電動車之自動充電機器人系統與應用開發

Application and System Development of Autonomous Charging Robot for Electric Vehicles

黃三江(Hwang San-Jiang)

指導教授 ： 陳瑄易

國立臺灣師範大學/科技與工程學院/電機工程學系/碩士(2022年)

https://doi.org/10.6345/NTNU202205217

摘要

隨著電動車的數量逐漸提升，充電樁數量不足的問題正逐漸浮出水面，本論文提出一種自動充電機器人的設計，以具移動能力的自動充電機器人替代不可移動的充電樁，除此之外，本論文也設計一套人性化介面系統，讓使用者及管理者能分別以操控介面及監控畫面操作本應用系統。
本論文所設計之自動充電機器人能夠在預先建立之場域中運行，自主移動機器人首先透過SLAM以及磁導引之混合導航將自動充電機器人引導至目標車輛周邊，接著再透過經校正後的網路攝影機辨識ArUco標籤，以獲取目標車輛充電座之規格與座標資訊，隨後再以UR3手臂將設計之充電槍插入充電座，以完成充電行為。此外，本論文更整合上下位控制器，再透過Vite撰寫視窗化單頁式應用程式介面。而由實驗結果可知，本論文所提出之自動充電機器人確實可以準確根據使用者介面進行充電任務。

關鍵字

自動充電機器人 ； 電動車 ； 自主移動機器人 ； 機械手臂 ； ArUco標籤 ； 視覺系統 ； 視覺空間系統

並列摘要

With the rise in the number of electric vehicles, the issue of a lack of charging stations is becoming more apparent. This paper proposed a design of an autonomous charging robot for electric vehicles, which replaces immovable charging piles with a mobile autonomous charging robot. Moreover, the system also had a user interface, allowing clients and administrators to control the system via the user interface and dashboard, respectively.
The proposed autonomous charging robot is capable of operating in a pre-defined field. The autonomous mobile robot first guides the autonomous charging robot to the target vehicle through the hybrid navigation of SLAM and magnetic guidance, and then obtains the specification and coordinates of the target vehicle's charging sockets by processing image detection of ArUco Tags with the calibrated web camera, and finally inserts the corresponding charging plugs into the charging sockets with the UR3 Robot Arm to complete the charging application. Furthermore, this paper integrated the upper and lower controllers, as well as a Vite-coded web-based user interface single page application. The experimental results of the autonomous charging robot shows that the proposed autonomous charging robot can accurately complete charging duties via the user interface.

並列關鍵字

Autonomous charging robot ； Electric vehicles ； Autonomous guiding robot ； Robot arm control ； ArUco tag ； Robot vision system ； Hand-eye calibration

參考文獻

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