The invention relates to the technical field of visual positioning, in particular to an automatic charging gun pulling and inserting method for a mobile charging robot based on an active visual positioning technology. Comprising the steps of shooting a vehicle image and inputting the vehicle image into a cloud large model to automatically identify a vehicle model; positioning a vehicle attitude by using a multi-mode SLAM attitude estimation algorithm, and generating a vehicle attitude three-dimensional model and a charging gun position coordinate; shooting an image of the charging port, and positioning the position coordinates of the charging port in real time by using an advanced active visual positioning algorithm; the influence of mechanical arm vibration is introduced, the moving path of the mechanical arm is calculated through an RRT algorithm, and the mechanical arm is controlled to complete plugging operation through real-time feedback. According to the automatic charging gun pulling and inserting method for the mobile charging robot based on the active vision positioning technology, the accurate positioning problem of the vehicle posture and the position of the charging gun is solved through a multi-mode SLAM posture estimation algorithm, the position of a charging port is corrected in real time through an advanced active vision positioning algorithm, and the vibration influence of a mechanical arm is calculated; and automatic plugging and unplugging of the charging gun can be realized accurately.

    本发明涉及视觉定位技术领域,具体地说,涉及基于主动视觉定位技术的移动充电机器人自动拔插充电枪方法。包括:拍摄车辆图像并输入至云端大模型,自动识别车辆型号;使用多模态SLAM姿态估计算法定位车辆姿态,生成车辆姿态三维模型以及充电枪位置坐标;拍摄充电口图像,使用高级主动视觉定位算法实时定位充电口位置坐标;引入械臂振动的影响,使用RRT算法计算机械臂移动路径,通过实时反馈控制机械臂完成插拔操作。该基于主动视觉定位技术的移动充电机器人自动拔插充电枪方法,通过多模态SLAM姿态估计算法解决车辆姿态和充电枪位置的精确定位问题,并通过高级主动视觉定位算法实时校正充电口位置,计算机械臂振动影响,实现精准充电枪自动插拔。


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    Titel :

    Automatic charging gun pulling and inserting method for mobile charging robot based on active visual positioning technology


    Weitere Titelangaben:

    基于主动视觉定位技术的移动充电机器人自动拔插充电枪方法


    Beteiligte:
    YANG YI (Autor:in) / YU CHUNSHENG (Autor:in)

    Erscheinungsdatum :

    08.10.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B25J Manipulatoren , MANIPULATORS




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