Camera structure and charging device

Abstract

The utility model relates to vehicle charging technology, concretely relates to a camera structure and charging device. A camera structure, include: casing, camera, assemble in the casing, camera's camera is located casing's front end middle part, light emitting unit, assemble in casing, light emitting unit includes a plurality of light emitting pieces, a plurality of light emitting pieces surround the camera's outer periphery. A charging device, include: charging gun, mechanical arm, the mechanical arm docking charging gun carries out plug -in charging, camera structure, the casing assembles the front end of mechanical arm, the light emitting unit sends light, the camera carries out visual identification. The technical problem that the camera of charging device in the prior art can be interfered with by outdoor light and influence identification accuracy is solved.

Description

Technical Field

[0001] This utility model relates to vehicle charging technology, specifically to a camera structure and charging device. Background Technology

[0002] The intelligentization of electric vehicles is the future trend. With the continuous improvement of autonomous driving technology, automatic charging technology for automobiles has also emerged. Currently, major charging pile manufacturers and vehicle manufacturers across the country have successively begun research on automatic charging and have launched their own automatic charging solutions. Existing automatic charging solutions mainly rely on robotic arms combined with visual recognition to insert and remove the charging gun. Since the insertion and removal of the charging gun requires high positional accuracy and insertion / removal force, this places high demands on the accuracy of visual recognition.

[0003] For example, application number CN201910054957.7 discloses an unmanned vehicle charging system based on 3D vision technology and its usage method. This unmanned vehicle charging system includes a charging pile end, an AGV (Automated Guided Vehicle) end, a parking space end, and a vehicle end. The charging pile end includes a charging gun and a charging box capable of transmitting infrared signals. The AGV end includes an AGV and an infrared receiver, a sensor receiver, a power supply, an industrial controller, and a robotic arm fixed to it. The robotic arm is also equipped with a 3D sensor. The industrial controller receives information from the infrared receiver, the sensor receiver, and the 3D sensor, and controls the movements of the AGV, the robotic arm, and the 3D sensor. The power supply provides power to the AGV end equipment. The 3D sensor includes two cameras and a line laser. After camera assembly, the intrinsic and extrinsic parameters of the two cameras need to be calibrated. Driven by a servo motor, the line laser performs an arc-shaped scanning motion. Simultaneously, the camera captures images of the workpiece from both left and right perspectives, extracts the laser lines projected onto the workpiece, and determines the corresponding points of the two laser lines by solving the epipolar equation. Then, the three-dimensional coordinates of each point on the matching laser line are calculated using the triangulation principle.

[0004] The aforementioned document uses a camera to achieve visual detection in order to facilitate the automatic insertion of the charging head. However, since charging scenarios are usually outdoors, existing visual recognition cameras have high requirements for the working environment. When working outdoors, natural light will interfere with visual recognition and affect the recognition accuracy. Utility Model Content

[0005] To address the technical problem that the accuracy of cameras in existing charging devices is affected by outdoor light interference, this invention provides a camera structure and charging device that solve the aforementioned technical problem.

[0006] The technical solution adopted in this utility model is as follows: This utility model provides a camera structure, including: case; A camera, assembled inside a housing, with the camera lens located at the front center of the housing; A light-emitting unit is assembled inside the housing. The light-emitting unit includes multiple light-emitting elements, which surround the outer periphery of the camera.

[0007] According to one embodiment of the present invention, the housing includes an outer shell and a partition, the partition being disposed inside the outer shell to separate the interior of the outer shell into an inner cavity and an outer cavity, the camera being assembled in the inner cavity, and the light-emitting unit being assembled in the outer cavity.

[0008] According to one embodiment of the present invention, the front end of the housing is open, a rear end opening is formed on the rear end plate of the housing, the partition extends from the rear end of the housing to the front end to form a front end opening, the front end opening, the inner cavity and the rear end opening are connected, the camera lens of the camera is placed in the front end opening, and the camera cable extends out through the rear end opening.

[0009] According to one embodiment of the present invention, a first fixing part is formed at the front opening of the partition layer, the first fixing part extends to be fixedly connected to the inner wall of the outer shell, the camera is fixedly assembled by at least two camera clamps, the camera clamps clamp the camera, and the camera clamps are fixed on the first fixing part.

[0010] According to one embodiment of the present invention, the cable is fixed by at least two cable clamps, the cable clamps clamping the cable and the cable clamps being fixed to the rear end plate of the housing.

[0011] According to one embodiment of the present invention, a sealing ring is provided between the camera and the camera clamp, and between the first fixing part and the camera clamp; and / or, a sealing ring is provided between the cable and the cable clamp, and between the outer shell and the cable clamp.

[0012] According to one embodiment of the present invention, the inner wall of the outer shell extends with a second fixing part, the second fixing part is located on both sides of the partition, the light-emitting unit is fixed on the second fixing part and embedded between the camera clamp and the outer shell.

[0013] According to one embodiment of the present invention, the light-emitting unit includes a mounting bracket, and there are two mounting brackets. The two mounting brackets are respectively embedded between the camera clamp and the inner walls of the outer shell on both sides. The mounting bracket is fixed to the second fixing part, and a mounting groove is formed on the mounting bracket. After the light-emitting component is assembled in the mounting groove, it is filled with glue.

[0014] According to one embodiment of the present invention, the front end face of the camera, the front end face of the camera clamping block, and the front end face of the light-emitting unit are all located on the same plane and do not protrude from the front end of the housing.

[0015] This utility model also provides a charging device, including: Charging gun; A robotic arm that docks with a charging gun for plugging and unplugging charging; The camera structure includes a housing mounted on the front end of a robotic arm, a light-emitting unit that emits light, and a camera that performs visual recognition.

[0016] Based on the above technical solution, the technical effects that this utility model can achieve are as follows: The camera structure of this utility model includes a camera and a light-emitting unit housed inside the housing. The light-emitting element of the light-emitting unit surrounds the outer periphery of the camera. Thus, when the camera performs visual recognition, it can activate the light-emitting element to emit light, avoiding interference from outdoor light that could affect the recognition accuracy. The camera structure of this utility model includes a housing consisting of an outer shell and a partition. The partition separates the interior of the outer shell into an inner cavity and an outer cavity. The camera is assembled in the inner cavity, and the light-emitting unit is assembled in the outer cavity. By setting the partition, the camera and the light-emitting unit are installed separately and independently, which prevents the light emitted by the light-emitting component from entering the camera and affecting the camera's recognition accuracy. The camera structure of this utility model has a partition and a shell that cooperate to form a space for assembling the camera. The camera is placed inside the partition, with the camera lens located at the front opening. The camera cable extends through the rear opening of the shell, facilitating independent and sealed installation of the camera. The front end of the camera is clamped and fixed to the first fixing part by at least two camera clamps, and the camera cable is clamped and fixed to the rear plate of the shell by at least two cable clamps. The camera clamps and cable clamps cooperate to fix the camera inside the shell. Sealing rings are provided between the camera and the camera clamps, and between the first fixing part and the camera clamps. Sealing rings are also provided between the cable and the cable clamps, and between the shell and the cable clamps. The sealing rings ensure the airtightness of the camera installation and prevent external dust and rainwater from entering. The camera structure of this utility model includes a light-emitting unit comprising two mounting brackets. These brackets are respectively embedded between the camera clamp and the inner walls of the outer casing on both sides, and then fixed to the second fixing part on the outer casing. The mounting brackets are then filled with adhesive to ensure the integrity and sealing of the structure. The front face of the camera, the front face of the camera clamp, and the front face of the light-emitting unit are located on the same plane and do not protrude from the front of the casing. The light-emitting unit and the camera lens can work together to ensure visual recognition effects. The casing protects the camera and the light-emitting unit from impacts. The charging device of this invention includes a charging gun, a robotic arm, and a camera structure. The housing of the camera structure is mounted on the front end of the robotic arm. After visual recognition is performed by the camera structure, the robotic arm performs the insertion and removal of the charging gun based on the recognition result. The camera structure is adaptable to outdoor working environments, and the visual recognition effect is not affected by external light sources, resulting in high accuracy. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the camera structure of this utility model; Figure 2 This is a schematic diagram of the shell structure; Figure 3 This is a schematic diagram of the shell structure from another perspective; Figure 4 This is a schematic diagram of the mounting bracket for the light-emitting unit; Figure 5 This is a schematic diagram of the camera clamping block. Figure 6 This is a schematic diagram of the cable clamp block. In the diagram: 1-Housing; 11-Outer shell; 111-Rear end plate; 1111-Rear end opening; 112-Second fixing part; 113-Cable hole; 12-Partition; 121-First fixing part; 2-Camera; 3-Light-emitting unit; 31-Light-emitting element; 32-Mounting bracket; 321-Mounting groove; 4-Camera clamp; 41-Camera clamping hole; 5-Cable clamp; 51-Cable clamping hole; 6-Protective sleeve. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] like Figure 1-6 As shown, this embodiment provides a camera structure, including a housing 1, a camera 2, and a light-emitting unit 3. Both the camera 2 and the light-emitting unit 3 are assembled inside the housing 1. The camera lens of the camera 2 is located at the center of the front end of the housing 1. The light-emitting unit 3 includes multiple light-emitting elements 31, which surround the outer periphery of the camera lens. During operation, the light-emitting elements 31 of the light-emitting unit 3 emit light, and the camera 2 performs visual recognition.

[0020] The housing 1 includes an outer shell 11 and a partition 12. The partition 12 is disposed inside the outer shell 11, dividing the interior of the outer shell 11 into an inner cavity and an outer cavity. The camera 2 is assembled in the inner cavity, and the light-emitting unit 3 is assembled in the outer cavity.

[0021] As a preferred technical solution in this embodiment, the front end of the housing 11 is open, and the rear end of the housing 11 has a rear end plate 111 with a rear end opening 1111 formed on the rear end plate 111 to facilitate wire passage.

[0022] As a preferred technical solution in this embodiment, the outer shell 11 can be a square shell.

[0023] In a preferred embodiment, the partition 12 is located inside the outer shell 11. The partition 12 may be cylindrical, with its rear end fixedly connected to the rear end plate 111 of the outer shell 11. The front end of the partition 12 forms a front opening, and the interior of the partition 12 is an inner cavity. The camera 2 is assembled inside the partition 12, and its camera lens can be placed at the front opening. The rear end opening 1111 of the outer shell 11 communicates with the inner cavity. When the camera 2 is assembled in the inner cavity, the cable of the camera 2 can extend through the rear end opening 1111. Preferably, the front end opening of the partition 12 is adapted to the shape of the camera lens of the camera 2. In this embodiment, the front end opening of the partition 12 is set as a circular opening. Preferably, the rear end opening 1111 is located in the middle of the rear end plate 111 of the outer shell 11, and the partition 12 is assembled in the inner middle of the outer shell 11.

[0024] As a preferred embodiment, a first fixing part 121 extends from the front opening of the partition 12. The first fixing part 121 is a fixing plate structure extending radially from the front opening, and extends to connect with the inner wall of the outer shell 11. Specifically, the outer contour of the first fixing part 121 is square, the upper and lower ends of the first fixing part 121 are connected with the inner wall of the outer shell 11, and there are gaps between the left and right ends of the first fixing part 121 and the inner wall of the outer shell 11, which facilitates the assembly of the light-emitting unit 3. The setting of the first fixing part 121 can ensure the stability of the overall structure after the camera 2 is assembled into the partition 12, and on the other hand, it facilitates the fixed and sealed installation of the camera 2.

[0025] As a preferred embodiment, the space between the outer shell 11 and the partition 12 forms an outer cavity. To facilitate the fixed assembly of the light-emitting unit 3, a second fixing part 112 is formed on the inner wall of the outer shell 11. The second fixing part 112 can be a fixing ear structure, and multiple second fixing parts 112 can be provided, located inside the front end of the outer shell 11 and on the left and right sides of the partition 12. In this embodiment, there are four second fixing parts 112, with two second fixing parts 112 respectively provided on the left and right sides of the partition 12.

[0026] Camera 2 is mounted inside the partition 12. The camera lens of camera 2 extends from the front opening of the partition 12, and the cable of camera 2 extends from the rear opening 1111 on the rear end plate 111 of the housing 11.

[0027] Specifically, the camera 2 is fixedly assembled by camera clamps 4. There are at least two camera clamps 4, which clamp the camera lens of the camera 2 and then connect them end to end to form an integral structure. The camera clamps 4 are fixed to the first fixing part 121 to achieve fixed assembly of the camera 2.

[0028] The cable of camera 2 is fixedly assembled by cable clamps 5. There are at least two cable clamps 5. The two cable clamps 5 clamp the cable and then connect them end to end to form an integral structure. The cable clamps 5 are fixed to the rear end plate 111 of the housing 11 to fix the cable.

[0029] As a preferred embodiment, a sealing ring is provided between the camera lens of the camera 2 and the camera clamping block 4, and a sealing ring is provided between the camera clamping block 4 and the first fixing part 121. An annular groove is formed on the outer end face of the first fixing part 121 to accommodate the sealing ring. The sealing ring ensures the sealed installation of the front end of the camera 2.

[0030] As a preferred technical solution of this embodiment, there are two camera clamps 4, with their two ends fixedly connected. A camera clamping hole 41 is formed between the two camera clamps 4, and the camera lens of the camera 2 can be extended into the camera clamping hole 41 and stably clamped. The camera clamps 4 are in close contact with the outer surface of the first fixing part 121, and fasteners fix the camera clamps 4 to the first fixing part 121.

[0031] As a preferred technical solution in this embodiment, a sealing ring is provided between the cable and the cable clamp 5, and a sealing ring is provided between the cable clamp 5 and the rear end plate 111 of the housing 11. An annular groove is formed on the outer surface of the rear end plate 111, surrounding the outer periphery of the rear end opening 1111, to accommodate the sealing ring. The sealing ring ensures the sealed installation of the cable exit position at the rear end of the camera 2.

[0032] As a preferred technical solution of this embodiment, there are two cable clamps 5, with the two ends of the cable clamps 5 fixedly connected. A cable clamping hole 51 is formed between the two cable clamps 5. The cable extends out from the cable clamping hole 51 and is stably clamped. The cable clamps 5 are close to the outer surface of the rear end plate 111. Fasteners pass through the cable clamps 5 and fix the cable clamps 5 to the rear end plate 111.

[0033] The light-emitting unit 3 is assembled in the outer cavity of the housing 1 and is located on the outer periphery of the camera lens of the camera 2. The light-emitting unit 3 includes multiple light-emitting elements 31 and mounting brackets 32. There are two mounting brackets 32, which are respectively embedded between the camera clamp 4 and the inner walls of the housing 11 on both sides. The light-emitting elements 31 are assembled on the mounting brackets 32.

[0034] As a preferred embodiment, the mounting bracket 32 ​​has a hollow internal structure and is provided with mounting slots 321. During installation, the circuit board can be located inside the mounting bracket 32, and the light-emitting element 31 is assembled into the mounting slot 321. Fasteners then fix the mounting bracket 32 ​​to the second fixing part 112. Multiple mounting slots 321 can be provided on the mounting bracket 32 ​​to reasonably arrange the number of light-emitting elements 31. In this embodiment, each mounting bracket 32 ​​is provided with three mounting slots 321 to accommodate three light-emitting elements 31. Two mounting brackets 32 are symmetrically arranged, and the three light-emitting elements 31 on the same mounting bracket 32 ​​are arranged at equal intervals to ensure uniform light distribution. The light-emitting element 31 can be, but is not limited to, LED lights.

[0035] As a preferred technical solution in this embodiment, after the light-emitting element is installed on the mounting bracket 32, the mounting bracket 32 ​​is fixed to the second fixing part 112, and the circuit board is sealed by potting glue.

[0036] As a preferred technical solution in this embodiment, wire-passing holes 113 are opened on both side walls of the outer casing 11, and a protective sleeve 6 is installed inside the wire-passing holes 113, through which the cable of the light-emitting element 31 can pass. The protective sleeve 6 can be, but is not limited to, a rubber protective sleeve.

[0037] As a preferred technical solution in this embodiment, the connection between the two camera clamps 4 is protruding. Correspondingly, a recess is formed in the middle of the side of the mounting bracket 3 near the camera clamp 4, which is embedded with the camera clamp 4 and can limit the relative position of the two.

[0038] As a preferred technical solution in this embodiment, the front end face of the camera lens of the camera 2, the front end face of the camera clamping block 4, and the front end face of the light-emitting unit 3 are all located on the same plane and do not protrude from the front end of the housing 1.

[0039] This embodiment also provides a charging device, including a charging gun, a robotic arm, and the aforementioned camera mechanism. The robotic arm can be plugged into the charging gun for charging. The housing 1 of the camera structure is assembled at the front end of the robotic arm. When working, the light-emitting element 31 of the light-emitting unit 3 emits light, and the camera 2 can perform visual recognition to accurately determine the plugging and unplugging position of the charging gun.

[0040] Based on the above technical solution, the specific implementation method of the charging device in this embodiment is as follows: First, assemble the camera structure and install it onto the robotic arm. The camera uses both coarse and fine positioning modes during operation. When the camera is performing positioning, the light emitter 31 needs to be turned on. After the camera recognizes the light emitter, it is turned off to prevent it from burning out due to excessive heat.

[0041] In this utility model, unless otherwise explicitly specified and limited, the terms "installation", "connection", "linking", "fixing" and other such terms 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 connection of two modules or the interaction between two modules.

Claims

1. A camera structure, characterized in that, include: Shell (1); Camera (2), assembled inside housing (1), with the camera of camera (2) located at the front center of housing (1); The light-emitting unit (3) is assembled inside the housing (1). The light-emitting unit (3) includes a plurality of light-emitting elements (31), which surround the outer periphery of the camera. The housing (1) includes an outer shell (11) and a partition (12). The partition (12) is disposed inside the outer shell (11) to separate the inner cavity and the outer cavity inside the outer shell (11). The camera (2) is assembled in the inner cavity and the light-emitting unit (3) is assembled in the outer cavity.

2. The camera structure according to claim 1, characterized in that, The front end of the outer shell (11) is open, and a rear opening (1111) is formed on the rear end plate (111) of the outer shell (11). The partition (12) extends from the rear end of the outer shell (11) to the front end and forms a front opening. The front opening, the inner cavity and the rear opening (1111) are connected. The camera of the camera (2) is placed in the front opening, and the cable of the camera (2) extends out through the rear opening (1111).

3. A camera structure according to claim 2, characterized in that, The front opening of the partition (12) forms a first fixing part (121), which extends to be fixedly connected to the inner wall of the outer shell (11). The camera (2) is fixedly assembled by at least two camera clamps (4), which clamp the camera (2) and are fixed on the first fixing part (121).

4. A camera structure according to claim 3, characterized in that, The cable is secured by at least two cable clamps (5), which clamp the cable and are fixed to the rear end plate (111) of the housing (11).

5. A camera structure according to claim 4, characterized in that, A sealing ring is provided between the camera (2) and the camera clamp (4), and between the first fixing part (121) and the camera clamp (4); and / or, a sealing ring is provided between the cable and the cable clamp (5), and between the outer shell (11) and the cable clamp (5).

6. A camera structure according to claim 3, characterized in that, The inner wall of the outer shell (11) extends with a second fixing part (112), the second fixing part (112) is located on both sides of the partition (12), the light-emitting unit (3) is fixed on the second fixing part (112) and embedded between the camera clamp (4) and the outer shell (11).

7. A camera structure according to claim 6, characterized in that, The light-emitting unit (3) includes a mounting bracket (32), there are two mounting brackets (32), the two mounting brackets (32) are respectively embedded between the camera clamp (4) and the inner wall of the outer shell (11) on both sides, the mounting bracket (32) is fixed on the second fixing part (112), and a mounting groove (321) is formed on the mounting bracket (32). The light-emitting element (31) is assembled in the mounting groove (321) and then glue is applied.

8. A camera structure according to any one of claims 6-7, characterized in that, The front end face of the camera (2), the front end face of the camera clamp (4), and the front end face of the light-emitting unit (3) are all located on the same plane and do not protrude from the front end of the housing (1).

9. A charging device, characterized in that, include: Charging gun; A robotic arm that docks with a charging gun for plugging and unplugging charging; The camera structure according to any one of claims 1-8, wherein the housing (1) is assembled at the front end of the robotic arm, the light-emitting unit (3) emits light, and the camera (2) performs visual recognition.

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