Electric Vehicle Charging Terminal 3D Docking Method Using Stereo Camera

With the growth of battery-based electric drive platforms and intelligent control technologies, the diversity of smart EV related industries is increasing. A number of companies are competing to develop and commercialize electric vehicle charging robots. In this paper, we propose a three-dimensional docking method for the charging terminal of a multi-articulated robot electric vehicle based on stereo vision. Based on the stereo image, docking is performed by calculating the relative positions of the docker center, the degree of inclination and the degree of distortion using the calibration information of camera 1 and camera 2 and the position of the marker.