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%.

This study is to investigate the effect of material for GPF on the PM reduction characteristics before the improvement of filter efficiency in GPF. The material of GPF was changed to ceramic and metal. The ceramic material was applied to SiC, and the metal materials were employed to STS 310s, STS 316s, and STS 410s. The number of honeycomb and wall thickness were set to 200CPSI, 0.3987mm, respectively. The inlet mass flow was fixed at 0.00695kg/s. The inlet air temperature was changed from 500K(0s∼350s) to 1000K(400s∼900s). It was found that the differences in loading amount according to the GPF materials were difficult to observe because the pore density and porosity were set to be the same to affect only the mechanical properties. STS 310s with the highest temperature value had the fastest regeneration time. However, as time goes on, SiC had the highest regeneration rate characteristics. The reason is that the high-temperature region in the GPF by the high-temperature exhaust gas was rapidly transferred toward the outlet due to the high thermal conductivity of SiC.