Research On Robotic Charging Technology For Electric Vehicles Based On Monocular Vision And Force Sensing Technology

With the development of driverless technology and the development of energy and environmental issues,electric vehicles are gradually becoming an indispensable substitute for human production and life.Electric vehicle supporting facilities and charging technology have gradually become research hotspots.Car charging mainly relies on manual operation,but in the process of manual charging of electric vehicles,the operation process is cumbersome,and it is impossible to guarantee the good user experience of the electric vehicle users,and there may be safety hazards caused by aging or damage of the equipment,which limits the further promotion and development of electric vehicles.In this paper,through the research of monocular vision guiding technology,force sensing technology and robot monition control technology,a set of electric vehicle robotic charging scheme is proposed.The whole technical scheme can complete the operation of cover opening operation and plug-in-hole operation.In this dissertation,the procedures and functions of the electric vehicles are studied in the process of robotic charging,and the overall scheme of robotic charging is determined.The selection of hardware and the communication among various parts of the system are completed.The vision camera is used as recognition and locating device,the 6-dimensional force/torque sensor is used as the end force sensing device,and the actuator is the robot arm with the camera,the force/torque sensor and the plug mounted at the end.Based on kinematics analysis of the robot,the trajectory planning is carried out in the process of robotic charging.First,the white label on the charging port is found by feature matching using a 2D camera,and the contour coordinates of the four vertices of the white rectangular label are obtained.Then,after actual measurement,the corresponding physical space coordinate system is established,and the position of the white rectangular label relative to the camera is obtained by the Pn P algorithm,and the robot arm is guided accordingly to complete the cover opening operation.After the cover is opened,the end position adjustment scheme based on the SVM algorithm is designed.Combined with the structure of the end,the robot completes the plug-in-hole operation finally.