A Robotic Charging Scheme for Electric Vehicles Based on Monocular Vision and Force Perception

Lv, Xincan; Chen, Guangzeng; Hu, Haopeng; Lou, Yunjiang

doi:10.1109/robio49542.2019.8961689

Cited by 8 publications

(4 citation statements)

References 13 publications

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“…Some methods based on various learning algorithms that fuse visual and tactile information are proposed, for example, in-depth researches on grasping stability prediction [ 13 , 14 ] and shape estimation [ 15 ]. When operating in narrow spaces, Lv et al [ 16 ] fused visual and tactile information using the SVM (support vector machine) algorithm, which enabled the robot to open the cover and insert the charging plug into the charging port autonomously. Shaidah Jusoh et al [ 17 ] proposed a multimodal information fusion method for robots to recognize actions and generate tasks in industrial assembly environments.…”

Section: Introductionmentioning

confidence: 99%

Multi-Sensor Perception Strategy to Enhance Autonomy of Robotic Operation for Uncertain Peg-in-Hole Task

Qin

Wang

Yuan

et al. 2021

Sensors

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The peg-in-hole task with object feature uncertain is a typical case of robotic operation in the real-world unstructured environment. It is nontrivial to realize object perception and operational decisions autonomously, under the usual visual occlusion and real-time constraints of such tasks. In this paper, a Bayesian networks-based strategy is presented in order to seamlessly combine multiple heterogeneous senses data like humans. In the proposed strategy, an interactive exploration method implemented by hybrid Monte Carlo sampling algorithms and particle filtering is designed to identify the features' estimated starting value, and the memory adjustment method and the inertial thinking method are introduced to correct the target position and shape features of the object respectively. Based on the Dempster–Shafer evidence theory (D-S theory), a fusion decision strategy is designed using probabilistic models of forces and positions, which guided the robot motion after each acquisition of the estimated features of the object. It also enables the robot to judge whether the desired operation target is achieved or the feature estimate needs to be updated. Meanwhile, the pliability model is introduced into repeatedly perform exploration, planning and execution steps to reduce interaction forces, the number of exploration. The effectiveness of the strategy is validated in simulations and in a physical robot task.

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Section: Introductionmentioning

confidence: 99%

Multi-Sensor Perception Strategy to Enhance Autonomy of Robotic Operation for Uncertain Peg-in-Hole Task

Qin

Wang

Yuan

et al. 2021

Sensors

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“…A second approach for detecting the inlet is to use a marker such as placing a label on the inlet. Due to the texture less black plastic material, it is difficult to find good features on the inlet according to Lv et al (2019), especially when using a monocular camera. For this reason Lv et al (2019) are using an attached rectangular label on the inlet cover.…”

Section: Introductionmentioning

confidence: 99%

“…Due to the texture less black plastic material, it is difficult to find good features on the inlet according to Lv et al (2019), especially when using a monocular camera. For this reason Lv et al (2019) are using an attached rectangular label on the inlet cover. This enables the using of the SURF algorithm by Bay et al (2008) for label detection.…”

Section: Introductionmentioning

confidence: 99%

Development and evaluation of an automatic connection device for electric cars with four DOFs and a control scheme based on infrared markers

Bucher

Knipschild

Künne

2021

IJMA

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The topic of electro mobility has become more and more present over the last few years. To increase the acceptance within the population, the continuous expansion of the charging infrastructure is immensely important. In this paper a developed cost efficient charging robot is presented, with only four actively controlled DOFs and an installed low cost camera in the CCS connector. The control scheme is based on using infrared LEDs inside the inlet, which reduce the influence of external light and reflections. The described plugging process includes the pose estimation and pre-positioning, a plausibility and identification check, visual servoing and the plugging/unplugging. Finally, the workspace is examined. Afterwards the developed elastic compensation unit of the robot is analysed for its capabilities to compensate angular deviations. In addition, the reaction forces and torques are measured. In summary in the pluggable workspace a plugging success rate of 97% can be achieved.

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“…This is an urgent problem in many public charging stations, especially for those stations with limited parking places. To solve this problem, automatic EV charging robots are proposed [5][6][7][8].…”

Section: Introductionmentioning

confidence: 99%

Concept Design and Load Capacity Analysis of a Novel Serial-Parallel Robot for the Automatic Charging of Electric Vehicles

Yuan

Zhou

2020

Electronics

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The automatic charging of electric vehicles is an important but challenging problem. Recently, various charging robots are proposed for electric vehicles. Most previous researches do not pay enough attention to the robots’ load capacities. Actually, providing the charging connector with adequate pushing and/or pulling forces is vital to guarantee a reliable electrical connection, which is a key issue for charging robot design. In this paper, we present a novel serial-parallel robot for the automatic charging of electric vehicles. This robot is based on the 3 universal-prismatic-universal (3UPU) parallel mechanism and featured by high-load capacity. We firstly address the kinematic and static models of the proposed robot, then analyze its load capacity. It is shown that the robot’s maximum load capacity depends not only on the driving ability of the prismatic joints, but also on the robot’s structural parameters and the robot’s configuration. Finally, optimizations are made and results show that the robot’s load capacity along the desired trajectory has more than doubled. Results of this paper could be useful for the development of automatic electric-vehicle-charging devices.

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A Robotic Charging Scheme for Electric Vehicles Based on Monocular Vision and Force Perception

Cited by 8 publications

References 13 publications

Multi-Sensor Perception Strategy to Enhance Autonomy of Robotic Operation for Uncertain Peg-in-Hole Task

Multi-Sensor Perception Strategy to Enhance Autonomy of Robotic Operation for Uncertain Peg-in-Hole Task

Development and evaluation of an automatic connection device for electric cars with four DOFs and a control scheme based on infrared markers

Concept Design and Load Capacity Analysis of a Novel Serial-Parallel Robot for the Automatic Charging of Electric Vehicles

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