Robotic EV Charging Alignment Using Offset Fiducial Markers
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
The existing automatic electric vehicle charging systems face challenges in maneuvering the charging plug accurately when the image capturing device is obstructed by the plug, leading to open-loop motion and potential connection failures.
Innovation Solution
The system employs a fiducial marker device to project markers offset from the EV charging portal, allowing the control system to capture images of these markers and maneuver the robotic arm based on their position, ensuring precise alignment and insertion of the charging plug even when the portal is out of the camera's view.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the image capturing device is coupled to the charging plug for localization, then the localization accuracy is improved, but the view of the EV inlet is obstructed when the plug approaches, causing the system to become open-loop and connection to fail
Solution Approach 1:
The patent introduces fiducial markers as an intermediary reference system. Instead of relying solely on direct imaging of the EV inlet (which gets obstructed), the system uses fiducial markers placed on the EV body as intermediate reference points that remain visible throughout the approach. These markers serve as a mediator between the charging plug and the target inlet, enabling continuous closed-loop control even when the inlet itself is obscured from view.
2Productivity
If the charging plug approaches the EV charging portal directly, then the charging process is completed faster, but the image capturing device cannot capture images of the EV inlet due to obstruction, leading to open-loop motion
Solution Approach 1:
The patent applies preliminary action by pre-placing fiducial markers on the EV body at locations that will remain visible during the entire approach sequence. This preparatory step ensures that visual feedback is available before, during, and after the plug approaches the portal, eliminating the information loss that would otherwise occur during the critical approach phase.
3Manufacturing precision
If the image capturing device is positioned on the robotic arm for real-time feedback, then the maneuvering precision is improved, but the device obstructs the view of the charging portal in the final approach
Solution Approach 1:
The patent resolves the spatial conflict by changing the reference dimension. Instead of trying to image the target (EV inlet) directly along the approach vector, the system uses fiducial markers placed on a different spatial plane (the EV body surface) that can be imaged from the camera's perspective throughout the approach. This dimensional shift allows the camera to maintain line-of-sight to reference points without requiring a direct unobstructed view of the inlet itself.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enables a closed-loop feedback mechanism, ensuring reliable and precise charging plug insertion, enhancing the reliability and efficiency of the autonomous charging process.
Implementation Method 1
projecting, by the control system and using a fiducial marker device, one or more fiducial markers
Data Source
AI summary
An electric vehicle (EV) charging system that autonomously charges EV is provided. The method includes: capturing, by a control system and using an image capturing device, one or more first images, wherein the one or more first images indicates a position of an EV charging portal of the EV; maneuvering, by the control system, a robotic arm of the EV charging system based on the one or more first images; projecting, by the control system and using a fiducial marker device, one or more fiducial markers that are offset from the EV charging portal; capturing one or more second images using the image capturing device, wherein the one or more second images indicates a position of the one or more fiducial markers; and maneuvering, by the control system, the robotic arm of the EV charging system based on the one or more second images.