The diversity of smart EV(electric vehicle)-related industries is increasing due to the growth of battery-based eco-friendly electric vehicle component material technology, and labor-intensive industries such as logistics, manufacturing, food, agriculture, and service have invested in and studied automation for a long time. Accordingly, various types of robots such as autonomous mobile robots and collaborative robots are being utilized for each process to improve industrial engineering such as optimization, productivity management, and work management. The technology that should accompany this unmanned automobile industry is unmanned automatic charging technology, and if autonomous mobile robots are manually charged, the utility of autonomous mobile robots will not be maximized. In this paper, we conducted a study on the technology of unmanned charging of autonomous mobile robots using charging terminal docking and undocking technology using an unmanned charging system composed of hardware such as a monocular camera, multi-joint robot, gripper, and server. In an experiment to evaluate the performance of the system, the average charging terminal recognition rate was 98%, and the average charging terminal recognition speed was 0.0099 seconds. In addition, an experiment was conducted to evaluate the docking and undocking success rate of the charging terminal, and the experimental results showed an average success rate of 99%.

1. 서 론
2. 이론적 배경
    2.1 좌표계
    2.2 렌즈 왜곡 보정
    2.3 ArUco 마커
    2.4 평면기반 자세추정
3. 모노비전 방식의 충전단자 도킹 방법
4. 실험 결과
    4.1 하드웨어 구성
    4.2 충전단자 인식률 및 인식속도
5. 결 론
Acknowledgement
References

• Keunho Park(Korea Electronics Technology Institute) | 박근호 (한국전자기술연구원)
• Juhwan Choi(Korea Electronics Technology Institute) | 최주환 (한국전자기술연구원)
• Seonhyeong Kim(Korea Electronics Technology Institute) | 김선형 (한국전자기술연구원)
• Dongkil Kang(Jeonju IT&CT Industry Promotion Agency) | 강동길 (전주정보문화산업진흥원)
• Haeseong Jo(Jeonju IT&CT Industry Promotion Agency) | 조해성 (전주정보문화산업진흥원)
• Joonsoo Bae(Department of Industrial and Information Systems Engineering, Jeonbuk National University) | 배준수 (전북대학교 산업정보시스템공학과) Corresponding author