The invention relates to the field of computer motion control, in particular to a control method of a mobile charging robot based on a license plate of a to-be-charged vehicle, and the method comprises the following steps: S100, if s1 is smaller than or equal to D1, entering S200; s200, acquiring a position adjustment value and a posture adjustment value when the mobile charging robot is switched from the current posture to a target posture according to the license plate in the first image; s300, adjusting the current pose of the mobile charging robot, and if the pose of the mobile charging robot after adjustment is the target pose, entering S400; s400, the mobile charging robot is controlled to move towards the to-be-charged vehicle in the direction parallel to the normal vector, and s2 is obtained; s500, if s2 is less than or equal to D2, entering S600; and S600, continuously moving to the to-be-charged vehicle for a third preset distance. The problem that the mobile charging robot cannot normally charge the to-be-charged vehicle is solved.

    本申请涉及计算机运动控制领域,特别是涉及一种基于待充电车辆的车牌的移动充电机器人的控制方法,所述包括以下步骤:S100,如果s1≤D1,则进入S200;S200,根据所述第一图像中的车牌获取移动充电机器人由当前位姿向目标位姿切换时的位置调整值和姿态调整值;S300,对移动充电机器人的当前位姿进行调整,如果调整后移动充电机器人的位姿为所述目标位姿,则进入S400;S400,控制移动充电机器人按照与所述法向量平行的方向向待充电车辆运动,并获取s2;S500,如果s2≤D2,则进入S600;S600,继续向待充电车辆运动第三预设距离。本发明解决了移动充电机器人不能正常给待充电车辆进行充电的问题。


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    Title :

    Control method of mobile charging robot based on license plate of vehicle to be charged


    Additional title:

    一种基于待充电车辆的车牌的移动充电机器人的控制方法


    Contributors:
    JIA LEI (author) / DENG XIAOGUANG (author) / LIANG YUANBO (author) / WU TIAN (author) / CHO YUN HEE (author) / OU LONGHUI (author)

    Publication date :

    2023-03-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06V / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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