The invention relates to a method for automatically inserting a charging plug (10) into a charging socket (11) of a vehicle (12), the charging plug (10) being mounted on a programmable robot arm (13) of a charging station (14), the method comprising the steps of: positioning the charging socket (11) on the basis of a camera by image analysis of an established image (28) of the charging socket (11), position data is measured on the basis of the analyzed image in order to determine the orientation of the positioned charging socket (11) using a PnP algorithm, the charging plug (10) is moved to an intermediate position on the basis of the measured position data, a depth image of the charging socket (11) corresponding to the current position of the charging plug (10) is established when the charging plug (10) is in the intermediate position, and the depth image of the charging socket (11) corresponds to the current position of the charging plug (10). A comparison between the measured depth image and a reference depth image corresponding to a reference position is carried out in order to measure a positional deviation between the current position of the charging plug (10) and the reference position, and the charging plug (10) is moved to an insertion position spaced from the charging socket (11) on the basis of the measured positional deviation, the charging plug (10) is inserted into the charging socket (11) from the insertion position. The invention further relates to a device (20) and a computer program product (21) for carrying out the method according to the invention and to a storage medium (22) on which the computer program product (21) according to the invention is stored.

    本发明涉及一种用于将充电插头(10)自动插入交通工具(12)的充电插座(11)中的方法,其中,充电插头(10)安装在充电站(14)的可编程的机器人手臂(13)上,方法包括步骤:通过对充电插座(11)的被建立的图像(28)的图像分析,基于摄像头定位充电插座(11),基于被分析的图像测取位置数据,从而在使用PnP算法的情况下确定被定位的充电插座(11)的姿态,基于被测取的位置数据,将充电插头(10)移动至中间位置,当充电插头(10)处于该中间位置时,建立与充电插头(10)的当前位置相对应的、充电插座(11)的深度图像,实施在测取的深度图像与对应于参比位置的参比深度图像之间的比较,以便测取充电插头(10)的当前位置与参比位置之间的位置偏差,基于测取的位置偏差,将充电插头(10)移动至与充电插座(11)相间隔的插入位置,并且将充电插头(10)从插入位置插入至充电插座(11)。此外,本发明还涉及一种用于实施根据本发明的方法的设备(20)和计算机程序产品(21)以及一种存储介质(22),在该存储介质上存储有根据本发明的计算机程序产品(21)。


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    Titel :

    Method and device for automatically inserting charging plug into charging socket of vehicle


    Weitere Titelangaben:

    用于将充电插头自动插入交通工具的充电插座中的方法和设备


    Beteiligte:
    FARKAS ZOLTAN (Autor:in) / SCHULZE DIRK (Autor:in) / DERKSEN MARTIN (Autor:in) / LANGOSCH LARS (Autor:in) / MOTZKO PETER (Autor:in) / SCHIRMER RENE (Autor:in)

    Erscheinungsdatum :

    11.06.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B25J Manipulatoren , MANIPULATORS / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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