnormal based on the first detection image when it is determined that the calibration board is not abnormal. The control module is used to control the automatic charging robot to move the charging gun head to multiple different first designated poses when it is determined that the calibration recognition camera is not abnormal, and to control the calibration recognition camera to acquire the second detection image of the calibration piece in each first designated pose. The fourth judgment module is used to determine whether the automatic charging robot has an abnormality based on the second detection image corresponding to the calibration piece under each of the first specified poses. The fifth judgment module is used to control the automatic charging robot to move the charging gun head to multiple different second specified poses when the automatic charging robot does not have any abnormalities, and to control the charging interface recognition camera to collect the third detection image of the calibration board under each second specified pose, and to judge whether the internal and external parameters of the charging interface recognition camera have changed according to each second specified pose and the corresponding third detection image. The sixth judgment module is used to determine that remote calibration is complete when the intrinsic and extrinsic parameters of the camera identified by the charging interface have not changed.

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