The invention relates to a vehicle-mounted wireless charging receiving device, an electric vehicle and a wireless charging method thereof. The vehicle-mounted wireless charging receiving device is used for improving charging efficiency of the electric vehicle under running. The vehicle-mounted wireless charging receiving device comprises a wireless charging receiving terminal, a driving device anda controller; the controller receives position information indicating a current lateral position of the traveling electric vehicle on a charging lane sent by a control unit of the electric vehicle, and controls the driving device to drive the wireless charging receiving terminal to move laterally to the position where the lateral centre of the wireless charging receiving terminal is opposite to the lateral center of the charging lane according to the position information and the current position of the wireless charging receiving terminal. The electric vehicle includes the vehicle-mounted wireless charging receiving device. The wireless charging method comprises the steps that the traveling electric vehicle senses the current lateral position of the traveling electric vehicle on the charging lane, and the electric vehicle controls the wireless charging receiving terminal to laterally move to the position where the lateral centre of the wireless charging receiving terminal is oppositeto the lateral center of the charging lane according to the position information and the current position of the wireless charging receiving terminal. The location of the center is right.

Vehicle-mounted wireless charging receiving device, electric vehicle and wireless charging method thereof

The invention belongs to the technical field of automatic driving, particularly relates to a method, a system and a device for detecting a road target and a distance of an automatic driving vehicle, and aims to solve the problems of low speed and low precision when the road target and the distance of the automatic driving vehicle are detected in the prior art. The method comprises the following steps: acquiring a road target image and point cloud data of an automatic driving vehicle, and respectively preprocessing the road target image and the point cloud data; obtaining category label information and 2D bounding box information of the target through a target detection network; performing fusion processing on the road target image and the point cloud data to obtain point cloud with image label information in a 2D bounding box; and obtaining a target point cloud through target detection, and taking the distance of the mass center of the target point cloud as the distance of the currenttarget. The method can calculate the actual distance of the target, is not liable to be affected by complex weather and geographical environment, just needs to process the point cloud data of the 2D detection frame, is high in speed, and is high in precision.

Method, system and device for detecting road target and distance of automatic driving vehicle

The invention discloses a spatial constraint dense matching point cloud plane primitive extraction method, which comprises the steps of obtaining dense matching point cloud of a target object, and segmenting the dense matching point cloud into a plurality of super voxels; determining a plane support region of each supervoxel by adopting a region growing method, and constructing a maximum plane support region based on the plane support regions; performing global optimization on normal vectors of points in the point cloud according to the maximum plane support area to obtain normal vector information of the densely matched point cloud; and according to the normal vector information, extracting a plane element of the target object and repairing the plane element. According to the method, themaximum plane support area is constructed, global normal vector optimization is carried out based on the maximum plane support area, plane primitives and plane primitive restoration are carried out according to the optimized normal vector, the noise influence can be effectively reduced, the structural characteristics of an object are reserved, and complete and continuous plane primitives are extracted.

Spatial constraint dense matching point cloud plane primitive extraction method

The invention discloses an intelligent detection method and device for a KIT board. Omission and negligence which may occur in the manual assembly process are avoided; the size specification and the number of parts are wrong, extra workload of checking parts is brought to locomotive maintainers; and the like. A scanning distance measurement module is adopted to perform scanning distance measurement on the standard KIT board; the scanned distance point cloud data is mapped into a two-dimensional color image; an OpenCV image processing algorithm is adopted, part contour information is extracted,feature data such as the area, the gray scale and the height in a part contour area are calculated, then a to-be-detected KIT board is scanned, the two sets of feature data are compared, and rapid and intelligent detection of part vacancies, part size errors and the like of the KIT board is achieved. According to the invention, errors can be found in time, parts can be supplemented or wrong partscan be replaced, hidden dangers to locomotive driving safety caused by careless omission in manual inspection and maintenance by using wrong specification parts are avoided, a large amount of manpower is saved, and the accuracy and efficiency of KIT board detection can be improved.

Intelligent detection method and device for KIT board

The invention provides a target detection method, an electronic medium and a computer storage medium, and the method comprises the steps: respectively obtaining images and point clouds synchronously collected by a camera and a laser radar, and extracting the point clouds located in a field angle of the camera from the point clouds as first point clouds; projecting the first point cloud into an image coordinate system to obtain a second point cloud under the image coordinate system; detecting each target contained in the image to obtain each piece of target detection information of each target;determining a target frame of each target according to each pixel position, and determining a view cone point cloud corresponding to each target according to a second point cloud located in each target frame; performing coordinate conversion on the view cone point clouds to obtain target view cone point clouds corresponding to the targets; extracting a first target point cloud in each target viewcone point cloud, and obtaining first three-dimensional information of each target according to the first target point cloud; and determining second three-dimensional information of each target underthe vehicle coordinate system according to each piece of first three-dimensional information, and outputting each piece of target detection information and each piece of second three-dimensional information.

Target detection method, electronic medium and computer storage medium

The invention discloses a sparse point cloud segmentation method and device. Relating to the field of image processing, the method comprises the following steps of: obtaining a target object, acquiring target two-dimensional image data shot by a camera and target three-dimensional point cloud data under the laser radar; performing joint calibration on the camera and the laser radar, generating calibration parameters, performing target detection on target two-dimensional image data, extracting three-dimensional points which can be converted to a target two-dimensional boundary frame according to a target detection result and a selection principle, generating three-dimensional cone point cloud containing target information, and finally performing point cloud segmentation to generate target point cloud. In the prior art, a laser radar combination fusion mode is used to carry out point cloud segmentation. According to the method, the equipment cost is reduced, the three-dimensional cone point cloud containing the target information is obtained according to the selection principle, then point cloud segmentation is carried out to remove the noise point cloud, the point cloud segmentation precision and efficiency are improved, and the method has a good practical application value.

Sparse point cloud segmentation method and device

The invention discloses a control device and method for correcting a vehicle wireless charging alignment error. The control device comprises a microprocessor, a camera, a displayer, a sensor module used for detecting the position of a ground charging coil and a positioning module used for marking the transverse position of the ground charging coil. The control method for correcting the vehicle wireless charging alignment error comprises the following steps that the camera collects position information of a charging parking space and position information of a vertical guiding line of a garage center; turning control is conducted on a vehicle according to a relative deviation angle of a vehicle body forward direction and the vertical guiding line, so that the deviation angle is made to be zero, and the center line of the vehicle is coincident with the vertical guiding line; numerical change information detected by the sensor module is analyzed, and whether the value exceeds the preset threshold or not is judged; and if the value exceeds the preset threshold, alignment is stopped. Positioning has the advantages of being high in adaptability and good in flexibility. The control deviceand method for correcting the vehicle wireless charging alignment error is widely applied to the field of positioning.

Control device and method for correcting vehicle wireless charging alignment error

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Sparse point cloud segmentation method and device

Control device and method for correcting vehicle wireless charging alignment error