Design Of Charging Hole Identification And Positioning System For Electric Vehicle Based On Binocular Vision

Aiming at the current demand of unmanned and intelligent electric vehicle charging system,this thesis studied an electric vehicle charging hole recognition and positioning system based on binocular vision technology.In the development environment of Halcon image processing software,the collected charging seat image is recognized,the charging hole position is recognized,the attitude information is obtained,and sent to the robot controller,so as to realize the automatic robot for electric vehicle charging.The main works completed in this thesis include:1.The research background and significance of this topic are introduced.Then the research status of binocular vision technology and electric vehicle automatic charging technology is introduced.2.The imaging principle and imaging model of the camera are analyzed.The hardware selection of the charging hole identification and positioning system based on binocular vision is carried out and the hardware system is built.3.Based on camera calibration principle and Halcon software,camera calibration and binocular calibration were carried out for the charging hole identification and positioning system,and eye-in-hand hand-eye calibration was carried out for the charging robot.4.The image median filtering,edge feature extraction,template matching based on edge feature and stereo matching algorithm involved in the process of charging hole identification and positioning are studied.Based on Halcon software,the algorithm program of charging hole identification and location was written.5.Using C# language,a human-computer interaction interface including data input,image acquisition and processing,and communication connection module was written,and relevant tests were conducted in combination with the experimental platform.6.The research contents and results of this topic are summarized.The shortcomings in the research results are pointed out and the future work is prospected.