3D Vision Guided Robotic Charging Station for Electric and Plug-in Hybrid Vehicles

Autor:	Justinas Miseikis, Matthias Rüther, Bernhard Walzel, Mario Hirz, Helmut Brunner
Rok vydání:	2017
Předmět:	FOS: Computer and information sciences Computer Science - Robotics Computer Vision and Pattern Recognition (cs.CV) Computer Science - Computer Vision and Pattern Recognition Robotics (cs.RO)
Zdroj:	TU Graz
DOI:	10.3217/978-3-85125-524-9-13
Popis:	Electric vehicles (EVs) and plug-in hybrid vehicles (PHEVs) are rapidly gaining popularity on our roads. Besides a comparatively high purchasing price, the main two problems limiting their use are the short driving range and inconvenient charging process. In this paper we address the following by presenting an automatic robot-based charging station with 3D vision guidance for plugging and unplugging the charger. First of all, the whole system concept consisting of a 3D vision system, an UR10 robot and a charging station is presented. Then we show the shape-based matching methods used to successfully identify and get the exact pose of the charging port. The same approach is used to calibrate the camera-robot system by using just known structure of the connector plug and no additional markers. Finally, a three-step robot motion planning procedure for plug-in is presented and functionality is demonstrated in a series of successful experiments. Comment: 6 pages, 8 figures, OAGM and ARW Joint Workshop 2017 on Vision, Automation and Robotics
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::1d22bede02cb64a0071777ec216e7f3b Zobrazit plný text záznamu