CN109532522A - A kind of unmanned charging system of automobile based on 3D vision technique and its application method - Google Patents
A kind of unmanned charging system of automobile based on 3D vision technique and its application method Download PDFInfo
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- CN109532522A CN109532522A CN201910054957.7A CN201910054957A CN109532522A CN 109532522 A CN109532522 A CN 109532522A CN 201910054957 A CN201910054957 A CN 201910054957A CN 109532522 A CN109532522 A CN 109532522A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention is about a kind of unmanned charging system of the automobile based on 3D vision technique, including charging pile, agv trolley and the induction button being located on parking stall, in which: the charging pile is equipped with multiple charging guns that can send infrared signal；The agv trolley is equipped with infrared remote receiver, inducing receiver, power supply, industrial control unit (ICU) and robots arm, three-dimension sensor is additionally provided on the robots arm, and the industrial control unit (ICU) 6 receives the information of infrared remote receiver, inducing receiver and three-dimension sensor, and controls agv trolley, robots arm and three-dimension sensor movement；The three-dimension sensor includes two cameras and a laser line generator；The industrial control unit (ICU) includes visual analysis system, after the industrial control unit (ICU) receives the scanning information of three-dimension sensor, the position coordinates of object are analyzed by the calculating of visual analysis system, then position coordinates are transported to robots arm, control robots arm operates according to the position coordinates that vision system calculates.
Description
Technical field
The present invention is to be related to the unmanned charging technique field of new-energy automobile, and in particular to one kind be able to achieve it is unattended, entirely
The unmanned charging system of the automobile based on 3D vision technique to charge to automobile and its application method of automation.
Background technique
With the appearance of new-energy automobile and universal, it is charged to automobile as primary focus, and unmanned charging station is even more
The emphasis point developed at present, current charging station are mostly artificial progress charging operations, cause personnel to waste, the charging station of part
It is charged using nobody fixation charge position, needs automobile stop in fixed position, the bad control stop position of driver.And it is clever
Full-automatic unmanned charging living does not need driver for vehicle parking in specific accurate position, is not required to manual operation, entirely yet
The unmanned machine operation of journey.Machine replaces the trend that will manually become development.
Summary of the invention
The object of the present invention is to provide a kind of unmanned charging systems of the automobile based on 3D vision technique, only need to be by automobile stop
In the region of planning, the charge port for not needing automobile must be aligned at charging plug, solved automobile stop position and filled
Power port and juice point, which have dislocation, causes the problem of can not charging, and is scanned by camera vision to vehicle charging mouth, identification positioning is filled
Charging gun is inserted into charge port using robot by power port, realizes full-automatic unmanned charging.
The object of the invention to solve the technical problems adopts the following technical solutions to realize.It proposes according to the present invention
A kind of unmanned charging system of automobile based on 3D vision technique, including charging pile, agv trolley and the induction being located on parking stall
Button 10, in which: the charging pile is equipped with multiple charging guns 1 for sending infrared signal；The agv trolley 7 is equipped with infrared
Receiver 3, inducing receiver 4, power supply 5, industrial control unit (ICU) 6 and robots arm 8 are additionally provided with three-dimensional on the robots arm 8
Sensor 9, and the industrial control unit (ICU) 6 receives the information of infrared remote receiver 3, inducing receiver 4 and three-dimension sensor 9, and
Agv trolley 7, robots arm 8 and three-dimension sensor 9 is controlled to act；The three-dimension sensor 9 includes two cameras and a line
Laser；The industrial control unit (ICU) 6 includes visual analysis system, which receives the scanning information of three-dimension sensor
Afterwards, then position coordinates are transported to robots arm by the position coordinates that object is analyzed by the calculating of visual analysis system, control
Robots arm processed operates according to the position coordinates that vision system calculates.
The object of the invention to solve the technical problems can also adopt the following technical solutions to realize.According to the present invention
The application method of the unmanned charging system of a kind of automobile based on 3D vision technique of proposition, comprising the following steps: 1) will be to be charged
Vehicle stops onto parking stall, and after 5 seconds, the induction button 10 on parking stall sends inductive signal to agv trolley 7；2) sense on agv trolley
It answers receiver 4 to receive inductive signal, and determines the position for sending inductive signal parking stall；3) industrial control unit (ICU) 6 receives induction and connects
After receiving the vehicle position information that device 4 is sent, control three-dimension sensor 9 scans charging gun 1, obtains the position coordinates of charging gun, will
Position coordinates are transported to robots arm 8, and control robots arm 8 picks up charging gun；4) industrial control unit (ICU) 6 drives agv trolley mobile
To vehicle location, controls three-dimension sensor 9 and scan vehicle body, determine the position of charge port；5) industrial control unit (ICU) 6 controls three-dimensional sensing
Device 9 scans vehicle charging mouth near zone, is accurately positioned the charging jacks of automotive internal standard, which is conveyed to machine
Device robot arm 8, the charging gun 1 that control robots arm 8 is taken accurately are docked to automobile charging jacks and complete charging action, agv
Trolley returns to charging gun set-down location；6) charging gun 1 automatically powers off and sends fully charged infrared signal after automobile is fully charged, infrared
Receiver 3 receives infrared signal, signal is passed to industrial control unit (ICU) 6, industrial control unit (ICU) 6 drives agv trolley to be moved to vapour
Vehicle charge port position, control three-dimension sensor 9 scan charging gun 1, then control manipulator and extract charging gun, return to charging gun and put
Put down charging gun in the place of setting.
The present invention has obvious advantages and beneficial effects compared with the existing technology.By above-mentioned technical proposal, the present invention
The unmanned charging system of automobile based on 3D vision technique can reach comparable technical progress and practicability, and have in industry
Extensive utility value at least has the advantage that three-dimension sensor and obtains using laser scanning the 3D imaging number of charge port
According to, the data of acquisition are transferred to vision system, system positions the position of charge port by quickly calculating analysis, identification, and
Robot is sent an instruction to, charging gun is inserted into vehicle charging mouth by guidance machine people, completes charging.The principle of the present invention has been
Play the part of the role of people, the instead work of people entirely.
1, the present invention utilizes the point cloud data of laser acquisition scans workpiece by three-dimension sensor, obtains the three-dimensional figure of workpiece
Picture, data that vision system will acquire carry out quickly calculating analysis, obtain the accurate location of scanning workpiece, guided robot into
Row operation.Vehicle location is incuded compared to laser or magnetic induction, this system more precise and high efficiency.
2, all equipment acts on agv trolley, can be scanned with vehicle of the moving trolley to different location, only
Need vehicle in a certain range, trolley can automatically move position, and laser scanning Vehicular charging mouth carries out charging operations.Compared to
Other fix the automatic charging of positions, and the invention is more flexible, and do not need vehicle and be accurately parked in charge port to correspond to juice point
Position reduces the time that the mobile adjustment charge port of vehicle corresponds to charge position, improves the convenience that client uses.
3, multiple vehicle locations only need a set of equipment that can be completed at the same time the charging of more automobiles, save device resource, mention
The utilization rate of high equipment.
Detailed description of the invention
Fig. 1 is that the present invention is based on the unmanned charging system overall structure diagrams of the automobile of 3D vision technique；
Fig. 2 is that the present invention is based on the structural schematic diagrams at the end the automobile of 3D vision technique unmanned charging system agv；
Fig. 3 is that the present invention is based on the unmanned charging system control principle drawings of the automobile of 3D vision technique.
[main element symbol description]
1: charging gun
2: charging case
3: infrared remote receiver
4: inducing receiver
5: power supply
6: industrial control unit (ICU)
7:agv trolley
8: robots arm
9: three-dimension sensor
Specific embodiment
It is of the invention to reach the technical means and efficacy that predetermined goal of the invention is taken further to illustrate, below in conjunction with
Attached drawing and preferred embodiment, to its specific implementation of the unmanned charging system of the automobile based on 3D vision technique proposed according to the present invention
Mode, structure, feature and its effect, detailed description is as follows.
Fig. 1-3 is please referred to, for the present invention is based on the Each parts of the unmanned charging system of the automobile of 3D vision technique to show
It is intended to, being somebody's turn to do the unmanned charging system of automobile based on 3D vision technique includes charging pile end, agv trolley end, parking stall end and vapour
Che Duan, wherein the charging pile end includes the charging gun 1 and charging case 2 that can send infrared signal.
Agv trolley end includes that agv trolley 7 and the infrared remote receiver 3 being fixed on the agv trolley 7, induction receive
Device 4, power supply 5, industrial control unit (ICU) 6 and robots arm 8 are additionally provided with three-dimension sensor 9, and the work on the robots arm 8
Industry controller 6 receives the information of infrared remote receiver 3, inducing receiver 4 and three-dimension sensor 9, and controls agv trolley 7, machine
Robot arm 8 and three-dimension sensor 9 act；The power supply 5 provides electric energy for the agv trolley end equipment.
The automobile end includes the charging cover board controlled by driver's cabin.When automobile needs to charge, driver is stopped
Onto parking stall, then control charging cover board is opened.
The parking stall end includes induction button 10, which, can be small to agv when sensing static vehicle
Vehicle 7 sends inductive signal, and the inducing receiver 4 on agv trolley receives inductive signal, and determines the position for sending inductive signal parking stall
It sets.After industrial control unit (ICU) 6 receives the vehicle position information of the transmission of inducing receiver 4, control three-dimension sensor 9 scans charging gun
1, the position coordinates of charging gun are obtained after three-dimension sensor 9 is scanned obtained information processing, position coordinates are transported to machine
Robot arm 8 controls robots arm 8 according to the position coordinates and picks up charging gun.Then industrial control unit (ICU) 6 drives agv trolley to be moved to
Vehicle location, control three-dimension sensor 9 scan vehicle body, determine the position of charge port.Industrial control unit (ICU) 6 controls three-dimension sensor 9
Vehicle charging mouth near zone is scanned again, is accurately positioned the charging jacks of automotive internal standard, and industrial control unit (ICU) 6 is by the positioning
Information conveyance controls the charging gun 1 that robots arm 8 is taken and is accurately docked to the completion of automobile charging jacks to robots arm 8
Charging action, agv trolley return to charging gun set-down location.Charging gun 1 is automatically powered off and is sent fully charged after automobile is fully charged
The infrared remote receiver 3 of infrared signal, agv trolley receives infrared signal, and signal is passed to industrial control unit (ICU) 6, Industry Control
Device 6 drives agv trolley to be moved to vehicle charging mouth position, and three-dimension sensor 9 scans charging gun 1, then controls manipulator and extracts
Charging gun returns to charging gun set-down location and puts down charging gun.Multiple parking stall chargings can be serviced by one agv trolley of signal.
The three-dimension sensor 9 includes two cameras and a laser line generator, is needed after camera assembling to two camera marks
Determine intrinsic parameter and outer parameter.Line laser does cambered surface scanning motion under the driving of servo motor, meanwhile, camera is respectively from left and right two
A viewing angles workpiece, and the laser lines projected on workpiece are extracted respectively, and determine that two are swashed by solving polar curve equation
Then the matched same place of light calculates the three-dimensional coordinate of each point on matching laser rays using principle of triangulation.Wherein
The method and step being related to has:
1) the unrelated extracting method of laser lines illumination
The method being most worth in conjunction with gray threshold and the every row pixel of picture realizes the unrelated preliminary extraction of laser lines illumination, should
Method ensure that stablizing for laser lines is extracted under ambient lighting, realize hyposensitiveness sense of the laser lines extraction to illumination variation
Property.
2) the accurate removal of laser rays outlier
Laser rays dissipates caused by being rejected using the method for laser lines column pixel deviations limitation because of workpiece surface reflection light
Disorderly, this method effectively eliminates the outlier on non-laser line, provides accurate kind of point point for the matching of post laser same place.
3) sub-pixel positioning put on laser rays
The lines center of laser rays is accurately positioned using the method for grey scale centre of gravity, to realize the sub-pix of laser lines
Extraction.Improve the positioning accuracy of algorithm.
In the present invention, the effect of the three-dimension sensor is mainly being filled by laser scanning within sweep of the eye in camera
Power port obtains the accurate 3D rendering data of charge port.
The three-dimensional point cloud image data of object is collected in the scanning of three-dimension sensor 9, and data are reached industrial control unit (ICU) 6,
It is equipped with visual analysis system in industrial control unit (ICU) 6, the position coordinates for analyzing object are quickly calculated by visual analysis system,
Then position coordinates are transported to robot, control robot is operated according to the position coordinates that vision system calculates.
In the embodiment of the present invention, the industrial control unit (ICU) model are as follows: AIIS-3410U.
The vision system includes camera drive module and configuration module, and wherein camera drive module is mainly used for adjusting three
Tie up the camera fields of view range of sensor；Configuration module has algorithm and control function, and the laser that can control three-dimension sensor moves
Dynamic and camera exposure, and the run action of guidance machine people.
By camera drive module, the camera capture rate in sensor and camera fields of view range are can be set and checked,
The range that camera scanning identification can be adjusted by setting camera fields of view height and width, as long as equal in workpiece within the vision
Can scanning recognition arrive, can be with the size in the flexible setting visual field.
Configuration module uses the field range of camera drive module, receives the scan data of three-dimension sensor, sends positioning
Instruction to robot, send the instruction of scanning to three-dimension sensor.Its main body mainly by teaching, drawing template establishment, crawl setting,
Several big functions of modules compositions such as parameter setting, check sensor.The connection with three-dimension sensor may be implemented in connection camera function,
It receives the scan data of three-dimension sensor and sends scan instruction and be scanned to three-dimension sensor；Connecting manipulator function can be with
Realization is connected with robot, and the end of run for sending positioning coordinate to robot and reception robot instructs；Tutorial function can be with
Both the coordinate system of the coordinate system and robots arm of realizing three-dimension sensor is mutually converted and the two is bound, allow
Coordinate can be mutually distinguishable, and reach the position that workpiece is accurately positioned.Drawing template establishment function is the 3D point cloud that creation will identify workpiece
Data template, by laser scanning, system can generate the point cloud chart picture of scanning workpiece, then by finishing image, retain workpiece most
Have characteristic image, save image can drawing template establishment success, the template number of scan data and workpiece that system will acquire
According to comparing, the color being overlapped with 2 kinds is shown the 3D point cloud image of workpiece by the workpiece for meeting template data on the screen；It grabs
Taking setting is to select a coordinate points as the position of positioning in the template of creation, and manipulator is accurate according to the coordinate points of positioning
Find workpiece.Check sensor is the effect for preventing the camera of sensor from having moving influence to identify, sensor collides easy
Lead to camera position micro-shifting, by check sensor, new corresponding file data can be generated.
The AGV trolley, which refers to, magnetically or optically waits homing guidances device equipped with electricity, can travel along defined guide path,
Transport vehicle with safeguard protection and various transfer functions is not required to the carrier of driver in industrial application, with it is chargeable it
Battery is its power resources.Its travelling route and behavior can be generally controlled by computer, or are set using electromagnetic path
Its travelling route is found, electromagnetic path sticks on floor, and automatic guided vehicle then relies on message brought by electromagnetic path to be moved
Dynamic and movement.It is used to carrying machine robot arm, three-dimension sensor, power supply, industrial control unit (ICU) etc. in the present invention.
Robots arm of the present invention is the certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying
The automatic pilot of object or operational instrument.Manipulator is for receiving vision system instruction, executing instruction operations.
Automobile stop of the present invention is 5 seconds at charging parking stall, and parking stall induction button sends inductive signal and gives agv trolley, and agv is small
Inducing receiver on vehicle receives inductive signal, and after determining the position for sending inductive signal parking stall, sensor scans charging gun,
Manipulator picks up charging gun by sensor scanning, and driving agv trolley is moved to vehicle location, and sensor scans vehicle body again,
Determine vehicle charging mouth position, charging gun is inserted into charge port by manipulator, and agv trolley returns to charging gun set-down location.When automobile fills
Charging gun automatically powers off and sends fully charged infrared signal after full electricity, and the infrared remote receiver of agv trolley receives infrared signal,
Driving agv trolley is moved to vehicle charging mouth position, and sensor scans charging gun, and manipulator extraction charging gun returns to charging gun and puts
Put down charging gun in the place of setting.Multiple parking stall chargings can be serviced by one agv trolley of signal.
The above described is only a preferred embodiment of the present invention, limitation in any form not is done to the present invention, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above are modified or are modified
For the equivalent embodiment of equivalent variations, but anything that does not depart from the technical scheme of the invention content, according to the technical essence of the invention
Any simple modification, equivalent change and modification made to the above embodiment, all of which are still within the scope of the technical scheme of the invention.
Claims (2)
1. a kind of unmanned charging system of automobile based on 3D vision technique, it is characterised in that: including charging case (2), agv trolley
(7), the induction button (10) being located on parking stall and the charging cover board by driver's cabin control folding, in which:
The charging pile (2) is equipped with multiple charging guns (1) that can send infrared signal；
The agv trolley (7) be equipped with infrared remote receiver (3), inducing receiver (4), power supply (5), industrial control unit (ICU) (6) and
Robots arm (8) is additionally provided with three-dimension sensor (9) on the robots arm (8), and the industrial control unit (ICU) (6) receive it is infrared
The information of receiver (3), inducing receiver (4) and three-dimension sensor (9) transmitting, and control agv trolley (7), robots arm
(8) and three-dimension sensor (9) acts；
The three-dimension sensor (9) is the binocular stereo visual sensor for including two cameras and a laser line generator；
The industrial control unit (ICU) (6) includes visual analysis system, which receives the scanning information of three-dimension sensor (9)
Afterwards, then position coordinates are transported to robots arm by the position coordinates that object is analyzed by the calculating of visual analysis system
(8), robots arm (8) operates according to the position coordinates that vision system calculates.
2. a kind of application method of the unmanned charging system of automobile based on 3D vision technique, which comprises the following steps:
1) vehicle to be charged is stopped onto parking stall, driver opens charging cover board, after 5 seconds, induction button (10) on parking stall to
Agv trolley (7) sends inductive signal；
2) inducing receiver (4) on agv trolley (7) receives inductive signal, and determines the induction button for sending inductive signal
(10) parking stall；
3) it after industrial control unit (ICU) (6) receives the vehicle position information that inducing receiver (4) are sent, controls three-dimension sensor (9)
It scans charging gun (1), obtains the position coordinates of charging gun (1), position coordinates are conveyed to robots arm (8), control robot
Arm (8) picks up charging gun (1)；
4) industrial control unit (ICU) (6) driving agv trolley (7) is moved to vehicle location, and control three-dimension sensor (9) scans vehicle body, really
Determine the position of charge port；
5) industrial control unit (ICU) (6) control three-dimension sensor (9) scans vehicle charging mouth near zone, is accurately positioned automotive internal mark
Quasi- charging jacks, which is conveyed to robots arm (8), the charging gun (1) that control robots arm (8) is taken
It is accurately docked to automobile charging jacks and completes charging action, agv trolley (7) returns to charging gun set-down location；
6) charging gun (1) automatically powers off and sends fully charged infrared signal after automobile is fully charged, and infrared remote receiver (3) receives
Infrared signal passes to signal industrial control unit (ICU) (6), and industrial control unit (ICU) (6) driving agv trolley is moved to vehicle charging mouth position
It sets, control three-dimension sensor (9) scanning charging gun (1), then controls manipulator and extract charging gun, return to charging gun set-down location and put
Lower charging gun.
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Cited By (15)
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| CN111038290A (en) * | 2019-12-06 | 2020-04-21 | 广东嘉腾机器人自动化有限公司 | Active adjoint type AGV charging system and control method |
| CN111186318A (en) * | 2020-03-18 | 2020-05-22 | 邬志卿 | Parking area removes charging system, machine robot that charges |
| CN111688526A (en) * | 2020-06-18 | 2020-09-22 | 福建百城新能源科技有限公司 | User side new energy automobile energy storage charging station |
| CN112046325A (en) * | 2020-09-01 | 2020-12-08 | 国网天津市电力公司 | Control system for automatic charging station |
| CN112097663A (en) * | 2020-09-01 | 2020-12-18 | 国网天津市电力公司 | Charging socket combined positioning device for charging robot and using method |
| CN113043876A (en) * | 2021-04-22 | 2021-06-29 | 杭州极木科技有限公司 | Intelligent automobile charging robot |
| CN113119769A (en) * | 2021-05-14 | 2021-07-16 | 哈尔滨工业大学 | Automatic electric automobile charging robot based on two-machine cooperation and charging method |
| CN113628275A (en) * | 2021-08-18 | 2021-11-09 | 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) | Charging port pose estimation method and system, charger robot and storage medium |
| CN114013307A (en) * | 2021-11-09 | 2022-02-08 | 青岛特来电新能源科技有限公司 | Vehicle charging method and device and electronic equipment |
| CN114193502A (en) * | 2022-01-26 | 2022-03-18 | 江苏贺颖智能科技有限公司 | Special end effector for charging gun grabbing robot |
| CN114330886A (en) * | 2021-12-29 | 2022-04-12 | 北谷电子有限公司 | Method for charging vehicles in warehouse and warehouse management system |
| CN114572025A (en) * | 2022-01-14 | 2022-06-03 | 赵树龙 | Automatic charging system of electric automobile |
| US11458855B2 (en) * | 2019-04-16 | 2022-10-04 | Lg Electronics Inc. | Electric vehicle charging system using robot and method for charging electric vehicle using same |
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