The invention belongs to a low-temperature filling technology, and relates to a hydrogen filling port pose recognition system and an automatic hydrogen filling system based on low-temperature filling, and the hydrogen filling port pose recognition system comprises an image acquisition device which is used for acquiring a hydrogen filling port image; the hydrogenation port coarse positioning unit is used for performing feature extraction on the hydrogenation port image, fusing local features and global features, obtaining features with a CNN style and a Transform style, and classifying the features to obtain two-dimensional position information of the hydrogenation port; and the hydrogenation port accurate positioning unit is used for acquiring three-dimensional point cloud information of the hydrogenation port according to the two-dimensional position information of the hydrogenation port, making a template by combining the three-dimensional point cloud information of the hydrogenation port and the three-dimensional model information of the hydrogenation port by utilizing createfacemodel, finding the template in a 3D scene, and calculating the position and posture of the hydrogenation port. Low-temperature-resistant automatic filling hydrogenation can be achieved, the labor cost of the hydrogen refueling station is effectively reduced, and the hydrogen filling safety level of the hydrogen refueling station is improved.
本发明属于低温加注技术,涉及一种加氢口位姿识别系统及基于低温加注的自动加氢系统,加氢口位姿识别系统包括图像获取装置,用于获取加氢口图像;加氢口粗定位单元,对加氢口图像进行特征提取,融合局部特征和全局特征,获取具有CNN风格和Transformer风格的特征,并对特征进行分类得到加氢口二维位置信息;加氢口精确定位单元,根据加氢口二维位置信息获取加氢口三维点云信息,结合加氢口三维点云信息和加氢口三维模型信息利用create_surface_model制作模板,在3D场景中找到模板,并计算出加氢口位姿。本发明能够实现耐低温自动加注加氢,有效降低加氢站用工成本,提高加氢站氢气加注安全水平。
Hydrogen filling port pose recognition system and automatic hydrogen filling system based on low-temperature filling
加氢口位姿识别系统及基于低温加注的自动加氢系统
2023-03-14
Patent
Electronic Resource
Chinese
IPC: | G06V / B60S SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR , Warten, Reinigen, Instandsetzen, Unterstützen, Anheben oder Rangieren von Fahrzeugen, soweit nicht anderweitig vorgesehen / F17C Behälter zum Aufnehmen oder Speichern verdichteter, verflüssigter oder verfestigter Gase , VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES |
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European Patent Office | 2025
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