CN109827507A - Method for electrically is changed away from the vision positioning of camera based on fixed-focus and changes electric system - Google Patents

Method for electrically is changed away from the vision positioning of camera based on fixed-focus and changes electric system Download PDF

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CN109827507A
CN109827507A CN201910059873.2A CN201910059873A CN109827507A CN 109827507 A CN109827507 A CN 109827507A CN 201910059873 A CN201910059873 A CN 201910059873A CN 109827507 A CN109827507 A CN 109827507A
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vehicle
camera
focus
datum mark
charged
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CN109827507B (en
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夹磊
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NIO Co Ltd
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NIO Co Ltd
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

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  • Secondary Cells (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The present invention relates to electric charging technical fields, and in particular to a kind of to change method for electrically away from the vision positioning of camera based on fixed-focus and change electric system.Present invention seek to address that the problem that precision existing for existing vision positioning method is low.For this purpose, it includes: the real image that fixed-focus obtains datum mark away from camera from the lower section of vehicle to be charged that vision positioning of the invention, which changes method for electrically,；Fixed-focus obtains the real image containing datum mark away from camera；Standard picture and real image based on datum mark, determine the offset type of vehicle to be charged；Based on offset type, the moving distance that vehicle to be charged needs to adjust is calculated；Based on moving distance, the position of vehicle to be charged is adjusted；Power battery is replaced for vehicle to be charged.By above-mentioned control mode, the present invention can improve positioning accuracy on the basis of not increasing cost, and promotion changes electrical efficiency and changes electrical stability.

Description

Method for electrically is changed away from the vision positioning of camera based on fixed-focus and changes electric system
Technical field
The present invention relates to electric charging technical fields, and in particular to a kind of to change method for electrically away from the vision positioning of camera based on fixed-focus And change electric system.
Background technique
With the popularization of new-energy automobile, how fast and effeciently to become all big enterprises and car owner for new-energy automobile complementary energy Concern.By taking electric car as an example, replacing power battery for electric car is a kind of effective side to solve the above problems Method, this method is due to that can replace power battery in a short time for electric car, so by vast service provider and car owner High praise.Usually replacement power battery is completed by the electricity changing robot in electric charging station, and electricity changing robot is by changing level platform Reciprocating movement between battery compartment, which is realized, unloads the power battery in power shortage state and will be in full battery status Power battery is fixed on the movement of electric car.It changes in electric process, the positioning of vehicle to be charged is the key that realize fast quick change electricity One of step, the precision and success rate of positioning directly determine the service quality of the efficiency and service provider of changing electricity.
Current common localization method has machinery positioning, laser positioning, vision positioning etc..Wherein, vision positioning is with its letter The advantages such as abundant, the visualization height of breath amount have certain application prospect.In order to reach higher positioning accuracy, vision positioning It is general that industrial camera is selected to carry out positioning of taking pictures to the location hole at vehicle bottom, then vehicle body is adjusted by adjusting mechanism.But It is industrial camera is often fixed-focus, field range also has certain limitation, and vehicle to be charged is high due to the accuracy of manufacture, suspension The different often chassis heights such as degree, tire pressure are also different, this operating distance for allowing for industrial camera changes frequent occurrence, into And the offset accuracy of camera and standard point of reference is caused not enough to influence vehicle to be charged in the positioning accuracy for changing level platform.For solution The certainly above problem, previous scheme is all the camera with electronic zoom, but the camera of electronic zoom is substantially consumer phase Machine, the advantages such as high, easy to install without industrial camera degree of protection, and the camera higher cost of electronic zoom, therefore simultaneously Be not suitable for the application scenarios of replacement power battery.
Correspondingly, this field needs a kind of new to change method for electrically away from the vision positioning of camera based on fixed-focus to solve above-mentioned ask Topic.
Summary of the invention
It is low in order to solve precision existing for existing vision positioning method in order to solve the above problem in the prior art The problem of, method for electrically is changed away from the vision positioning of camera based on fixed-focus the present invention provides a kind of, the vision positioning changes method for electrically Include:
Fixed-focus obtains the real image containing datum mark away from camera；
Standard picture and the real image based on the datum mark, determine the offset type of vehicle to be charged；
Based on the offset type, the moving distance that the vehicle to be charged needs to adjust is calculated；
Based on the moving distance, the position of the vehicle to be charged is adjusted；
Power battery is replaced for the vehicle to be charged；
Wherein, the datum mark is set to the vehicle to be charged；The standard picture is obtained ahead of time；The offset Type includes horizontal-shift and offsets in height.
In the above-mentioned optimal technical scheme for changing method for electrically away from the vision positioning of camera based on fixed-focus, the vehicle to be charged On chassis on setting there are two the datum mark, each datum mark is accordingly configured with the fixed-focus away from camera.
In the above-mentioned optimal technical scheme for changing method for electrically away from the vision positioning of camera based on fixed-focus, described two datum marks The symmetry axis of length direction relative to the vehicle to be charged is symmetrical arranged.
In the above-mentioned optimal technical scheme for changing method for electrically away from the vision positioning of camera based on fixed-focus, " it is based on the benchmark Point standard picture and the real image, determine the offset type of the vehicle to be charged " the step of further comprise:
Based on the standard picture and the real image, the normal place and the datum mark of each datum mark are determined Physical location relative positional relationship；
When the physical location of two datum marks is all located at corresponding mark in the width direction of the vehicle to be charged When the same side that level is set, determine that the offset type of the vehicle to be charged is horizontal-shift；
Otherwise, it determines the offset type of the vehicle to be charged is offsets in height.
In the above-mentioned optimal technical scheme for changing method for electrically away from the vision positioning of camera based on fixed-focus, " it is based on the offset Type calculates the vehicle to be charged and needs the moving distance adjusted " the step of further comprise:
When the offset type is horizontal-shift, the moving distance is calculated using method shown in following formula:
Wherein,The vehicle to be charged needs the moving distance adjusted when representing offset type as horizontal-shift,Generation The actual range of the normal place of one datum mark of table and the physical location of the datum mark in the width direction,It represents another The actual range of the normal place of one datum mark and the physical location of the datum mark in the width direction；And/or
When the offset type is offsets in height, the moving distance is calculated using method shown in following formula:
Wherein,The vehicle to be charged needs the moving distance adjusted when representing offset type as offsets in height,Generation The actual range of the normal place of one datum mark of table and the physical location of the datum mark in the width direction,It represents another The actual range of the normal place of one datum mark and the physical location of the datum mark in the width direction.
In the above-mentioned optimal technical scheme for changing method for electrically away from the vision positioning of camera based on fixed-focus, " it is based on the movement Distance adjusts the position of the vehicle to be charged " the step of further comprise:
Based on the moving distance, the position of the vehicle to be charged in the width direction is adjusted.
It " is being described to be changed in the above-mentioned optimal technical scheme for changing method for electrically away from the vision positioning of camera based on fixed-focus Before the step of electric car replacement power battery ", the vision positioning changes method for electrically further include:
It is lifted the vehicle to be charged；
During lifting, the real image of rising height and the datum mark is obtained；
Based on the real image, the standard picture and the rising height, position of the fixed-focus away from camera is judged It sets and whether deviates；
When judging result is that the fixed-focus is deviated away from the position of camera, electricity is changed in stopping.
In the above-mentioned optimal technical scheme for changing method for electrically away from the vision positioning of camera based on fixed-focus, " it is based on the reality Image, the standard picture and the rising height, judge whether position of the fixed-focus away from camera deviates " the step of Further comprise:
Based on the standard picture and the real image, the normal place and the base of two datum marks are calculated separately Actual range of the physical location on schedule in the width direction of the vehicle to be charged；
Calculate separately the ratio of two actual ranges and the rising height；
Two ratios are compared；
When unequal or both the difference of two ratios is not in the threshold interval of setting, judging result is described fixed The position of focal length camera deviates.
It " is being described to be changed in the above-mentioned optimal technical scheme for changing method for electrically away from the vision positioning of camera based on fixed-focus After the step of electric car replacement power battery ", the vision positioning changes method for electrically further include:
Decline the vehicle to be charged；
During decline, the real image of falling head and the datum mark is obtained；
Based on the real image, the standard picture and the falling head, position of the fixed-focus away from camera is judged Whether deviate；
When judging result is that the fixed-focus is deviated away from the position of camera, electricity is changed in stopping.
In the above-mentioned optimal technical scheme for changing method for electrically away from the vision positioning of camera based on fixed-focus, " it is based on the reality Image, the standard picture and the falling head, judge whether position of the fixed-focus away from camera deviates " the step of Further comprise:
Based on the standard picture and the real image, the normal place and the base of two datum marks are calculated separately Actual range of the physical location on schedule in the width direction of the vehicle to be charged；
Calculate separately the ratio of two actual ranges and the falling head；
Two ratios are compared；
When unequal or both the difference of two ratios is not in the threshold interval of setting, judging result is described fixed The position of focal length camera deviates.
It is institute in judging result in the above-mentioned optimal technical scheme for changing method for electrically away from the vision positioning of camera based on fixed-focus When stating fixed-focus and deviating away from the position of camera, the vision positioning changes method for electrically further include:
Alert.
Electric system is changed away from the vision positioning of camera based on fixed-focus the present invention also provides a kind of, the vision positioning changes electric system System includes:
Fixed-focus is away from camera, and the fixed-focus is away from camera for obtaining the real image containing datum mark；
Categorization module, the categorization module are used for standard picture and the real image based on the datum mark, determine The offset type of vehicle to be charged；
Computing module, the computing module are used to be based on the offset type, calculate the vehicle to be charged and need to adjust Moving distance；
Module is adjusted, the adjustment module is used to be based on the moving distance, adjusts the position of the vehicle to be charged；
Execution module, the execution module are used to replace power battery for the vehicle to be charged；
Wherein, the datum mark is set to the vehicle to be charged；The standard picture is obtained ahead of time；The offset Type includes horizontal-shift and offsets in height.
In the above-mentioned optimal technical scheme for changing electric system away from the vision positioning of camera based on fixed-focus, the vehicle to be charged On chassis on setting there are two the datum mark, each datum mark is accordingly configured with the fixed-focus away from camera.
In the above-mentioned optimal technical scheme for changing electric system away from the vision positioning of camera based on fixed-focus, described two datum marks The symmetry axis of length direction relative to the vehicle to be charged is symmetrical arranged.
In the above-mentioned optimal technical scheme for changing electric system away from the vision positioning of camera based on fixed-focus, the categorization module is logical It crosses following manner and comes standard picture and the real image based on the datum mark, determine the offset class of the vehicle to be charged Type:
Based on the standard picture and the real image, the normal place and the datum mark of each datum mark are determined Physical location relative positional relationship；
When the physical location of two datum marks is all located at corresponding mark in the width direction of the vehicle to be charged When the same side that level is set, determine that the offset type of the vehicle to be charged is horizontal-shift；
Otherwise, it determines the offset type of the vehicle to be charged is offsets in height.
In the above-mentioned optimal technical scheme for changing electric system away from the vision positioning of camera based on fixed-focus, the computing module is logical Following manner is crossed to be based on the offset type, calculates the moving distance that the vehicle to be charged needs to adjust:
When the offset type is horizontal-shift, the moving distance is calculated using method shown in following formula:
Wherein,The vehicle to be charged needs the moving distance adjusted when representing offset type as horizontal-shift,Generation The actual range of the normal place of one datum mark of table and the physical location of the datum mark in the width direction,It represents The actual range of the normal place of another datum mark and the physical location of the datum mark in the width direction；And/or Person
When the offset type is offsets in height, the moving distance is calculated using method shown in following formula:
Wherein,The vehicle to be charged needs the moving distance adjusted when representing offset type as offsets in height,Generation The actual range of the normal place of one datum mark of table and the physical location of the datum mark in the width direction,It represents The actual range of the normal place of another datum mark and the physical location of the datum mark in the width direction.
In the above-mentioned optimal technical scheme for changing electric system away from the vision positioning of camera based on fixed-focus, the adjustment module is logical Following manner is crossed to be based on the moving distance, adjusts the position of the vehicle to be charged:
Based on the moving distance, the position of the vehicle to be charged in the width direction is adjusted.
In the above-mentioned optimal technical scheme for changing electric system away from the vision positioning of camera based on fixed-focus, the vision positioning is changed Electric system further include:
Be lifted module, the lifting module be used for the execution module be the vehicle to be charged replacement power battery it The preceding lifting vehicle to be charged；
Acquisition module, the acquisition module are used for during lifting, obtain the rising height of the lifting module；
The fixed-focus is also used to during lifting away from camera, obtains the real image of the datum mark；
Judgment module, the judgment module are used for high based on the real image, the standard picture and the lifting Degree, judges whether position of the fixed-focus away from camera deviates；
Control module, the control module are used for when judging result is that the fixed-focus is deviated away from the position of camera, Control the vision positioning change electric system stopping change electricity.
In the above-mentioned optimal technical scheme for changing electric system away from the vision positioning of camera based on fixed-focus, the judgment module is logical Following manner is crossed to be based on the real image, the standard picture and the rising height, judges the fixed-focus away from camera Position whether deviate:
Based on the standard picture and the real image, the normal place and the base of two datum marks are calculated separately Actual range of the physical location on schedule in the width direction of the vehicle to be charged；
Calculate separately the ratio of two actual ranges and the rising height；
Two ratios are compared；
When unequal or both the difference of two ratios is not in the threshold interval of setting, judging result is described fixed The position of focal length camera deviates.
In the above-mentioned optimal technical scheme for changing electric system away from the vision positioning of camera based on fixed-focus, the lifting module is also For being to decline the vehicle to be charged after the vehicle to be charged replaces power battery in the execution module；
The acquisition module is also used to during decline, obtains the falling head of the lifting module；
The fixed-focus is also used to during decline away from camera, obtains the real image of the datum mark；
The judgment module is also used to judge whether position of the fixed-focus away from camera deviates based on the real image；
The control module is also used to when judging result is that the fixed-focus is deviated away from the position of camera, described in control Vision positioning changes electric system stopping and changes electricity.
In the above-mentioned optimal technical scheme for changing electric system away from the vision positioning of camera based on fixed-focus, the judgment module is logical Following manner is crossed to be based on the real image, the standard picture and the falling head, judges the fixed-focus away from camera Position whether deviate:
Based on the standard picture and the real image, the normal place and the base of two datum marks are calculated separately Actual range of the physical location on schedule in the width direction of the vehicle to be charged；
Calculate separately the ratio of two actual ranges and the falling head；
Two ratios are compared；
When unequal or both the difference of two ratios is not in the threshold interval of setting, judging result is described fixed The position of focal length camera deviates.
In the above-mentioned optimal technical scheme for changing electric system away from the vision positioning of camera based on fixed-focus, the vision positioning is changed Electric system further include:
Alarm module, the alarm module are used for when judging result is that the fixed-focus is deviated away from the position of camera, Alert.
It will be appreciated to those of skill in the art that in the preferred technical solution of the present invention, based on fixed-focus away from camera It includes: fixed-focus away from real image of the camera acquisition containing datum mark that vision positioning, which changes method for electrically,；Standard picture based on datum mark And real image, determine the offset type of vehicle to be charged；Based on offset type, the movement that vehicle to be charged needs to adjust is calculated Distance；Based on moving distance, the position of vehicle to be charged is adjusted；Power battery is replaced for vehicle to be charged；Wherein, datum mark is set It is placed in vehicle to be charged；Standard picture is obtained ahead of time；Offset type includes horizontal-shift and offsets in height.
By above-mentioned control mode, the present invention can improve positioning accuracy on the basis of not increasing cost, and electricity is changed in promotion Efficiency and electrical stability is changed, solves the problems, such as that fixed-focus is excessive away from camera deviation as caused by the limitation of the visual field.Specifically, By obtaining the real image of datum mark, it is then based on real image and standard picture determines that the offset type of vehicle to be charged is Horizontal-shift or offsets in height, to calculate the moving distance for needing to adjust based on different offset types, be then based on this Moving distance adjusts the position of vehicle, and vision positioning of the invention changes the height change pair that method for electrically has fully considered vehicle chassis The influence of positioning accuracy, and the movement for needing to adjust by targetedly calculating vehicle when offset type is offsets in height Distance can greatly reduce deviations, improve the positioning accuracy of vehicle, increase the stability for changing electric process.And due to this The realization of control mode does not have to carry out upgrading to equipment based entirely on existing component, therefore also effectively controls Upgrade cost.
Further, by being judged during being lifted vehicle based on real image, standard picture and rising height Fixed-focus away from camera whether the offset in appearance position, vision positioning of the invention, which changes method for electrically, to check vision with effectively sentencing Positioning as a result, and judge whether state of the fixed-focus away from camera normal, and can when physical location offset occurs in camera And alarm, with fast notification, staff is overhauled, and avoids the generation for changing electrification.
Scheme 1 a kind of changes method for electrically away from the vision positioning of camera based on fixed-focus, which is characterized in that the vision positioning changes electricity side Method includes:
Fixed-focus obtains the real image containing datum mark away from camera；
Standard picture and the real image based on the datum mark, determine the offset type of vehicle to be charged；
Based on the offset type, the moving distance that the vehicle to be charged needs to adjust is calculated；
Based on the moving distance, the position of the vehicle to be charged is adjusted；
Power battery is replaced for the vehicle to be charged；
Wherein, the datum mark is set to the vehicle to be charged；The standard picture is obtained ahead of time；The offset type Including horizontal-shift and offsets in height.
Scheme 2 according to claim 1 changes method for electrically away from the vision positioning of camera based on fixed-focus, which is characterized in that described Setting is there are two the datum mark on chassis in vehicle to be charged, each datum mark be accordingly configured with one it is described fixed Focal length camera.
Scheme 3 according to claim 2 changes method for electrically away from the vision positioning of camera based on fixed-focus, which is characterized in that described Two datum marks are symmetrical arranged relative to the symmetry axis of the length direction of the vehicle to be charged.
Scheme 4 according to claim 2 or 3 changes method for electrically away from the vision positioning of camera based on fixed-focus, which is characterized in that The step of " standard picture and the real image based on the datum mark, determine the offset type of the vehicle to be charged " into One step includes:
Based on the standard picture and the real image, the normal place of each datum mark and the reality of the datum mark are determined The relative positional relationship of border position；
When the physical location of two datum marks is all located at corresponding normal bit in the width direction of the vehicle to be charged When the same side set, determine that the offset type of the vehicle to be charged is horizontal-shift；
Otherwise, it determines the offset type of the vehicle to be charged is offsets in height.
Scheme 5 according to claim 4 changes method for electrically away from the vision positioning of camera based on fixed-focus, which is characterized in that " base In the offset type, calculate the vehicle to be charged and need the moving distance adjusted " the step of further comprise:
When the offset type is horizontal-shift, the moving distance is calculated using method shown in following formula:
Wherein,The vehicle to be charged needs the moving distance adjusted when representing offset type as horizontal-shift,Represent one The actual range of the normal place of a datum mark and the physical location of the datum mark in the width direction,It represents another The actual range of the normal place of a datum mark and the physical location of the datum mark in the width direction；And/or
When the offset type is offsets in height, the moving distance is calculated using method shown in following formula:
Wherein,The vehicle to be charged needs the moving distance adjusted when representing offset type as offsets in height,It represents The actual range of the normal place of one datum mark and the physical location of the datum mark in the width direction,It represents another The actual range of the normal place of one datum mark and the physical location of the datum mark in the width direction.
Scheme 6 according to claim 5 changes method for electrically away from the vision positioning of camera based on fixed-focus, which is characterized in that " base In the moving distance, adjust the position of the vehicle to be charged " the step of further comprise:
Based on the moving distance, the position of the vehicle to be charged in the width direction is adjusted.
Scheme 7 according to claim 2 or 3 changes method for electrically away from the vision positioning of camera based on fixed-focus, which is characterized in that " for the vehicle to be charged replace power battery " the step of before, the vision positioning changes method for electrically further include:
It is lifted the vehicle to be charged；
During lifting, the real image of rising height and the datum mark is obtained；
Based on the real image, the standard picture and the rising height, judge that position of the fixed-focus away from camera is It is no to deviate；
When judging result is that the fixed-focus is deviated away from the position of camera, electricity is changed in stopping.
Scheme 8 according to claim 7 changes method for electrically away from the vision positioning of camera based on fixed-focus, which is characterized in that " base In the real image, the standard picture and the rising height, judge whether position of the fixed-focus away from camera occurs The step of offset ", further comprises:
Based on the standard picture and the real image, the normal place and the datum mark of two datum marks are calculated separately Actual range of the physical location in the width direction of the vehicle to be charged；
Calculate separately the ratio of two actual ranges and the rising height；
Two ratios are compared；
When unequal or both the difference of two ratios is not in the threshold interval of setting, judging result be the fixed-focus away from The position of camera deviates.
Scheme 9 according to claim 7 changes method for electrically away from the vision positioning of camera based on fixed-focus, which is characterized in that After the step of " replacing power battery for the vehicle to be charged ", the vision positioning changes method for electrically further include:
Decline the vehicle to be charged；
During decline, the real image of falling head and the datum mark is obtained；
Based on the real image, the standard picture and the falling head, whether position of the fixed-focus away from camera is judged Offset；
When judging result is that the fixed-focus is deviated away from the position of camera, electricity is changed in stopping.
Scheme 10 according to claim 9 changes method for electrically away from the vision positioning of camera based on fixed-focus, which is characterized in that " base In the real image, the standard picture and the falling head, judge whether position of the fixed-focus away from camera occurs The step of offset ", further comprises:
Based on the standard picture and the real image, the normal place and the datum mark of two datum marks are calculated separately Actual range of the physical location in the width direction of the vehicle to be charged；
Calculate separately the ratio of two actual ranges and the falling head；
Two ratios are compared；
When unequal or both the difference of two ratios is not in the threshold interval of setting, judging result be the fixed-focus away from The position of camera deviates.
Scheme 11 according to claim 7 changes method for electrically away from the vision positioning of camera based on fixed-focus, which is characterized in that When judging result is that the fixed-focus is deviated away from the position of camera, the vision positioning changes method for electrically further include:
Alert.
Scheme 12 a kind of changes electric system away from the vision positioning of camera based on fixed-focus, which is characterized in that the vision positioning changes electric system System includes:
Fixed-focus is away from camera, and the fixed-focus is away from camera for obtaining the real image containing datum mark；
Categorization module, the categorization module are used for standard picture and the real image based on the datum mark, determine to be changed The offset type of electric car；
Computing module, the computing module are used to be based on the offset type, calculate the shifting that the vehicle to be charged needs to adjust Dynamic distance；
Module is adjusted, the adjustment module is used to be based on the moving distance, adjusts the position of the vehicle to be charged；
Execution module, the execution module are used to replace power battery for the vehicle to be charged；
Wherein, the datum mark is set to the vehicle to be charged；The standard picture is obtained ahead of time；The offset type Including horizontal-shift and offsets in height.
Scheme 13 according to claim 12 changes electric system away from the vision positioning of camera based on fixed-focus, which is characterized in that institute Stating setting on the chassis in vehicle to be charged, there are two the datum marks, each datum mark to be accordingly configured with described in one Fixed-focus is away from camera.
Scheme 14 according to claim 13 changes electric system away from the vision positioning of camera based on fixed-focus, which is characterized in that institute The symmetry axis that two datum marks are stated relative to the length direction of the vehicle to be charged is symmetrical arranged.
Scheme 15 changes electric system away from the vision positioning of camera based on fixed-focus described in 3 or 14 according to claim 1, and feature exists Come standard picture and the real image based on the datum mark in the following manner in, the categorization module, determine described in The offset type of vehicle to be charged:
Based on the standard picture and the real image, the normal place of each datum mark and the reality of the datum mark are determined The relative positional relationship of border position；
When the physical location of two datum marks is all located at corresponding normal bit in the width direction of the vehicle to be charged When the same side set, determine that the offset type of the vehicle to be charged is horizontal-shift；
Otherwise, it determines the offset type of the vehicle to be charged is offsets in height.
Scheme 16 according to claim 15 changes electric system away from the vision positioning of camera based on fixed-focus, which is characterized in that institute State computing module to be in the following manner based on the offset type, calculate movement that the vehicle to be charged needs to adjust away from From:
When the offset type is horizontal-shift, the moving distance is calculated using method shown in following formula:
Wherein,The vehicle to be charged needs the moving distance adjusted when representing offset type as horizontal-shift,Represent one The actual range of the normal place of a datum mark and the physical location of the datum mark in the width direction,It represents another The actual range of the normal place of a datum mark and the physical location of the datum mark in the width direction；And/or
When the offset type is offsets in height, the moving distance is calculated using method shown in following formula:
Wherein,The vehicle to be charged needs the moving distance adjusted when representing offset type as offsets in height,It represents The actual range of the normal place of one datum mark and the physical location of the datum mark in the width direction,It represents another The actual range of the normal place of a datum mark and the physical location of the datum mark in the width direction.
Scheme 17 according to claim 16 changes electric system away from the vision positioning of camera based on fixed-focus, which is characterized in that institute It states adjustment module and is based on the moving distance in the following manner, adjust the position of the vehicle to be charged:
Based on the moving distance, the position of the vehicle to be charged in the width direction is adjusted.
Scheme 18 changes electric system away from the vision positioning of camera based on fixed-focus described in 3 or 14 according to claim 1, and feature exists In the vision positioning changes electric system further include:
It is lifted module, the lifting module is used in the execution module be to lift before the vehicle to be charged replaces power battery Rise the vehicle to be charged；
Acquisition module, the acquisition module are used for during lifting, obtain the rising height of the lifting module；
The fixed-focus is also used to during lifting away from camera, obtains the real image of the datum mark；
Judgment module, the judgment module are used to be based on the real image, the standard picture and the rising height, sentence Whether position of the fixed-focus of breaking away from camera deviates；
Control module, the control module are used for the control when judging result is that the fixed-focus is deviated away from the position of camera The vision positioning changes electric system stopping and changes electricity.
Scheme 19 according to claim 18 changes electric system away from the vision positioning of camera based on fixed-focus, which is characterized in that institute Judgment module is stated in the following manner to be based on the real image, the standard picture and the rising height, judges institute State whether position of the fixed-focus away from camera deviates:
Based on the standard picture and the real image, the normal place and the datum mark of two datum marks are calculated separately Actual range of the physical location in the width direction of the vehicle to be charged；
Calculate separately the ratio of two actual ranges and the rising height；
Two ratios are compared；
When unequal or both the difference of two ratios is not in the threshold interval of setting, judging result be the fixed-focus away from The position of camera deviates.
Scheme 20 according to claim 18 changes electric system away from the vision positioning of camera based on fixed-focus, which is characterized in that
The lifting module be also used to the execution module be the vehicle to be charged replace make after power battery it is described to Change electric car decline；
The acquisition module is also used to during decline, obtains the falling head of the lifting module；
The fixed-focus is also used to during decline away from camera, obtains the real image of the datum mark；
The judgment module is also used to judge whether position of the fixed-focus away from camera deviates based on the real image；
The control module is also used to control the vision when judging result is that the fixed-focus is deviated away from the position of camera Positioning changes electric system stopping and changes electricity.
Scheme 21 according to claim 20 changes electric system away from the vision positioning of camera based on fixed-focus, which is characterized in that institute Judgment module is stated in the following manner to be based on the real image, the standard picture and the falling head, judges institute State whether position of the fixed-focus away from camera deviates:
Based on the standard picture and the real image, the normal place and the datum mark of two datum marks are calculated separately Actual range of the physical location in the width direction of the vehicle to be charged；
Calculate separately the ratio of two actual ranges and the falling head；
Two ratios are compared；
When unequal or both the difference of two ratios is not in the threshold interval of setting, judging result be the fixed-focus away from The position of camera deviates.
Scheme 22 according to claim 18 changes electric system away from the vision positioning of camera based on fixed-focus, which is characterized in that institute It states vision positioning and changes electric system further include:
Alarm module, the alarm module are used to issue when judging result is that the fixed-focus is deviated away from the position of camera Warning message.
Detailed description of the invention
It describes with reference to the accompanying drawings and in conjunction with electric car of the invention to change electricity away from the vision positioning of camera based on fixed-focus Method and change electric system.In attached drawing:
Fig. 1 is the flow chart for changing method for electrically in one embodiment of the present invention away from the vision positioning of camera based on fixed-focus；
Fig. 2 is the bottom view of electric car of the invention；
Fig. 3 is the arrangement schematic diagram of fixed-focus of the invention away from camera；
Fig. 4 is the normal place schematic diagram of datum mark in one embodiment of the present invention；
Fig. 5 A is the physical location of datum mark when electric car is in horizontal-shift in one embodiment of the present invention Schematic diagram；
Fig. 5 B is the physical location schematic diagram of datum mark after the position of electric car of the invention adjusts；
Fig. 6 is the physical location signal of datum mark when electric car is in offsets in height in one embodiment of the present invention Figure；
Fig. 7 is that the physical location of datum mark when electric car is in offsets in height in another embodiment of the invention is shown It is intended to；
Fig. 8 is the process for changing method for electrically in another embodiment of the invention away from the vision positioning of camera based on fixed-focus Figure；
Fig. 9 is the process for changing method for electrically in another embodiment of the invention away from the vision positioning of camera based on fixed-focus Figure.
Reference signs list
1, landing；21, the first industrial camera；22, the second industrial camera；3, electric car；31, the first datum mark； 32, the second datum mark；4, power battery.
Specific embodiment
The preferred embodiment of the present invention described with reference to the accompanying drawings.It will be apparent to a skilled person that this A little embodiments are used only for explaining technical principle of the invention, it is not intended that limit the scope of the invention.Although for example, Present invention combination electric car is described, but this application scenarios are not unalterable, and those skilled in the art can To be adjusted to it, such as present invention can also apply to the vehicles that hybrid vehicle needs replacing power battery.
It should be noted that in the description of the present invention, term " center ", "upper", "lower", "left", "right", "vertical", The direction of the instructions such as "horizontal", "inner", "outside" or the term of positional relationship are direction based on the figure or positional relationship, this It is intended merely to facilitate description, rather than indication or suggestion described device or element must have a particular orientation, with specific Orientation construction and operation, therefore be not considered as limiting the invention.In addition, term " first ", " second ", " third " are only used In description purpose, it is not understood to indicate or imply relative importance.
In addition it is also necessary to explanation, in the description of the present invention unless specifically defined or limited otherwise, term " peace Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary, It can be the connection inside two elements.To those skilled in the art, it can understand that above-mentioned term exists as the case may be Concrete meaning in the present invention.
Embodiment one
With reference first to Fig. 1 to Fig. 3, method for electrically is changed away from the vision positioning of camera based on fixed-focus it is described to of the invention. Wherein, Fig. 1 is the flow chart for changing method for electrically in one embodiment of the present invention away from the vision positioning of camera based on fixed-focus；Fig. 2 For the bottom view of electric car 3 of the invention；Fig. 3 is the arrangement schematic diagram of fixed-focus of the invention away from camera.
As shown in Figure 1, in order to solve the problems, such as that precision existing for existing vision positioning method is low, it is of the invention based on fixed The vision positioning of focal length camera is changed method for electrically and is mainly included the following steps:
S101, fixed-focus obtain the real image containing datum mark away from camera；For example, referring to Fig. 2, in a kind of possible implementation Datum mark there are two hole shape, respectively the first datum mark 31 and the second base are set in mode, on the chassis of electric car 3 On schedule 32, two datum marks are symmetrically disposed on electricity relative to the symmetry axis (i.e. the longitudinal axis in Fig. 2) of the length direction of electric car 3 On 3 chassis of electrical automobile；Referring to Fig. 3, fixed-focus is fixed-focus away from industrial camera (following or abbreviation industrial camera or camera) away from camera, Have many advantages, such as that at low cost, easy to install, degree of protection is high.There are two industrial camera settings, 21 He of respectively the first industrial camera Second industrial camera 22, symmetry axis (i.e. in Fig. 3 landing 1 of two industrial cameras relative to the length direction of landing 1 Coordinate system in X-axis) be symmetrical arranged, so that each industrial camera can obtain corresponding benchmark by way of taking pictures The real image of point.
S102, standard picture and real image based on datum mark, determine the offset type of electric car 3；For example, passing through Relative positional relationship of the benchmark point between the position in the position and standard picture in real image, determines electric car 3 offset type.Wherein, offset type includes horizontal-shift and offsets in height, and horizontal-shift refers to electronic in this application The offset of automobile 3 is mainly horizontally oriented the offset of generation, and the offset in short transverse can be zero in this case, The offset bring that can be not zero, but generate in short transverse is influenced much smaller than horizontal direction.Similarly, offsets in height The offset for referring to electric car 3 in this application is mainly the offset generated in short transverse, in this case horizontal direction On offset can be zero or be not zero, but be horizontally oriented generation offset bring influence much smaller than height Direction.Wherein, when standard picture can be in normal place for electric car 3, the figure for the datum mark that two industrial cameras obtain Picture, or the image of the datum mark obtained by other means, such as the benchmark synthesized after being calculated by computer theory The image etc. of point.Wherein, vehicle be in normal place when, each industrial camera can be located at corresponding datum mark just under Side can not also be located at immediately below it, as long as guaranteeing includes corresponding datum mark in image that the camera takes.Its In, normal place refers to that electric car 3 changes electric position under desired position state in this application, as normal place can be with For the length direction of electric car 3 symmetry axis and width direction symmetry axis respectively in 1 coordinate system of landing X-axis and Position when Y-axis is overlapped and height between the first industrial camera 21 and the second industrial camera 22 and chassis is equal.Certainly, Normal place may be it is any other it is possible change electric position, such as only the symmetry axis of the length direction of electric car 3 with stop The position etc. that Y-axis in 1 coordinate system of vehicle platform is overlapped.
S103, it is based on offset type, calculates the moving distance that electric car 3 needs to adjust；For example, being determined in offset type Afterwards, by calculating the distance between the physical location Yu normal place of datum mark under the offset type, electric car 3 is obtained in X The moving distance for needing to adjust in axis direction and/or Y direction.
S104, it is based on moving distance, adjusts the position of electric car 3；For example, calculating electric car 3 in Y direction After the upper moving distance for needing to adjust, pushing electric car 3 using the centering body (such as centering transfer bar mechanism) for changing level platform The mobile mode of wheel adjusts the position of electric car 3 in the Y-axis direction.
S105, power battery 4 is replaced for electric car 3；For example, behind the position for adjusting electric car 3, it was demonstrated that positioning It has been completed that, controlling electricity changing robot at this time is that electric car 3 replaces power battery 4.
By above-mentioned control mode, the present invention can improve positioning accuracy on the basis of not increasing cost, and electricity is changed in promotion Efficiency and electrical stability is changed, solves the problems, such as that fixed-focus is excessive away from camera deviation as caused by the limitation of the visual field.Specifically, By obtaining the real image of datum mark, it is then based on real image and standard picture determines that the offset type of electric car 3 is Horizontal-shift or offsets in height, to calculate the moving distance for needing to adjust based on different offset types, be then based on this Moving distance adjusts the position of vehicle, and vision positioning of the invention changes the height change pair that method for electrically has fully considered vehicle chassis The influence of positioning accuracy, and the movement for needing to adjust by targetedly calculating vehicle when offset type is offsets in height Distance can greatly reduce deviations, improve the positioning accuracy of vehicle, increase the stability for changing electric process.And due to The realization of the control mode does not have to carry out upgrading to equipment based entirely on existing component, therefore also efficiently controls Upgrade cost.
It should be noted that before measuring, need first to demarcate two cameras to guarantee that measurement result is accurate, And since two industrial cameras are arranged on landing 1, the position relationship between two cameras, therefore can be based on The relative positional relationship of two industrial cameras and landing 1 establishes the absolute coordinate between camera and landing 1, so as to In the calculating of subsequent moving distance.As shown in Figure 3, it is known that the linear distance d between two cameras, camera use chessboard case marker Fixed method is demarcated, and will establish transformational relation between the coordinate system of camera and the coordinate system of landing 1.Wherein parking is flat X-direction corresponds to the length direction of electric car 3 in the coordinate system of platform 1, and Y direction corresponds to the width direction of electric car 3.? After establishing transformational relation, the point in the image that any camera is got can be transformed into landing from camera coordinates system In 1 coordinate system, to learn its position in the coordinate system.
It is the normal place schematic diagram of datum mark in one embodiment of the present invention for example, referring to Fig. 4, Fig. 4；In vehicle The symmetry axis of the symmetry axis and width direction that are stopped at the length direction of the normal place namely vehicle seat with landing 1 respectively When X-axis and Y-axis in mark system are overlapped and two height between camera and chassis are equal, respectively with gridiron pattern by two phases Machine is demarcated with chassis, the standard picture and scale bar of the datum mark under the available position.The every acquisition of camera as a result, The real image of one datum mark can be obtained by coordinate of the datum mark in camera coordinates system by the amplification of scale bar Know the datum mark under absolute coordinate system physical location and coordinate and the datum mark it is opposite in X-direction and Y direction In the offset distance of normal place, and then the moving distance for needing to adjust is obtained based on the offset distance.
Referring to Fig. 1 to Fig. 7, and by taking the adjustment of electric car 3 in the Y-axis direction as an example, electricity side is changed to of the invention Method is described in detail.Wherein, Fig. 5 A is datum mark when electric car 3 is in horizontal-shift in one embodiment of the present invention Physical location schematic diagram；Fig. 5 B is the physical location schematic diagram of datum mark after the position of electric car 3 of the invention adjusts； Fig. 6 is the physical location schematic diagram of datum mark when electric car 3 is in offsets in height in one embodiment of the present invention；Fig. 7 The physical location schematic diagram of datum mark when being in offsets in height for electric car 3 in another embodiment of the invention.
As shown in Figures 4 to 7, in a kind of possible embodiment, step S102 be may further include: be based on standard Image and real image determine the relative positional relationship of the normal place of each datum mark and the physical location of the datum mark；When When the physical location of two datum marks is all located at the same side of corresponding normal place in the Y-axis direction, electric car 3 is determined Offset type is horizontal-shift；Otherwise, it determines the offset type of electric car 3 is offsets in height.Specifically, obtaining benchmark After the real image of point, by being compared with the coordinate of the datum mark in standard picture, it is known that two in the Y-axis direction Relative positional relationship between the physical location of datum mark and corresponding normal place.As shown in Fig. 4 and Fig. 5 A, A point and B point are Normal place of two datum marks in electrical changing station coordinate system, A ' point and B ' point are two datum marks in electrical changing station coordinate system Physical location determines electronic at this time by Fig. 5 A it is found that A ' point and B ' point are located at the left side of A point and B point in the Y-axis direction The offset type of automobile 3 is horizontal-shift, and such offset type is produced mainly due to the offset that electric car 3 generates in the horizontal direction It is raw.Referring to figure 6 and figure 7, the physical location A ' point of two datum marks and B ' point are located at corresponding normal bit in the Y-axis direction The outside and inside of A point and B point are set, determines that the offset type of electric car 3 is offsets in height, such offset under both of these case Type changes mainly due to the chassis height of electric car 3 and is generated, wherein Fig. 6 it is corresponding be electric car 3 chassis The case where datum mark extends out when reduction, it is the case where datum mark inside contracts when the chassis of electric car 3 increases that Fig. 7 is corresponding.
With further reference to Fig. 4 to Fig. 7, in a kind of possible embodiment, step S103 may further include again:
(i) when offset type is horizontal-shift, moving distance is calculated using method shown in following formula:
In formula (1),Electric car 3 needs the moving distance adjusted when representing offset type as horizontal-shift,Generation The actual range of the normal place of one datum mark of table and the physical location of the datum mark in the Y-axis direction,Represent another The actual range of the normal place of datum mark and the physical location of the datum mark in the Y-axis direction.
For example, as fig. 5 a and fig. 5b, when offset type is horizontal-shift, by calculating separately A point and A ' The actual range of pointAnd the actual range of B point and B ' pointAnd the moving distance for needing to adjust is found out using formula (1)After being then based on the position of moving distance adjustment electric car 3 in the Y-axis direction, available seat as shown in Figure 5 B Mark relationship, at this time A ' point and B ' point is not overlapped completely with A point and B point, be due to electric car 3 chassis in the height direction There are offsets, but since the X-axis of A point and B point in setting relative to 1 coordinate system of landing is symmetrical, and A ' point and B ' point Relative to the middle point symmetry of A point and B point line, thus at this time it is considered that electric car 3 between two parties, i.e. electric car 3 The symmetry axis of length direction is overlapped with X-axis.
(ii) when offset type is offsets in height, moving distance is calculated using method shown in following formula:
In formula (2),Electric car 3 needs the moving distance adjusted when representing offset type as offsets in height,Generation The actual range of the normal place of one datum mark of table and the physical location of the datum mark in the Y-axis direction,Represent another The actual range of the normal place of datum mark and the physical location of the datum mark in the Y-axis direction.
It is similar with (i) situation, when offset type is offsets in height, by the actual range for calculating separately A point and A ' pointAnd the actual range of B point and B ' pointAnd the moving distance for needing to adjust is found out using formula (2)It is then based on After the moving distance adjusts the position of electric car 3 in the Y-axis direction, the same available coordinate relationship similar with Fig. 5 B, At this time it is also assumed that electric car 3 between two parties.
After calculating moving distance, in a kind of possible embodiment, step S104 may further include again: base In moving distance, the position of electric car 3 in the Y-axis direction is adjusted.For example, after calculating moving distance, by changing level The centering body (such as centering push rod) being arranged on platform adjusts the mode of the wheel of electric car 3, realizes electric car 3 in Y-axis side Upward position adjustment.
What needs to be explained here is that determining for vehicle what X-direction positioned due to being typically provided on landing 1 Position mechanism, such as V-type roller group, therefore the positioning accuracy of X-direction is usually enough to, therefore is only needed to vehicle in Y direction Offset be adjusted.Certainly, positioning mechanism can also be not provided in X-direction, it is electronic when being not provided with positioning mechanism The adjustment mode of automobile 3 in the X-axis direction is similar to the adjustment in Y direction, such as calculates separately the actual bit of two datum marks Set with normal place along the x axis at a distance from, the position etc. of two datum marks is adjusted separately based on the distance, it is no longer superfluous herein It states.
It is of the invention method for electrically is changed away from the vision positioning of camera based on fixed-focus not increase by above-mentioned control mode On the basis of cost, positioning accuracy is improved, promotion changes electrical efficiency and changes electrical stability, solves fixed-focus away from camera due to visual field office The excessive problem of deviation caused by sex-limited.Specifically, by obtain datum mark real image, be then based on real image and Standard picture determines that the offset type of electric car 3 is horizontal-shift or offsets in height, thus based on different offset types, The moving distance for needing to adjust is calculated, the position of moving distance adjustment vehicle is then based on, vision positioning of the invention changes electricity Method has fully considered influence of the height change to positioning accuracy of vehicle chassis, and by being offsets in height in offset type When targetedly calculate vehicle and need the moving distance that adjusts, deviations can be greatly reduced, improve the positioning accurate of vehicle Degree increases the stability for changing electric process.And since the realization of the control mode is based entirely on existing component, without to setting It is standby to carry out upgrading, therefore also effectively control upgrade cost.Datum mark and industrial camera use symmetrically arranged mode, Calculating process is also simplified, so that vision positioning method is simple and reliable.
Referring to Fig. 8, another embodiment of the invention is described.Wherein, Fig. 8 is another kind of the invention Change the flow chart of method for electrically in embodiment away from the vision positioning of camera based on fixed-focus.
As shown in figure 8, before step S105, changing electricity away from camera based on fixed-focus in a kind of possible embodiment Method further include:
S201, lifting electric car 3；It is provided with lifting mechanism for example, changing on level platform, lifting mechanism can will have good positioning Electric car 3 be lifted certain height, carry out changing electricity to facilitate electricity changing robot to can smoothly enter into 3 bottom of electric car.
S202, during lifting, obtain rising height and datum mark real image；Such as during lifting, every lift Certain altitude is risen, one is obtained and includes the real image of datum mark, and record the corresponding rising height of the image.
S203, it is based on real image, standard picture and rising height, judges whether the position of industrial camera occurs partially It moves；For example, after obtaining real image and rising height, based on specific between real image, standard picture and rising height Relationship, judges whether the position of industrial camera deviates.
S204, when the position that judging result is industrial camera deviate, electric simultaneously alert is changed in stopping.Example Such as, after offset occurs in the position for judging industrial camera, it was demonstrated that the positioning of electric car 3 is actually inaccurate, therefore needs Stop changing electronic work, be simultaneously emitted by warning message (such as sound-light alarm) prompt staff, to avoid changing electricity failure in time The problem of bringing.
Wherein, in a kind of possible embodiment, step 203 may further include again:
Based on standard picture and real image, the normal place of two datum marks and the actual bit of the datum mark are calculated separately Set the actual range in Y-axis；Calculate separately the ratio of two actual ranges and rising height；Two ratios are compared Compared with；When unequal or both the difference of two ratios is not in the threshold interval of setting, judging result is the position of industrial camera It deviates.Specifically, by taking Fig. 5 B as an example, if Fig. 5 B be two datum marks obtained during lifting physical location with Coordinate relationship between normal place can calculate the distance between A point and A ' point and B point and B ' based on the coordinate relationship The distance between point, then calculates separately the ratio of two distances and rising height.As previously mentioned, in, A ' Point and B ' point it is symmetrical relative to X-axis, therefore in team in situation calculated two ratio should be it is equal, herein if examined Consider machine error, then the difference of two ratio is allowed to float in the threshold interval of setting.Therefore, if two ratios it is equal or When person's the difference between the two is in certain threshold interval, then it is assumed that 3 positioning accuracy of electric car is enough at this time, and two industrial phases Machine also without there is offset physically, can proceed with and change electricity；If two ratios are unequal or the difference between the two not When threshold interval in setting, then it is assumed that the positioning accuracy of electric car 3 is insufficient, and this positioning accuracy deficiency may be due to Two industrial cameras geographically occur mobile and cause, this thing should stop changing electricity, and alert in time, with Prompt staff is handled in time.
It similarly, is the vision positioning in another embodiment of the invention based on fixed-focus away from camera referring to Fig. 9, Fig. 9 Change the flow chart of method for electrically.After the completion of changing electricity, electricity can be exchanged using the check method similar with during above-mentioned lifting Precision is checked, and details are not described herein for principle.I.e. after step S105, electricity is changed away from the vision positioning of camera based on fixed-focus Method further include:
S301, decline electric car 3；
S302, during decline, obtain falling head and datum mark real image；
S303, it is based on real image, standard picture and falling head, judges whether the position of industrial camera deviates；
S304, when the position that judging result is industrial camera deviate, electric simultaneously alert is changed in stopping.
Wherein step S303 further comprises:
Based on standard picture and real image, the normal place of two datum marks and the actual bit of the datum mark are calculated separately Set the actual range in Y-axis；Calculate separately the ratio of two actual ranges and falling head；Two ratios are compared Compared with；When unequal or both the difference of two ratios is not in the threshold interval of setting, judging result is the position of industrial camera It deviates.
By judging industrial camera based on real image, standard picture and rising height during being lifted vehicle Whether the offset in appearance position, vision positioning of the invention changes method for electrically can also check the knot of vision positioning with effectively sentencing Fruit, and judge whether the state of industrial camera normal, and when there is physical location offset in camera can and alarm, with Fast notification staff overhauls, and avoids the generation for changing electrification.By during decline in an identical manner again Judge industrial camera whether the offset in appearance position, additionally it is possible to judging result is further checked, dual ensure that is changed The stability of electric process.Datum mark and industrial camera use symmetrically arranged mode, also simplify the complexity of check process, So that the process of check is simple and reliable.
It should be noted that above-mentioned preferred embodiment is only intended to illustrate the principle of the present invention, it is not intended that in limit Protection scope of the present invention processed.Under the premise of without departing from the principle of the invention, those skilled in the art can be to above-mentioned setting side Formula is adjusted, so that the present invention can be suitable for more specifical application scenarios.
For example, the acquisition modes of moving distance are not unalterable in a kind of interchangeable embodiment, can count Under the premise of calculating moving distance, those skilled in the art can be calculated using any calculation；As being first based on camera coordinates System, which calculates, to be remembered to need a mobile distance value, multiplied by camera coordinates system and change scale bar between electric platform coordinate system from And it obtains the electric car 3 in the case where changing electric platform coordinate system and needs the moving distance adjusted.
For another example, in another alternatively embodiment, the setting position of datum mark and industrial camera is simultaneously not exclusive, only Guarantee that the industrial camera can collect the image of datum mark and calculate corresponding moving distance.Such as, industrial camera It asymmetric can be arranged with datum mark, as long as obtaining the relative positional relationship between datum mark and industrial camera, can equally count Calculate moving distance.
For another example, in another alternatively embodiment, it is based on real image, standard picture and rising height, is sentenced The position of disconnected industrial camera the calculating deviated whether occurs and manner of comparison is also and not exclusive, and those skilled in the art can be to it It is adjusted.It, can be in advance to the different chassis heights of electric car 3 and lifting distance such as in a kind of possible embodiment Demarcated, obtained when different chassis heights are lifted, between the physical location and normal place of datum mark it is practical away from From the two-dimentional table of comparisons with rising height, thus during lifting, by by two ratios respectively with the value in the table of comparisons into Row compares, and can quickly confirm positioning accuracy and physical location deviation occurs in which specific camera.
It for another example,, can also be without checking step during lifting and decline in another alternatively embodiment Suddenly, or in the case where there is physical deflection in camera, can not also alert, but pass through mobile terminal (plate Computer, mobile phone etc.) notify staff.Above-mentioned adjustment ought to fall into guarantor of the invention without deviating from the principle of the present invention Protect range.
Below with reference to Fig. 1 to Fig. 7, the possible electric process that changes of one kind of electric car 3 is described briefly.
In a kind of possible embodiment, electric car 3 is stopped at change level platform after, by changing the V being arranged on level platform Type roller group realizes that positioning → two industrial camera in the X-axis direction is taken pictures a benchmark on 3 chassis of electric car respectively Put and generate containing there are two datum mark real image → real image is compared with standard picture, acquisition electric car 3 Offset type → be based on offset type, calculated according to formula (1) or (2) and to need to adjust in the Y direction of electric car 3 Moving distance → the be based on moving distance, the position of centering body adjustment electric car 3 → adjust rear lifting mechanism lifting electricity Electrical automobile 3 → during lifting obtains the real image of two datum marks, and according to formula (3) or (4), calculates separately two The actual range of the normal place of datum mark and physical location in the Y-axis direction and the ratio of lifting distance → compared with two ratios Whether equal → when equal, it continues to execute and changes electric process → change after the completion of electricity, lifting mechanism drives vehicle decline, declines process The middle real image for obtaining two datum marks, and according to formula (3) or (4), calculate separately the normal places of two datum marks with The actual range of physical location in the Y-axis direction and the ratio of dropping distance → compared with two ratios it is whether equal → equal When, vehicle is dropped to change level platform → vehicle and be driven out to and changes level platform, changes electric completion.
Embodiment two
Method for electrically is changed correspondingly with above-mentioned vision positioning, and the present invention also provides a kind of visions based on fixed-focus away from camera Electric system is changed in positioning, and vision positioning changes electric system and includes:
Fixed-focus is away from camera, and fixed-focus is away from camera for obtaining the real image containing datum mark, in the above method, datum mark There are two, the symmetry axis of the length direction relative to electric car 3 is symmetrically disposed on 3 chassis of electric car, and fixed-focus is away from camera It is fixed-focus away from industrial camera, there are two settings, and two industrial cameras are symmetrical arranged relative to the coordinate system of landing 1, often A camera can accordingly acquire the real image of a datum mark, when electric car 3 is stopped at and changes level platform, each industry phase Machine is located at the lower section of corresponding datum mark.
Categorization module, categorization module are used for standard picture and real image based on datum mark, determine the inclined of electric car 3 Move type；As categorization module can be any equipment for being able to carry out image procossing, such as host computer or computer, host computer Or computer can the standard picture based on datum mark and real image between the physical location and normal place of datum mark Relative positional relationship is analyzed, and finally obtains the offset type of electric car 3.Wherein, standard picture is preparatory using industry Camera carries out calibration acquisition to the electric car 3 in normal place, which has introduced in preceding method, herein It repeats no more.
Computing module, computing module are used to be based on offset type, calculate the moving distance that electric car 3 needs to adjust, such as Computing module equally can be host computer or computer etc., and the calculating pre-set is stored in the host computer and computer Formula, after categorization module determines offset type, computing module can be calculated electric car 3 based on the formula set and be needed The moving distance to be adjusted.
Module is adjusted, adjustment module is used to be based on moving distance, adjusts the position of electric car 3, and such as adjusting module is pair Middle transfer bar mechanism, centering transfer bar mechanism can be based on calculated moving distance, by way of pushing the wheel of electric car 3 Electric car 3 is adjusted in the position of Y direction.
Execution module, execution module are used to replace power battery 4 for electric car 3, if execution module is homing guidance type Electricity changing robot or railway guidance type electricity changing robot, electricity changing robot can be past between battery compartment below electric car 3 It is multiple mobile, to be embodied as the movement that electric car 3 replaces power battery 4.
Wherein, categorization module comes standard picture and real image based on datum mark in the following manner, determines electronic vapour The offset type of vehicle 3:
Based on standard picture and real image, the normal place of each datum mark and the physical location of the datum mark are determined Relative positional relationship；
When the physical location of two datum marks is all located at the same of corresponding normal place in the width direction of electric car 3 When side, determine that the offset type of electric car 3 is horizontal-shift；
Otherwise, it determines the offset type of electric car 3 is offsets in height.
Wherein, computing module is based on offset type in the following manner, calculate movement that electric car 3 needs to adjust away from From:
When offset type is horizontal-shift, moving distance is calculated using method shown in following formula:
In formula (3),Electric car 3 needs the moving distance adjusted when representing offset type as horizontal-shift,Generation The actual range of the normal place of one datum mark of table and the physical location of the datum mark in the direction of the width,Represent another The actual range of the normal place of datum mark and the physical location of the datum mark in the direction of the width.
When offset type is offsets in height, moving distance is calculated using method shown in following formula:
In formula (4),Electric car 3 needs the moving distance adjusted when representing offset type as offsets in height,Generation The actual range of the normal place of one datum mark of table and the physical location of the datum mark in the direction of the width,Represent another The actual range of the normal place of datum mark and the physical location of the datum mark in the direction of the width.
Wherein, adjustment module is based on moving distance in the following manner, adjusts the position of electric car 3:
Based on moving distance, the position of electric car 3 in the Y-axis direction is adjusted.
Wherein, vision positioning changes electric system further include:
It is lifted module, lifting module is used in execution module be to be lifted electronic vapour before electric car 3 replaces power battery 4 Vehicle 3, or decline electric car 3 after execution module is the replacement power battery 4 of electric car 3, being such as lifted module is to be arranged The lifting of electric car 3 is set fixed height by chain lifting mechanism by multiple chain lifting mechanisms around landing 1 Afterwards, electricity changing robot gets enter into below electric car 3 movement for realizing replacement power battery 4；When changing electricity completion, pass through chain Lifting mechanism makes electric car 3 drop to landing 1, so that electric car 3 is driven out to.
Acquisition module, acquisition module are used for during lifting or decline, obtain rising height or the decline of lifting module Highly；If acquisition module is range sensor or infrared sensor, pass through range sensor or infrared sensor acquisition lifting mould The rising height of block.
Industrial camera is also used to during lifting or decline, obtains the real image of datum mark.
Judgment module, judgment module are used to be based on real image, standard picture and lifting/falling head, judge industry Whether the position of camera deviates, as judgment module can be shared with above-mentioned computing module, or the computer being separately provided Or industrial personal computer etc..
Control module, control module are used for when the position that judging result is industrial camera deviates, and control vision is fixed Position changes electric system stopping and changes electricity.It is above-mentioned to control if control module is respectively with above-mentioned each module wired connection or wireless connection Modules execute corresponding movement.Control module physically can be dedicated for executing the controller of method of the invention, A functional module or the functional unit being also possible in the control system of electrical changing station.
Wherein, judgment module is based on real image, standard picture and lifting/falling head in the following manner, sentences Whether the position of disconnected industrial camera deviates:
Based on standard picture and real image, the normal place of two datum marks and the actual bit of the datum mark are calculated separately Set actual range in the Y-axis direction；
Calculate separately the lifting distance of two actual ranges and electric car 3 or the ratio of dropping distance；
Two ratios are compared；
When unequal or both the difference of two ratios is not in the threshold interval of setting, judging result is industrial camera Position deviates.
Wherein, vision positioning changes electric system further include:
Alarm module, alarm module are used to issue alarm signal when the position that judging result is industrial camera deviates Breath.If alarm module is sound-light alarm element, user or work are prompted by way of sound-light alarm element alert Personnel change electric fault.
So far, it has been combined preferred embodiment shown in the drawings and describes technical solution of the present invention, still, this field Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these specific embodiments.Without departing from this Under the premise of the principle of invention, those skilled in the art can make equivalent change or replacement to the relevant technologies feature, these Technical solution after change or replacement will fall within the scope of protection of the present invention.

Claims (10)

1. a kind of change method for electrically away from the vision positioning of camera based on fixed-focus, which is characterized in that the vision positioning changes method for electrically packet It includes:
Fixed-focus obtains the real image containing datum mark away from camera；
Standard picture and the real image based on the datum mark, determine the offset type of vehicle to be charged；
Based on the offset type, the moving distance that the vehicle to be charged needs to adjust is calculated；
Based on the moving distance, the position of the vehicle to be charged is adjusted；
Power battery is replaced for the vehicle to be charged；
Wherein, the datum mark is set to the vehicle to be charged；The standard picture is obtained ahead of time；The offset type Including horizontal-shift and offsets in height.
2. according to claim 1 change method for electrically away from the vision positioning of camera based on fixed-focus, which is characterized in that described to be changed Setting is there are two the datum mark on chassis on electric car, each datum mark be accordingly configured with the fixed-focus away from Camera.
3. according to claim 2 change method for electrically away from the vision positioning of camera based on fixed-focus, which is characterized in that described two Datum mark is symmetrical arranged relative to the symmetry axis of the length direction of the vehicle to be charged.
4. according to claim 2 or 3 change method for electrically away from the vision positioning of camera based on fixed-focus, which is characterized in that " be based on The standard picture of the datum mark and the real image, determine the offset type of the vehicle to be charged " the step of it is further Include:
Based on the standard picture and the real image, the normal place of each datum mark and the reality of the datum mark are determined The relative positional relationship of border position；
When the physical location of two datum marks is all located at corresponding normal bit in the width direction of the vehicle to be charged When the same side set, determine that the offset type of the vehicle to be charged is horizontal-shift；
Otherwise, it determines the offset type of the vehicle to be charged is offsets in height.
5. according to claim 4 change method for electrically away from the vision positioning of camera based on fixed-focus, which is characterized in that " be based on institute State offset type, calculate the vehicle to be charged and need the moving distance adjusted " the step of further comprise:
When the offset type is horizontal-shift, the moving distance is calculated using method shown in following formula:
Wherein,The vehicle to be charged needs the moving distance adjusted when representing offset type as horizontal-shift,Represent one The actual range of the normal place of a datum mark and the physical location of the datum mark in the width direction,It represents another The actual range of the normal place of a datum mark and the physical location of the datum mark in the width direction；And/or
When the offset type is offsets in height, the moving distance is calculated using method shown in following formula:
Wherein,The vehicle to be charged needs the moving distance adjusted when representing offset type as offsets in height,Represent one The actual range of the normal place of a datum mark and the physical location of the datum mark in the width direction,It represents another The actual range of the normal place of a datum mark and the physical location of the datum mark in the width direction.
6. according to claim 5 change method for electrically away from the vision positioning of camera based on fixed-focus, which is characterized in that " be based on institute State moving distance, adjust the position of the vehicle to be charged " the step of further comprise:
Based on the moving distance, the position of the vehicle to be charged in the width direction is adjusted.
7. according to claim 2 or 3 change method for electrically away from the vision positioning of camera based on fixed-focus, which is characterized in that " for Before the step of vehicle to be charged replacement power battery ", the vision positioning changes method for electrically further include:
It is lifted the vehicle to be charged；
During lifting, the real image of rising height and the datum mark is obtained；
Based on the real image, the standard picture and the rising height, judge that position of the fixed-focus away from camera is It is no to deviate；
When judging result is that the fixed-focus is deviated away from the position of camera, electricity is changed in stopping.
8. according to claim 7 change method for electrically away from the vision positioning of camera based on fixed-focus, which is characterized in that " be based on institute Real image, the standard picture and the rising height are stated, judges whether position of the fixed-focus away from camera deviates " The step of further comprise:
Based on the standard picture and the real image, the normal place and the datum mark of two datum marks are calculated separately Actual range of the physical location in the width direction of the vehicle to be charged；
Calculate separately the ratio of two actual ranges and the rising height；
Two ratios are compared；
When unequal or both the difference of two ratios is not in the threshold interval of setting, judging result be the fixed-focus away from The position of camera deviates.
9. according to claim 7 change method for electrically away from the vision positioning of camera based on fixed-focus, which is characterized in that " for institute State vehicle to be charged replacement power battery " the step of after, the vision positioning changes method for electrically further include:
Decline the vehicle to be charged；
During decline, the real image of falling head and the datum mark is obtained；
Based on the real image, the standard picture and the falling head, whether position of the fixed-focus away from camera is judged Offset；
When judging result is that the fixed-focus is deviated away from the position of camera, electricity is changed in stopping.
10. according to claim 9 change method for electrically away from the vision positioning of camera based on fixed-focus, which is characterized in that " be based on institute Real image, the standard picture and the falling head are stated, judges whether position of the fixed-focus away from camera deviates " The step of further comprise:
Based on the standard picture and the real image, the normal place and the datum mark of two datum marks are calculated separately Actual range of the physical location in the width direction of the vehicle to be charged；
Calculate separately the ratio of two actual ranges and the falling head；
Two ratios are compared；
When unequal or both the difference of two ratios is not in the threshold interval of setting, judging result be the fixed-focus away from The position of camera deviates.
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