The invention is notably directed to a computer-implemented method for automatically charging an electric vehicle via an end effector (10) of a robotic arm (40) of an automated vehicle charging robot. The end effector is assumed to be structured so as to be able to connect to a charge port (220) of a vehicle. In addition, the automated vehicle charging robot further includes a camera system (102) having depth sensing capability. The method comprises the following steps. First, a reference position of a reference feature (210) of the vehicle is estimated thanks to the camera system. Next, a pose of the charge port of the vehicle is determined based on the estimated reference position. The robotic arm is subsequently instructed to actuate the end effector, based on the determined pose of the charge port, to connect the end effector to the charge port with a view to charging the vehicle. The reference position is estimated as follows. Both a 2D image and a depth image of a surface portion of the vehicle are obtained. This surface portion includes the reference feature, i.e., the feature of interest. Contour points of the reference feature are then extracted from the 2D image obtained. The 3D coordinates of the extracted contour points are subsequently reconstructed based on the depth image obtained. A geometric object (such a 2D plane) is then matched to the reconstructed 3D coordinates, e.g., by fitting the geometric object to the reconstructed 3D coordinates. Eventually, the reference position of the reference feature is determined based on the matched geometric object. The invention is further directed to related automated vehicle charging robots and computer program products.
DETERMINING FEATURE POSES OF ELECTRIC VEHICLES TO AUTOMATICALLY CHARGE ELECTRIC VEHICLES
BESTIMMUNG VON MERKMALSPOSITIONEN VON ELEKTROFAHRZEUGEN ZUM AUTOMATISCHEN LADEN VON ELEKTROFAHRZEUGEN
DÉTERMINATION DE POSES D'ÉLÉMENTS DE VÉHICULES ÉLECTRIQUES POUR RECHARGER AUTOMATIQUEMENT DES VÉHICULES ÉLECTRIQUES
2025-04-23
Patent
Electronic Resource
English
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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