The invention discloses a visual positioning electric vehicle automatic charging method, and relates to the field of automatic charging, an automatic charging device based on an automatic truss is included, a telescopic mechanical arm is carried, and the automatic charging device further comprises an electric push rod, a rotary joint, a deflection joint and a charging gun. The three degrees of freedom of the automatic truss and the electric push rod cover the whole parking space, the rotary joint and the deflection joint aim at the parking postures and different deflection angles of the automobile, and meanwhile, the invention discloses a visual recognition scheme of the deep learning charging port, and the visual recognition scheme comprises a global recognition positioning scheme and a local recognition positioning scheme. The method has the advantages that the charging path is planned through 3-5-3 hybrid polynomial interpolation, the planned motion curve is smooth and free of vibration impact, charging track time optimization research is conducted on the basis of obstacle-free path planning, the convergence of the algorithm is improved through the improved particle swarm algorithm, and then the charging time is optimized.
本发明公开了一种视觉定位的电动汽车自动充电方法,涉及自动充电领域,包括以自动桁架为基础的自动充电装置,并搭载可伸缩机械臂,自动充电装置装置还包括电动推杆、旋转关节、偏转关节和充电枪,自动桁架与电动推杆的三自由度覆盖整个停车空间,旋转关节与偏转关节针对汽车停车的姿态和不同的偏移角度,同时公开了深度学习充电口的视觉识别方案,包括全局识别定位方案和局部识别定位方案;本发明的优点是,用3‑5‑3混合多项式插值规划充电路径,规划后的运动曲线光滑平顺,不会产生振动冲击,在无障碍物路径规划的基础上进行充电轨迹时间优化研究,采用改进粒子群算法提高算法的收敛性,进而优化充电时间。
Visual positioning electric vehicle automatic charging method
一种视觉定位的电动汽车自动充电方法
18.10.2024
Patent
Elektronische Ressource
Chinesisch
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