Autonomous charging docking control method for unmanned vehicles based on vision and infrared

Abstract

Unmanned vehicle charging is part of the autonomous workflow of unmanned vehicles. Most existing unmanned vehicles mostly rely on manual battery change or manual charging, which cannot realize autonomous charging. In order to achieve simpler and safer autonomous charging for unmanned vehicles, this paper proposes a new intelligent unmanned vehicle autonomous charging docking method based on infrared guidance and vision assistance. Firstly, the autonomous charging device and intelligent charging stand for unmanned vehicles are designed, and for the unmanned vehicle, charging is not easy to align and easy to detach when charging. The camber-type electric core and charging adsorption device are designed, respectively, and the autonomous charging docking device is designed. Secondly, in order to ensure the accuracy of the docking between the unmanned vehicle and the intelligent charging stand, the unmanned vehicle autonomous charging method is proposed. The combination method of infrared and vision adjusts the posture of the unmanned vehicle. Finally, a protection method of autonomous charging docking based on ultrasonic ranging of unmanned vehicles is proposed. The communication and ranging modules on the unmanned vehicle and intelligent charging stand are designed to prevent mistouching and obstacle avoidance to ensure the safety of the system. The experiment results show that the docking method of this unmanned vehicle autonomous charging system is accurate, efficient, and safe, which can satisfy the demand for unmanned vehicle autonomous charging.