A Depth Camera-Enabled Cobot Design for Electric Vehicle Charging

Autonomous vehicles stand as a burgeoning technology, evolving across various nations and industries. This research endeavors to develop an automated charging infrastructure for electric vehicles, complementing the smart ecosystem for autonomous vehicle systems. The experimental framework involved a KUKA LBR iiwa 7 robot equipped with a Type- II connector and an Intel Realsense D435i depth camera for detecting the electric vehicle (EV) inlet. The EV inlet detection process initiated with 2D image detection, followed by end effector alignment to the target inlet's center point. Subsequently, depth image information facilitated the forward movement essential for the charging process. This technique's efficacy heavily relies on precise horizontal and vertical alignment with the EV socket, as minor misalignments could potentially compromise the robot's functionality. To ensure safety and prevent any instances of collision, torque sensors integrated into the KUKA robot played a pivotal role. Their implementation served as a safeguard against harm to the robot, emphasizing the criticality of safety measures in this automated charging system.