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

Justinas Miseikis; Matthias Rüther; Bernhard Walzel; Mario Hirz; Helmut Brunner

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

Justinas Miseikis, Matthias Rüther, Bernhard Walzel, Mario Hirz, Helmut Brunner

Research output: Contribution to conference › Paper › peer-review

Abstract

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.

Original language	English
Publication status	Published - 2017
Event	OAGM/AAPR ARW 2017: Joint Workshop on “Vision, Automation & Robotics” - Palais Eschenbach, Wien, Austria Duration: 10 May 2017 → 12 May 2017 http://www.roboticsworkshop.at/index.php

Conference

Conference	OAGM/AAPR ARW 2017
Abbreviated title	OAGM/AAPR ARW 2017
Country/Territory	Austria
City	Wien
Period	10/05/17 → 12/05/17
Internet address	http://www.roboticsworkshop.at/index.php

Access to Document

https://arxiv.org/abs/1703.05381

Cite this

@conference{474b99f17b754ab49db46f1c1a444f66,

title = "3D Vision Guided Robotic Charging Station for Electric and Plug-in Hybrid Vehicles",

abstract = "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 visionguidance 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 stationis 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 justknown 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.",

author = "Justinas Miseikis and Matthias R{\"u}ther and Bernhard Walzel and Mario Hirz and Helmut Brunner",

year = "2017",

language = "English",

note = "OAGM/AAPR ARW 2017 : Joint Workshop on “Vision, Automation & Robotics”, OAGM/AAPR ARW 2017 ; Conference date: 10-05-2017 Through 12-05-2017",

url = "http://www.roboticsworkshop.at/index.php",

}

TY - CONF

T1 - 3D Vision Guided Robotic Charging Station for Electric and Plug-in Hybrid Vehicles

AU - Miseikis, Justinas

AU - Rüther, Matthias

AU - Walzel, Bernhard

AU - Hirz, Mario

AU - Brunner, Helmut

PY - 2017

Y1 - 2017

N2 - 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 visionguidance 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 stationis 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 justknown 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.

AB - 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 visionguidance 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 stationis 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 justknown 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.

M3 - Paper

T2 - OAGM/AAPR ARW 2017

Y2 - 10 May 2017 through 12 May 2017

ER -

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

Abstract

Conference

Access to Document

Fingerprint

Cite this