The invention provides an automatic vehicle charging method and device based on a charging robot, and the method comprises the steps: driving a charging gun head to move to a first preset position, obtaining a first depth image of a charging interface, and carrying out the preprocessing of the first depth image to obtain a first point cloud edge image; obtaining a first space affine transformation matrix; transforming the first preset position according to the first spatial affine transformation matrix to obtain a first target position; driving the charging gun head to move to a first target position to obtain a second depth image; obtaining a second spatial affine transformation matrix according to the second depth image and a second preset module image, and transforming the first target position according to the second spatial affine transformation matrix to obtain a second target position; and the charging gun head is driven to move to a second target position, and after the charging gun head moves to the second target position, the charging gun head is in butt joint with a charging interface of the to-be-charged vehicle. And the reliability and the docking efficiency of the vehicle automatic charging system can be greatly improved.
本发明提供了一种基于充电机器人的车辆自动充电方法和装置,该方法包括:带动充电枪头移动至第一预设位置,以及获取充电接口的第一深度图像,并进行预处理以获取第一点云边缘图像;获取第一空间仿射变换矩阵;根据第一空间仿射变换矩阵对第一预设位置进行变换以获取第一目标位置;带动充电枪头移动至第一目标位置,获取第二深度图像;根据第二深度图像与第二预设模块图像获取第二空间仿射变换矩阵,根据第二空间仿射变换矩阵对第一目标位置进行变换以获取第二目标位置;带动充电枪头移动至第二目标位置,并在充电枪头移动至第二目标位置后,与待充电车辆的充电接口进行对接。能够大大提高车辆自动充电系统的可靠性和对接效率。
Automatic vehicle charging method and device based on charging robot
基于充电机器人的车辆自动充电方法和装置
2023-04-18
Patent
Elektronische Ressource
Chinesisch
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