CN111987768B - Automatic charging equipment and automatic charging method of equipment - Google Patents
Automatic charging equipment and automatic charging method of equipment Download PDFInfo
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- CN111987768B CN111987768B CN202010840427.8A CN202010840427A CN111987768B CN 111987768 B CN111987768 B CN 111987768B CN 202010840427 A CN202010840427 A CN 202010840427A CN 111987768 B CN111987768 B CN 111987768B
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- 230000007246 mechanism Effects 0.000 claims abstract description 59
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- 238000010606 normalization Methods 0.000 claims description 8
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- 230000000007 visual effect Effects 0.000 claims description 5
- 230000003321 amplification Effects 0.000 claims description 4
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 4
- 238000005549 size reduction Methods 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 abstract description 5
- 238000010191 image analysis Methods 0.000 abstract 1
- 230000008569 process Effects 0.000 description 7
- 230000009471 action Effects 0.000 description 3
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- 239000003086 colorant Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
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- 238000003709 image segmentation Methods 0.000 description 2
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0013—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries acting upon several batteries simultaneously or sequentially
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
- H01R43/26—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for engaging or disengaging the two parts of a coupling device
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
- H02J7/00045—Authentication, i.e. circuits for checking compatibility between one component, e.g. a battery or a battery charger, and another component, e.g. a power source
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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- Manufacturing & Machinery (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The application relates to automatic charging equipment and an automatic charging method of the equipment, and belongs to the field of automatic control. The device includes a mechanical motion platform, an image acquisition device, and a controller. The mechanical motion platform comprises a servo mechanism, a workbench for placing the equipment to be charged and a charging table for charging the equipment to be charged, wherein a charging plug is arranged on the charging table; the image acquisition equipment is used for acquiring image information of the equipment to be charged placed on the workbench; the controller is used for determining the offset between the center of a charging interface of the equipment to be charged and a view center line in the image information according to the image information acquired by the image acquisition equipment, and controlling the servo mechanism to drive the workbench and/or the charging table in the mechanical motion platform to move according to the offset and the preset position of the charging plug, so that the charging plug is in butt joint with the charging interface of the equipment to be charged. The equipment is based on a vision technology, realizes charging automation in an image analysis mode, saves labor and enables charging time to be controllable.
Description
Technical Field
The application belongs to the technical field of automatic control, and particularly relates to automatic charging equipment and an automatic charging method of the equipment.
Background
At present, mobile devices (such as mobile phones and tablets) are increasingly popular, and charging is an essential link for mobile devices, for example, a device manufacturer needs to manually charge the devices after completing the device manufacture. The defects of the mode are that the efficiency is low, the battery needs to be pulled out manually after being charged, the operation is complex, the problems of over-charging or under-charging are easy to occur, and the charging time cannot be ensured.
Disclosure of Invention
In view of the above, an object of the present invention is to provide an automatic charging device and an automatic charging method for the device, so as to solve the problem of low efficiency of manual charging methods adopted by existing device manufacturers.
The embodiment of the application is realized as follows:
in a first aspect, an embodiment of the present application provides an automatic charging device, including: the system comprises a mechanical motion platform, image acquisition equipment and a controller; the mechanical motion platform comprises: the charging device comprises a servo mechanism, a workbench for placing equipment to be charged and a charging table for charging the equipment to be charged, wherein a charging plug is arranged on the charging table; the image acquisition equipment is used for acquiring image information of the equipment to be charged placed on the workbench; the controller is used for determining the offset between the center of the charging interface of the equipment to be charged and the center line of the field of view in the image information according to the image information acquired by the image acquisition equipment, and controlling the servo mechanism to drive the workbench and/or the charging platform in the mechanical motion platform to move according to the offset and the preset position of the charging plug so as to enable the charging plug to be in butt joint with the charging interface of the equipment to be charged. In the implementation of the application, the image information acquired by the image acquisition equipment is analyzed, the offset between the charging interface center of the equipment to be charged and the visual field center line in the image information is determined, and according to the offset and the preset position of the charging plug, the servo mechanism is controlled to drive the workbench in the mechanical motion platform and/or the charging platform to move, so that the charging plug is in butt joint with the charging interface of the equipment to be charged, the charging automation is realized based on the visual technology, the labor is saved, and the charging time is controllable.
With reference to one possible implementation manner of the embodiment of the first aspect, the charging plug includes a plurality of different types of plugs; the controller is further configured to determine a charging interface type of the device to be charged in the image information according to the image information; and controlling the servo mechanism to drive a workbench and/or a charging table in the mechanical motion platform to move according to the offset and the preset position of the charging plug corresponding to the charging interface type, so that the charging plug corresponding to the charging interface type is in butt joint with the charging interface of the equipment to be charged. In the embodiment of the application, when the charging plug comprises plugs of various different types, when the image is intelligently analyzed, the charging interface type of the device to be charged in the image information needs to be determined, and the servo mechanism is controlled to drive the workbench and/or the charging platform in the mechanical motion platform to move based on the offset and the preset position of the charging plug corresponding to the charging interface type, so that the charging plug corresponding to the charging interface type is in butt joint with the charging interface of the device to be charged, automatic charging of the device to be charged of different types and different interface types is achieved, and the applicability of the scheme is enriched.
With reference to one possible implementation manner of the embodiment of the first aspect, the servo mechanism includes: a first servo mechanism and a second servo mechanism; correspondingly, the controller is configured to control the first servo mechanism to drive the workbench or the charging station to move according to the offset and the preset position of the charging plug, and control the second servo mechanism to drive the charging station or the workbench to move towards the direction of the charging interface after the charging plug is aligned with the charging interface of the device to be charged, so that the charging plug is in butt joint with the charging interface of the device to be charged, where a direction in which the first servo mechanism drives the workbench or the charging station to move is different from a direction in which the second servo mechanism drives the workbench or the charging station to move. In the embodiment of the application, adopt first servo and second servo to drive the workstation or the platform that charges moves towards different directions, if control first servo and drive the workstation motion (if from right side left side motion), treat that the charging plug aligns the back with the interface that charges of treating the battery charging outfit, control second servo and drive the workstation and move towards the interface direction that charges (if from the past back motion), so that the interface butt joint that charges of charging plug and the equipment of treating the battery charging outfit, make under the prerequisite of normally guaranteeing required function, can simplify mechanical motion platform's complexity.
With reference to one possible implementation manner of the embodiment of the first aspect, the automatic charging apparatus further includes: and the display is connected with the controller and used for displaying the parameter information sent by the controller. In the embodiment of the application, various parameters in the charging process are displayed by connecting the display, so that management of management personnel is facilitated.
With reference to one possible implementation manner of the embodiment of the first aspect, the automatic charging apparatus further includes: the AGV robot is used for placing the equipment to be charged on the workbench or taking the equipment to be charged away from the workbench. In the embodiment of the application, the equipment to be charged is placed on the workbench through the AGV robot, or the equipment to be charged is taken away from the workbench, so that the charging efficiency is further improved.
In a second aspect, an embodiment of the present application further provides an apparatus automatic charging method, which is applied to a controller in an automatic charging apparatus, where the automatic charging apparatus further includes: mechanical motion platform and image acquisition equipment, mechanical motion platform includes: the charging system comprises a servo mechanism, a workbench and a charging platform, wherein the workbench is used for placing equipment to be charged, the charging platform is used for charging the equipment to be charged, and a charging plug is arranged on the charging platform; the method comprises the following steps: receiving image information of equipment to be charged, which is acquired and transmitted by the image acquisition equipment and is placed on the workbench; determining the offset between the charging interface center and the view center of the equipment to be charged in the image information; and controlling the servo mechanism to drive a workbench in the mechanical motion platform and/or a charging platform to move according to the offset and the preset position of the charging plug, so that the charging plug is in butt joint with a charging interface of the equipment to be charged. In the embodiment of the application, the image information acquired by the image acquisition equipment is analyzed, the offset between the charging interface center of the equipment to be charged and the visual field center line in the image information is determined, and according to the offset and the preset position of the charging plug, the servo mechanism is controlled to drive the workbench in the mechanical motion platform and/or the charging platform to move, so that the charging plug is in butt joint with the charging interface of the equipment to be charged, the charging automation is realized based on the visual technology, the labor is saved, and the charging time is controllable.
With reference to a possible implementation manner of the embodiment of the second aspect, the charging plug includes a plurality of different types of plugs, and the servo mechanism is controlled to drive the workbench and/or the charging table in the mechanical motion platform to move according to the offset and the preset position of the charging plug, including: determining the type of a charging interface of the equipment to be charged in the image information according to the image information; and controlling the servo mechanism to drive a workbench and/or a charging table in the mechanical motion platform to move according to the offset and the preset position of the charging plug corresponding to the charging interface type, so that the charging plug corresponding to the charging interface type is in butt joint with the charging interface of the equipment to be charged.
With reference to a possible implementation manner of the embodiment of the second aspect, before determining an offset between a charging interface center and a field of view center of the device to be charged in the image information, the method further includes: pre-processing the image information, the pre-processing comprising: and sequentially carrying out size reduction or amplification and normalization processing on the image information. In the embodiment of the application, before the offset between the charging interface center and the view center of the device to be charged in the image information is determined, size reduction, amplification and normalization processing are sequentially performed on the image information, so that the positioning accuracy is improved.
With reference to a possible implementation manner of the embodiment of the second aspect, after controlling the servo mechanism to move the workbench and/or the charging stand in the mechanical motion platform according to the offset and the preset position of the charging plug, the method further includes: according to the latest image information acquired by the image acquisition equipment again; determining the latest offset of the charging interface center of the equipment to be charged and the view center in the latest image information; and controlling the servo mechanism to drive a workbench and/or a charging table in the mechanical motion platform to move according to the latest offset so as to ensure that the charging plug is in butt joint with a charging interface of the equipment to be charged. In the embodiment of the application, when the central position of the charging interface is positioned by an image segmentation technology, the servo mechanism is guided to move the equipment to be charged to a proper position in two steps, so that the central position of the charging interface can be accurately positioned.
With reference to one possible implementation manner of the embodiment of the second aspect, the controller is further connected to the AGV robot; the method further comprises the following steps: and controlling the AGV robot to place the equipment to be charged on the workbench or take away the equipment to be charged from the workbench.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts. The foregoing and other objects, features and advantages of the application will be apparent from the accompanying drawings. Like reference numerals refer to like parts throughout the drawings. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the application.
Fig. 1 shows a schematic structural diagram of an automatic charging device according to an embodiment of the present application.
Fig. 2 shows a schematic structural diagram of another automatic charging device provided in an embodiment of the present application.
Fig. 3 shows a flowchart of an automatic device charging method according to an embodiment of the present application.
Fig. 4 shows a flowchart of another automatic device charging method provided in an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures. Meanwhile, relational terms such as "first," "second," and the like may be used solely in the description herein to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Further, the term "and/or" in the present application is only one kind of association relationship describing the associated object, and means that three kinds of relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone.
The charging mode in the market at present mainly has: wired charging and wireless charging, the wired charging mode has the advantages of low cost, safety, reliability, high energy conversion rate and the like, but when charging at each time, equipment needs to be plugged and pulled artificially, and the efficiency is low. Although the charging interface of the device does not need to be in butt joint with the charging line interface in the wireless charging, the device also needs to be manually placed on a wireless charging seat, and the device also needs to support the wireless charging function. This kind of artifical mode of charging leads to charging efficiency not high, still appears overcharging or not enough filling problem simultaneously easily, and the charging time can't be guaranteed.
In view of this, the embodiment of the present application provides an automatic charging device based on machine vision, so as to solve the defects existing in the manual charging manner. As shown in fig. 1, the automatic charging apparatus includes: mechanical motion platform, image acquisition equipment, controller. Wherein, mechanical motion platform includes: the charging platform comprises a servo mechanism, a workbench for placing equipment to be charged (such as a mobile phone, a flat panel and the like) and a charging platform for charging the equipment to be charged, wherein a charging plug is arranged on the charging platform. The servo mechanism can drive a workbench and/or a charging table in the mechanical motion platform to move under the control of the controller, so that a charging plug is in butt joint with a charging interface of the equipment to be charged, and the equipment is automatically charged.
The image acquisition equipment is fixed on a fixing frame of the mechanical motion platform and used for acquiring image information of equipment to be charged placed on the workbench and sending the acquired image information to the controller. The image information includes a charging interface of the device. The image capturing device may be a camera or other device having an image capturing function.
And the controller is used for determining the offset between the charging interface center of the equipment to be charged in the image information and the view center of the image acquisition equipment according to the image information acquired by the image acquisition equipment, and controlling the servo mechanism to drive the mechanical motion platform to move according to the offset and the preset position of the charging plug so as to enable the charging plug on the charging platform to be in butt joint with the charging interface of the equipment to be charged, thereby charging the equipment. After the charging time reaches the preset time (such as 30 minutes, the time can be set in a targeted manner according to different devices to be charged), or when the controller determines that the charging amount of the device reaches the preset threshold (such as 70%) according to the electric quantity progress bar in the image information acquired by the image acquisition device, the servo mechanism is controlled to drive the mechanical motion platform to move, so that the charging plug on the charging table is pulled out of the charging interface of the device to be charged, the charging is completed, and the overcharge is avoided. In addition, the controller can be used for controlling the photographing time of the image acquisition device and modifying parameters of the image acquisition device, such as setting parameters of camera exposure, gain, frame rate and the like.
Before determining the offset between the charging interface center of the device to be charged and the view center (which is the view center of the image acquisition device) in the image information according to the image information acquired by the image acquisition device, the controller may further perform preprocessing on the received image information, including but not limited to size scaling, normalization, and the like. For example, the image information acquired by the image acquisition device in the BGR format is first enlarged or reduced according to a preset standard size, and then the image information after being enlarged and reduced is normalized. For example, assuming that the standard size is 416 × 416 pixels, taking reduction as an example, the image is rescize (adjusted) to 416 × 416 pixels according to the long edge, the short edge pad (filled) is filled, then normalization processing is performed, for example, the average value of each pixel in the reduced image is subtracted, for example, (128, 128, 128), and finally, the average value is multiplied by scale (level coefficient), for example, 0.017, so as to complete normalization. Note that, in the normalization process, the average value corresponding to B, G, R subtracted by each pixel may not be the same.
The RGB format (Red, Green, Blue, Red, Green, and Blue three-color mode) is a color standard in the industry, and different colors are obtained by changing three color channels of Red (R), Green (G), and Blue (B) and superimposing the three color channels on each other, where RGB represents the colors of the three channels of Red, Green, and Blue.
When determining the offset between the charging interface center of the device to be charged and the view center in the image information according to the image information acquired by the image acquisition device, the controller may locate the position of the charging interface center of the device to be charged in the image information based on a pre-trained neural network model, and then calculate the offset between the charging interface center and the view center.
Because the charging interfaces, such as a Type-c interface, a Micro-USB interface, a lightning interface and the like, have higher requirements on positioning accuracy, in order to realize accurate positioning, the positioning of the interfaces can be realized by adopting a multi-time positioning mode. Firstly, when the equipment to be charged is placed on a workbench, the controller determines the offset between the charging interface center and the view center of the equipment to be charged in the image information according to the image information acquired by the image acquisition equipment, then, according to the offset and the preset position of the charging plug, the servo mechanism is controlled to drive the workbench and/or the charging table in the mechanical motion platform to move, after that, the controller determines the latest offset of the charging interface center and the view center of the equipment to be charged in the latest image information again according to the latest image information acquired by the image acquisition equipment, then according to the latest offset, the servo mechanism is controlled to drive the workbench and/or the charging table in the mechanical motion platform to move so as to realize fine adjustment, therefore, accurate positioning is realized, and the charging plug can be successfully butted with a charging interface of the equipment to be charged. The central position of the charging interface is positioned by an image segmentation technology, and the servo mechanism is guided to move the equipment to be charged to a proper position in two steps, so that the central position of the charging interface can be accurately positioned.
In view of different charging interfaces corresponding to different types of mobile phones, in order to adapt to charging of different types of mobile phones, charging plugs of multiple different types can be set, at the moment, the controller is further used for determining the charging interface type of the equipment to be charged in the image information according to the image information, and controlling the servo mechanism to drive the workbench and/or the charging platform in the mechanical motion platform to move according to the offset and the preset position of the charging plug corresponding to the charging interface type, so that the charging plug corresponding to the charging interface type is in butt joint with the charging interface of the equipment to be charged. In this embodiment, a plurality of charging plugs of different types are arranged on the charging platform at intervals, and each charging plug corresponds to a distance coordinate (the distance from the position where the charging plug is located to the initial position where the device to be charged is placed), so that the workbench can be moved and/or charging can be performed according to the distance coordinate.
When the controller determines the charging interface type of the device to be charged in the image information according to the image information, the controller may locate the charging interface type of the device to be charged in the image information based on a pre-trained neural network model. The charging interfaces of different devices (such as mobile phones) in different models have differences in color, radian, size and the like, and the types of the charging interfaces can be automatically identified through small sample transfer learning. The principles of training neural network models are well known to those skilled in the art and will not be described here.
In order to place the device to be charged on the workbench or take the device to be charged away from the workbench, as shown in fig. 2, the automatic charging device further includes: AGV (automated Guided vehicle) robot. Under an implementation mode, the AGV robot is linked with the controller and used for placing the equipment to be charged on the workbench or taking the equipment to be charged away from the workbench according to an instruction sent by the controller. In another embodiment, the AGV robot may not be linked to the controller, and may place the device to be charged on the workbench or take the device to be charged away from the workbench. In this embodiment, the AGV robot includes: camera, treater and mechanical arm. The camera is used for photographing the workbench and transmitting the photographed image to the processor, when the processor determines that no equipment to be charged is arranged on the workbench according to the photographed image of the camera, the position of the charging table is located according to the image of the camera, the mechanical arm is controlled to place the equipment to be charged on the workbench, if the equipment to be charged is determined to be placed on the workbench, and if the charging amount of the equipment reaches a preset threshold value (such as 70%) according to an electric quantity progress bar in image information of the camera, the mechanical arm is controlled to take the equipment to be charged away from the workbench.
In order to facilitate displaying various parameter information so that the staff can know details in real time, the automatic charging device may further include: and the display is connected with the controller and is used for displaying parameter information sent by the controller, such as the charged electric quantity, the charging time, images and the like.
The workbench and/or the charging table in the mechanical motion platform can do xy two-dimensional motion under the control of the controller, namely the workbench and/or the charging table in the mechanical motion platform can do left-right and front-back motion on the horizontal plane. Wherein, can be that the platform that charges keeps motionless, servo drives the workstation and does xy two-dimensional motion, also can be that the workstation keeps motionless, and servo drives the platform that charges and does xy two-dimensional motion, certainly also can be that platform and workstation all move of charging, if the workstation moves from side to side on the horizontal plane, the platform that charges seesaw on the horizontal plane, also can be vice versa, the platform that charges moves from side to side on the horizontal plane, the workstation seesaw on the horizontal plane. In this embodiment, the servo mechanism includes: a first servo and a second servo. And the controller is used for controlling the first servo mechanism to drive the workbench or the charging table to move according to the offset and the preset position of the charging plug, and controlling the second servo mechanism to drive the charging table or the workbench to move towards the direction of the charging interface after the charging plug is aligned with the charging interface of the charging equipment so as to enable the charging plug to be in butt joint with the charging interface of the charging equipment. For example, the controller is used for controlling the first servo mechanism to drive the workbench to move (such as moving left from right) according to the offset and the preset position of the charging plug, and controlling the second servo mechanism to drive the workbench to move towards the direction of the charging interface (such as moving back from front) after the charging plug is aligned with the charging interface of the device to be charged, so that the charging plug is in butt joint with the charging interface of the device to be charged. The direction in which the first servo mechanism drives the workbench or the charging table to move is different from the direction in which the second servo mechanism drives the workbench or the charging table to move.
It should be noted that the work table and/or the charging table may perform xyz three-dimensional motion under the control of the controller, that is, may also move up and down on the basis of the original two-dimensional motion, and in this embodiment, the servo mechanism further includes: and the third servo mechanism drives the platform to move up and down. Wherein the servo mechanism comprises a motor.
Further, the automatic charging apparatus further includes: the device comprises a storage module and a power supply module, wherein the power supply module is used for supplying power to devices such as a controller, a display and image acquisition equipment. The storage module is used for storing data, such as collected image information and the like.
The controller may be an integrated circuit chip having signal processing capability. The controller may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. The general purpose processor may be a microprocessor or the controller may be any conventional processor or the like.
An apparatus automatic charging method applied to the controller in the automatic charging apparatus is further provided in the embodiment of the present application, and as shown in fig. 3, the apparatus automatic charging method provided in the embodiment of the present application will be described below with reference to fig. 3.
Step S101: and the controller receives the image information of the equipment to be charged, which is acquired and transmitted by the image acquisition equipment and is placed on the workbench.
Step S102: and the controller determines the offset between the charging interface center and the view field center of the equipment to be charged in the image information.
Step S103: and the controller controls the servo mechanism to drive the workbench in the mechanical motion platform and/or the charging platform to move according to the offset and the preset position of the charging plug, so that the charging plug is in butt joint with a charging interface of the equipment to be charged.
When the charging plug includes a plurality of different types of plugs, the process of step S103 may be: according to the image information, determining the type of a charging interface of the equipment to be charged in the image information, and according to the offset and the preset position of a charging plug corresponding to the type of the charging interface, controlling the servo mechanism to drive a workbench and/or a charging table in the mechanical motion platform to move so that the charging plug corresponding to the type of the charging interface is in butt joint with the charging interface of the equipment to be charged.
As an embodiment, the controller performs preprocessing on the image information before determining an offset between a charging interface center and a view center of the device to be charged in the image information, where the preprocessing includes: and sequentially carrying out size reduction or amplification and normalization processing on the image information. Furthermore, the pre-processing may also be a deblurring process.
In order to perform accurate positioning in advance, the positioning of the charging interface may be implemented by using two positioning methods, that is, after step S103, the method further includes: according to the latest image information acquired by the image acquisition equipment again; determining the latest offset of the charging interface center of the equipment to be charged and the view center in the latest image information; and controlling the servo mechanism to drive a workbench and/or a charging table in the mechanical motion platform to move according to the latest offset so as to ensure that the charging plug is in butt joint with a charging interface of the equipment to be charged. The flow chart is shown in FIG. 4.
In order to facilitate the placement of the device to be charged on the work bench, or to remove the device to be charged from the work bench. The controller is also connected with the AGV robot, and correspondingly, the method further comprises the following steps: the controller controls the AGV robot to place the equipment to be charged on the workbench or take the equipment to be charged away from the workbench.
The implementation principle and the generated technical effect of the automatic charging method for the device provided by the embodiment of the present application are the same as those of the foregoing device embodiment, and for the sake of brief description, no part of the method embodiment is mentioned, and reference may be made to the corresponding contents in the foregoing device embodiment.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. An automatic charging apparatus, comprising:
a mechanical motion platform, the mechanical motion platform comprising: the charging device comprises a servo mechanism, a workbench for placing the device to be charged and a charging table for charging the device to be charged, wherein a charging plug is arranged on the charging table, and the device to be charged is a mobile phone or a flat plate;
the image acquisition equipment is used for acquiring image information of the equipment to be charged placed on the workbench;
the controller is used for determining the offset between the center of the charging interface of the equipment to be charged and the center line of the visual field in the image information according to the image information acquired by the image acquisition equipment, controlling the servo mechanism to drive the workbench and/or the charging platform in the mechanical motion platform to move according to the offset and the preset position of the charging plug so as to enable the charging plug to be in butt joint with the charging interface of the equipment to be charged,
wherein, the workbench and/or the charging platform in the mechanical motion platform can move left and right and back and forth on the horizontal plane under the control of the controller.
2. The automatic charging device of claim 1, wherein the charging plug comprises a plurality of different types of plugs; the controller is further configured to determine a charging interface type of the device to be charged in the image information according to the image information; and controlling the servo mechanism to drive a workbench and/or a charging table in the mechanical motion platform to move according to the offset and the preset position of the charging plug corresponding to the charging interface type, so that the charging plug corresponding to the charging interface type is in butt joint with the charging interface of the equipment to be charged.
3. The automatic charging apparatus of claim 1, wherein the servo mechanism comprises: a first servo mechanism and a second servo mechanism; correspondingly, the controller is configured to control the first servo mechanism to drive the workbench or the charging station to move according to the offset and the preset position of the charging plug, and control the second servo mechanism to drive the charging station or the workbench to move towards the direction of the charging interface after the charging plug is aligned with the charging interface of the device to be charged, so that the charging plug is in butt joint with the charging interface of the device to be charged, where a direction in which the first servo mechanism drives the workbench or the charging station to move is different from a direction in which the second servo mechanism drives the workbench or the charging station to move.
4. The automatic charging device of claim 1, further comprising: and the display is connected with the controller and used for displaying the parameter information sent by the controller.
5. The automatic charging device of claim 1, further comprising: and the AGV robot is used for placing the equipment to be charged on the workbench or taking away the equipment to be charged from the workbench.
6. An automatic charging method for equipment is characterized in that the method is applied to a controller in automatic charging equipment, and the automatic charging equipment further comprises the following steps: mechanical motion platform and image acquisition equipment, mechanical motion platform includes: the charging device comprises a servo mechanism, a workbench for placing the device to be charged and a charging table for charging the device to be charged, wherein a charging plug is arranged on the charging table, and the device to be charged is a mobile phone or a flat plate; the method comprises the following steps:
receiving image information of equipment to be charged, which is acquired and transmitted by the image acquisition equipment and is placed on the workbench;
determining the offset between the charging interface center and the view center of the equipment to be charged in the image information;
controlling the servo mechanism to drive a workbench and/or a charging table in the mechanical motion platform to move according to the offset and the preset position of the charging plug so as to enable the charging plug to be in butt joint with a charging interface of the equipment to be charged,
the workbench and/or the charging table in the mechanical motion platform can move left and right and back and forth on the horizontal plane under the control of the controller.
7. The method of claim 6, wherein the charging plug comprises a plurality of different types of plugs, and the controlling the servo mechanism to move the workbench and/or the charging stand in the mechanical motion platform according to the offset and the preset position of the charging plug comprises:
determining the type of a charging interface of the equipment to be charged in the image information according to the image information;
and controlling the servo mechanism to drive a workbench and/or a charging table in the mechanical motion platform to move according to the offset and the preset position of the charging plug corresponding to the charging interface type, so that the charging plug corresponding to the charging interface type is in butt joint with the charging interface of the equipment to be charged.
8. The method according to claim 7, wherein before determining an offset of a charging interface center of the device to be charged from a field of view center in the image information, the method further comprises:
pre-processing the image information, the pre-processing comprising: and sequentially carrying out size reduction or amplification and normalization processing on the image information.
9. The method of claim 7, wherein after controlling the servo mechanism to move the stage and/or the charging stage in the mechanical motion platform according to the offset and the preset position of the charging plug, the method further comprises:
according to the latest image information acquired by the image acquisition equipment again;
determining the latest offset of the charging interface center of the equipment to be charged and the view center in the latest image information;
and controlling the servo mechanism to drive a workbench and/or a charging table in the mechanical motion platform to move according to the latest offset so as to ensure that the charging plug is in butt joint with a charging interface of the equipment to be charged.
10. The method of claim 7, wherein said controller is further connected to an AGV robot; the method further comprises the following steps:
and controlling the AGV robot to place the equipment to be charged on the workbench or take away the equipment to be charged from the workbench.
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