Robotic Plug-in Combined Charging System with Improved Robustness

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Abstract
This paper describes the development of an algorithm robotic plug-in of a charging system for mobile platform. In the first chapter, there is a short overview of possibilities of automatic plug-in system, including proprietary industrial solution. In the main part, there is a description of the system based on UR robot with build-in force torque sensors and Intel RealSense Camera. This camera combines IR depth lens with regular RGB camera and six DOF inertial sensor, which is used in our application too. The conventional solution of this problem is usually based on RGB image processing in various state of the art, from simple pattern matching, neural network, or genetic algorithm to complex AI solution. The quality of the solution mostly depends on robustness of image processing. In our cases, we use simple sensor fusion. Thanks to multiple information and constrain of values, we can assume, if the algorithm is proceeding successfully or not. The system uses the internal parameters of the robotic arm, e.g., end-effector position and orientation and force-torque information in tool center point. The next information is RGB camera image and camera depth image, and the inertial unit build in camera. The other important information is the location of the vehicle inlet on the mobile platform, where the shape of mobile platform is considered as a constrain for image processing. The system is validated only on a physical model with CCS type 2 plug and vehicle inlet, because the mobile platform is under construction by another team.
Funding Information
  • European Union (CZ.02.1.01/0.0/0.0/16_025/0007293)