Aiming at operation process of robot positioning and plugging charging gun of electric vehicle to charge electric car

an electric car charging hole recognition and positioning system based on binocular vision is designed.The system can extract target charging hole position and pose information from charging stand image

and sent to robot controller so as to enable the robot to automatically charge electric car.Firstly

calibration of binocular system the calibration of hand and eye are realized by Halcon software.Then

contour of center hole is selected as perspective variable template for template matching to separate charging hole from background

combined with stereo matching

three-dimensional positioning and coordinate transformation in binocular vision.The three-dimensional pose estimation of the charging hole is completed.The pose estimation and charging docking experiment of the electric charging hole of car are carried out on experimental platform.The experimental results show that the system has better recognition and positioning precision

which can meet the requirements of online identification and positioning of charging holes for robot.