电动汽车充电口的超声位姿测量系统设计

Design of ultrasonic pose and orientation measurement system for the charging port of electric vehicles

摘要:

针对电动汽车充电口视觉定位系统存在的配置成本高、图像处理算法复杂、环境适应性差等问题，提出了一种基于超声波测距的充电口位姿测量系统。首先对基于超声波的充电口位姿的测量技术进行了研究，然后对充电口的超声位姿重构进行了分析，采用了多点位超声融合的关键技术，最终实现了电动汽车充电口位姿的测量。实验结果表明测距模块在300~1200mm范围内测距精度可达±0.2959mm，位姿测量系统定位精度可达±1.5mm、±2.4°。经实际应用发现该系统具有较强的鲁棒性，达到了传统视觉定位装置的效果，满足了电动汽车充电口位姿测量的工程需求。

Abstract:

Aiming at the existing problems of high configuration cost, complex image processing algorithm and poor environmental adaptability of the electric vehicle charging port visual positioning system, a charging port position and orientation measurement system based on ultrasonic ranging is proposed. Firstly, the measurement technology of the charging port pose and orientation based on ultrasound is studied, and then the reconstruction of the ultrasonic port pose and orientation of the charging port is analyzed. The key technology of multi-point ultrasonic fusion is adopted to finally realize the Measurement of charging port pose and orientation of the electric vehicle. The results show that the ranging module can measure ±0.2959mm in the range of 300~1200mm, the positioning accuracy of the attitude measuring system can reach ±1.5mm, ±2.4°.In practice, the system performs strong robustness, achieving the level of traditional visual positioning system and meeting the engineering needs of pose and orientation detection of the charging port of electric vehicles.