NDLI: Automatic recognition and location system for electric vehicle charging port in complex environment

Content Provider	IET Digital Library
Author	Pan, Mingqiang Sun, Cheng Liu, Jizhu Wang, Yangjun
Abstract	This study proposes an automatic recognition and location system of electric vehicle charging port with application to automatic charging. The system obtains the charging port posture through image processing, and performs the insertion motion in combination with the robot arm to complete the charging gun insertion of the automatic charging link. The framework of the system is mainly divided into three parts, recognition, location and insertion. In the charging port recognition, the convolutional neural network-based method is used, and the recognition success rate is up to 98.9% under the light intensity of 4000 lux; in the location of the charging port, the method of solving the pose based on the circle feature is adopted. The average value of the position error is within 1.4 mm, and the average value of the attitude angle error is within 1.6°, which meets the accuracy requirement of the insertion experiment; in the charging gun insertion, the motion of the robot is planned by interpolation algorithm. The lower limit of the successful insertion is about 135 lux and the upper limit is about 9350 lux.
Starting Page	2263
Ending Page	2272
Page Count	10
ISSN	17519659
Volume Number	14
e-ISSN	17519667
Issue Number	Issue 10, Aug (2020)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-ipr/14/10
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-ipr.2019.1138
Journal	IET Image Processing
Publisher Date	2020-04-02
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Automatic Charging Link Automatic Recognition Charging Gun Insertion Charging Port Posture Charging Port Recognition Computer Vision And Image Processing Technique Control Engineering Computing Convolutional Neural Nets Convolutional Neural Network-based Method Electric Vehicle Electric Vehicle Charging Port Image Processing Image Recognition Insertion Motion Interpolation Interpolation Algorithm Interpolation And Function Approximation Location System Neural Computing Technique Neurocontrol Neurocontrollers Numerical Analysis Pose Estimation Position Control Robot Arm Robot Vision Robotics Spatial Variables Control
Content Type	Text
Resource Type	Article
Subject	Signal Processing Electrical and Electronic Engineering Computer Vision and Pattern Recognition Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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