Journal of Korean Society of Industrial and Systems Engineering (산업경영시스템학회지)

Society of Korea Industrial and System Engineering (한국산업경영시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Monovision Charging Terminal Docking Method for Unmanned Automatic Charging of Autonomous Mobile Robots

자율이동로봇의 무인 자동 충전을 위한 모노비전 방식의 충전단자 도킹 방법

  • Keunho Park (Korea Electronics Technology Institute) ;
  • Juhwan Choi (Korea Electronics Technology Institute) ;
  • Seonhyeong Kim (Korea Electronics Technology Institute) ;
  • Dongkil Kang (Jeonju IT&CT Industry Promotion Agency) ;
  • Haeseong Jo (Jeonju IT&CT Industry Promotion Agency) ;
  • Joonsoo Bae (Department of Industrial and Information Systems Engineering, Jeonbuk National University)
  • 박근호 (한국전자기술연구원) ;
  • 최주환 (한국전자기술연구원) ;
  • 김선형 (한국전자기술연구원) ;
  • 강동길 (전주정보문화산업진흥원) ;
  • 조해성 (전주정보문화산업진흥원) ;
  • 배준수 (전북대학교 산업정보시스템공학과)
  • Received : 2024.07.27
  • Accepted : 2024.08.16
  • Published : 2024.09.30
Download PDF
⟨ Previous Next ⟩

Abstract

The diversity of smart EV(electric vehicle)-related industries is increasing due to the growth of battery-based eco-friendly electric vehicle component material technology, and labor-intensive industries such as logistics, manufacturing, food, agriculture, and service have invested in and studied automation for a long time. Accordingly, various types of robots such as autonomous mobile robots and collaborative robots are being utilized for each process to improve industrial engineering such as optimization, productivity management, and work management. The technology that should accompany this unmanned automobile industry is unmanned automatic charging technology, and if autonomous mobile robots are manually charged, the utility of autonomous mobile robots will not be maximized. In this paper, we conducted a study on the technology of unmanned charging of autonomous mobile robots using charging terminal docking and undocking technology using an unmanned charging system composed of hardware such as a monocular camera, multi-joint robot, gripper, and server. In an experiment to evaluate the performance of the system, the average charging terminal recognition rate was 98%, and the average charging terminal recognition speed was 0.0099 seconds. In addition, an experiment was conducted to evaluate the docking and undocking success rate of the charging terminal, and the experimental results showed an average success rate of 99%.

Keywords

Acknowledgement

This work was supported by Korea Institute of Planning and Evaluation for Technology in Food, Agriculture and Forestry (IPET) and Korea Smart Farm R&D Foundation (KosFarm) through Smart Farm Innovation Technology Development Program, funded by Ministry of Agriculture, Food and Rural Affairs (MAFRA) and Ministry of Science and ICT(MSIT), Rural Development Administration (RDA) (421003-04).

References

  1. Ahmad, A., Alam, S.M., and Chabaan, R.,A Comprehensive Review of Wireless Charging Technologies for Electric Vehicles, IEEE Transactions on Transportation Electrification, 2018, Vol. 4, No. 1, pp. 38-63.
  2. Ahn, K. and Cheong, H.-W., Research on the Replacement of LiDAR for AMR to Minimize Production Lags, The Korea Institute of Information and Communication Engineering, 2022, Vol. 26, No. 10, pp. 1545-1550.
  3. Bak, J., Park, J, Han, B.-K., Kim, H.-S., Do, H., and Song, S.-H., Charging Port Opening/closing System for Electric Vehicles Using a Shape- adaptive Gripper, Journal of the Korean Society of Manufacturing Technology Engineers, 2022, Vol. 31, No. 6, pp. 476-483.
  4. Choi, J.H., Recent Technology Trend of Traction Inverter for Electric Vehicles, Auto Journal, 2017, Vol. 39, pp. 25-28.
  5. Collins, T. and Bartoli, A., Infinitesimal Plane- Based Pose Estimation, International Journal of Computer Vision, 2014, Vol. 109, pp. 252-286.
  6. Dai, S.J., Euler-Rodrigues Formula Variations, Quaternion Conjugation and Intrinsic Connections, Mechanism and Machine Theory, 2015, Vol. 92, pp. 144-152.
  7. Ho, Y., Acquisition and processing technology of multi-view 3D image, Journal of the Electronic Engineering Society, 2013, Vol. 40, No. 3, pp. 18-27.
  8. Huh, N., In the Era of Climate Crisis, Eco-friendly Vehicles open the Future of the Automobile Industry, Korea Research Institute for Human Settlements, 2021, Vol. 473, pp. 2-4.
  9. Jang, Y., Self-driving Electric Vehicles, Wireless Charging Technology, and Industrial Engineering Opportunities, Korean Institute Of Industrial Engineers, 2015, Vol. 22, No. 1, pp. 28-34.
  10. Jung, Y.-B., Jung, S.-W., Zhang, W.-C., and Kim, T.-H., A study on a Front Measurement System from the Traveling Vehicle Using V.F. Model, Journal of the Institute of Signal Processing and Systems, 2006, Vol. 7, No. 1, pp. 5-8.
  11. Kam, H.-C., Yu, Y.-K., and Wong, K.-H., An Improvement on ArUco Marker for Pose Tracking Using Kalman Filter, 2018 19th IEEE/ACIS International Conference on Soft-ware Engineering, Artificial Intelligence, Networking and Parallel/Distributed Computing (SNPD), 2018, pp. 65-69.
  12. Kim, B.-H., Kim, J., Kang, M., Lee, S., and Lim, D.-E., Path Selection Based on Machine Learning for Congestion Avoidance of Autonomous Mobile Robot, The Journal of Society for e-Business Studies, 2023, Vol. 28, No. 1, pp. 15-28.
  13. Kim, B.-U., Electric Vehicle Technology Trend, The Korean Institute of Electrical Engineers, 2013, Vol. 62, pp. 15-20.
  14. Kwak, K., Park, B., Go, E., Yoon, C., and Kim, K., Rapidly Spreading Logistics Robot Applications, Journal of Korea Robotics Society, 2022, Vol. 17, No. 4, pp. 387-396.
  15. Lee, W., Schubert, E., Li, Y., Li, S., Bobba, D., and Sarlioglu, B., Overview of Electric Turbocharger and Supercharger for Downsized Internal Combustion Engines, IEEE Transactions on Transportation Electrification, 2017, Vol. 3, pp. 36-47.
  16. Oh, H., A Study on Understanding of Taylor Series, Journal of the Korean Society of Mathematical Education. Series E: Communications of Mathematical Education, 2017, Vol. 31, No. 1, pp. 71-84.
  17. Park, J., Byun, S-C., and Lee, B-U., Lens Distortion Correction Using Ideal Image Coordinates, IEEE Transactions on Consumer Electronics, 2009, Vol. 55, No. 3, pp. 987-991.
  18. Rather, Z., Dahiwale, P., Lekshmi, D., and Hartung, A., A Critical Review: Smart Charging Strategies and Technologies for Electric Vehicles, Simulation-based study to evaluate the effects of E-mobility smart charging strategies, 2021.
  19. Richardson, D.B., Electric Vehicles and the Electric Grid: A Review of Modeling Approaches, Impacts, and Renewable Energy Integration, Renewable and Sustainable Energy Reviews, 2013, Vol. 19, pp. 247-254.
  20. Seo, W., Research on Electric Vehicle Charging System Technology Trends and Interoperability, The Journal of The Korean Institute of Communication Sciences, 2019, Vol. 36, No. 11, pp. 16-23.
  21. Son, Y. and Heo, K., Technology Develop- ment Trend of Domestic and Foreign Electric Vehicle and Technology Development Strategy of Domestic Electric Vehicle Core Parts, The Transactions of the Korean Institute of Power Electronics, 2017, Vol. 22, pp. 373-381.
  22. Yoon, H., Kwak, J., Yang, K.-M., Gam, B.-W., Yeo, T.-G., Park, J., and Seo, K.-H., GPS Error Filtering using Continuity of Path for Autonomous Mobile Robot in Orchard Environment, Journal of Korea Robotics Society, 2024, Vol. 19, No. 1, pp. 23-30.