Study On Automatic Battery-changing System For Electric Bus Based On Monocular Vision Measurement

At present, the works of changing storage batteries for electric busesare mainly done manually. Because the storage batteries are large and heavy,it has difficulties in locating and moving it. To solve these problems, anautomatic battery-changing system based on monocular vision measurementis proposed. In the suggested system, a single camera is used to locate thestorage battery box. Then two-direction guiderails and a rotating mechanismare used to move the storage battery to the specified position. In the locationalgorithm, point feature is used to measure the position and attitude relativeto the battery box. Four corner points of the battery box are extracted as thefeature points. The space transformation matrix is calculated according tothe coordinates of these feature points in the object coordinate system andthe CCD image plane coordinate system. Then the position and attituderelative to battery box are worked out. Experimental results show that thismethod is reliable and meets the accuracy requirement of the practicalproblem. Then a3D visual monitoring software platform is developed forthis system using OpenGL and vs2008.