DE102015213160A1 - Robot and method for the automated insertion of a charging plug - Google Patents
Robot and method for the automated insertion of a charging plug Download PDFInfo
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- DE102015213160A1 DE102015213160A1 DE102015213160.2A DE102015213160A DE102015213160A1 DE 102015213160 A1 DE102015213160 A1 DE 102015213160A1 DE 102015213160 A DE102015213160 A DE 102015213160A DE 102015213160 A1 DE102015213160 A1 DE 102015213160A1
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- robot
- charging plug
- interface
- actuator
- charging
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
- B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Manipulator (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
Die Erfindung betrifft einen Roboter (4) zum automatisierten Stecken eines Ladesteckers (5) in eine Schnittstelle (16) eines Fahrzeugs (7), umfassend mindestens einen Aktor (8) und mindestens eine Erfassungseinrichtung (10) zur Erfassung der Schnittstelle (16), wobei der Roboter (4) derart ausgebildet ist, dass dieser nach Erfassung der Schnittstelle (16) den Ladestecker (5) automatisch in die Schnittstelle (16) steckt, wobei der Roboter (4) mobil ausgebildet ist, wobei, der Roboter (4) derart ausgebildet ist, dass der Aktor (8) einen Ladestecker (5) einer Ladesäule (3) ergreift und den Einsteckvorgang des Ladesteckers (5) in die Schnittstelle (16) durchführt, wobei nach Beendigung des Einsteckvorganges der Aktor (8) den Ladestecker (5) freigibt und der Roboter (4) sich in eine andere Position bewegt sowie ein Verfahren zum automatisierten Stecken eines Ladesteckers (5) in eine Schnittstelle eines Fahrzeugs (7).The invention relates to a robot (4) for automatically plugging a charging plug (5) into an interface (16) of a vehicle (7), comprising at least one actuator (8) and at least one detection device (10) for detecting the interface (16), wherein the robot (4) is designed in such a way that, after detection of the interface (16), the robot automatically inserts the charging plug (5) into the interface (16), wherein the robot (4) is mobile, wherein the robot (4) is formed such that the actuator (8) a charging plug (5) of a charging station (3) and engages the insertion of the charging plug (5) in the interface (16), wherein after completion of the insertion of the actuator (8) the charging plug ( 5) and the robot (4) moves to another position and a method for automatically plugging a charging plug (5) into an interface of a vehicle (7).
Description
Die Erfindung betrifft einen Roboter und ein Verfahren zum automatisierten Stecken eines Ladesteckers einer Ladestation in eine Schnittstelle eines Fahrzeugs. The invention relates to a robot and a method for automatically plugging a charging plug of a charging station into an interface of a vehicle.
Durch die fortschreitende Weiterentwicklung von Batteriezellen mit sehr hohen Energiedichten, können Hochvolt-Fahrzeugbatterien mit hohen Kapazitäten realisiert werden. Elektrofahrzeuge werden somit langstreckenfähig. Due to the ongoing development of battery cells with very high energy densities, high-voltage vehicle batteries with high capacities can be realized. Electric vehicles are thus long-range capability.
Damit die Ladezeiten (= Stillstandzeit des Fahrzeugs) kurz bleiben, muss der Energiespeicher mit sehr hohen Leistungen (hohe Ströme) geladen werden. Die dafür erforderlichen Kabelquerschnitte müssen vergrößert werden. Dadurch steigt das Gewicht des Ladekabels an. Zum anderen erhöht sich auch die Steifigkeit des Kabels und somit der Widerstand gegen eine Bewegung. So that the charging times (= downtime of the vehicle) remain short, the energy storage must be charged with very high powers (high currents). The required cable cross sections must be increased. This increases the weight of the charging cable. On the other hand, the stiffness of the cable and thus the resistance to movement increases.
Demzufolge wird für den Menschen das Handling/der Steckvorgang erschwert und unkomfortabel. As a result, handling / plugging is made more difficult and uncomfortable for humans.
Aus der
Aus der
Die Erfassungseinrichtung ist beispielsweise als Kamera ausgebildet. Der Roboter kann dabei einen mehrachsigen Kraft- und/oder Momentsensor aufweisen. Zusätzlich oder alternativ kann das Krafterfassungsmittel ein oder mehrere Kraftsensoren an Achsen, insbesondere Gelenken und/oder Antrieben, insbesondere Getrieben des Roboters aufweisen, insbesondere Momentsensoren an Drehgelenkantriebsmotoren und/oder -getrieben. Weiter kann der Roboter einen als Greifer ausgebildeten Aktor zum automatischen Öffnen oder Schließen eines Ladedeckels aufweisen. Weiter ist eine Rutschkupplung zwischen Stecker und Roboterarm offenbart, die bei zu großen Relativbewegungen während des Ladevorgangs öffnet. Mittels eines solchen Roboters lässt sich ein automatisiertes Stecken eines Ladesteckers sehr gut durchführen. The detection device is designed, for example, as a camera. The robot can have a multi-axis force and / or torque sensor. Additionally or alternatively, the force sensing means may comprise one or more force sensors on axes, in particular joints and / or drives, in particular transmissions of the robot, in particular torque sensors on rotary joint drive motors and / or transmissions. Further, the robot may have a designed as a gripper actuator for automatically opening or closing a charging lid. Further, a slip clutch between the plug and the robot arm is disclosed, which opens when too large relative movements during the charging process. By means of such a robot, an automated plugging of a charging plug can be performed very well.
Problemtechnisch sind allerdings die nicht unerheblichen Kosten eines solchen Roboters, die bei den Gesamtkosten für einen elektrischen Ladevorgang zu berücksichtigen sind. Problem technically, however, are the not inconsiderable cost of such a robot, which must be considered in the total cost of an electrical charging.
Der Erfindung liegt das technische Problem zugrunde, einen Roboter zu schaffen, mittels dessen Ladevorgänge effizient durchgeführt werden können, sowie ein entsprechendes Verfahren zur Verfügung zu stellen. The invention is based on the technical problem of providing a robot, by means of which charging processes can be carried out efficiently, as well as providing a corresponding method.
Die Lösung des technischen Problems ergibt sich durch einen Roboter mit den Merkmalen des Anspruchs 1 sowie ein Verfahren mit den Merkmalen des Anspruchs 7. Weitere vorteilhafte Ausgestaltungen der Erfindung ergeben sich aus den Unteransprüchen. The solution of the technical problem results from a robot having the features of
Hierzu umfasst der Roboter zum automatisierten Stecken eines Ladesteckers in eine Schnittstelle eines Fahrzeugs mindestens einen Aktor und mindestens eine Erfassungseinrichtung zur Erfassung der Schnittstelle. Der Roboter ist derart ausgebildet, dass dieser nach Erfassung der Schnittstelle den Ladestecker automatisch in die Schnittstelle steckt, wobei der Roboter mobil ausgebildet ist. Mobil bedeutet dabei, dass der Roboter beispielsweise selbstfahrend frei programmierbar in der X-Y Ebene eines Raums (mittels Rädern oder Raupen oder einer mobilen Plattform) oder schienengeführt verfahrbar ist. Der Roboter ist derart ausgebildet, dass der Aktor einen Ladestecker einer Ladesäule ergreifen kann und den Einsteckvorgang durchführen kann. Beispielsweise ist der Aktor als Greifer ausgebildet. Nach Beendigung des Einsteckvorgangs gibt der Aktor den Ladestecker frei und der Roboter bewegt sich in eine andere Position. Hierdurch wird es möglich, dass ein Roboter mehreren Ladesäulen zugeordnet werden kann und nacheinander mehrere Einsteckvorgänge durchführen kann, während die Ladevorgänge noch laufen. D. h. die Verbindung Roboter-Ladestecker wird nach Beendigung des Einsteckvorgangs aber vor Beendigung des Ladens aufgehoben. Der Roboter kann dann nach der Freigabe des Ladesteckers zu einer anderen Ladesäule bewegt werden oder in eine Parkstellung gefahren werden. Vorzugsweise läuft das Herausziehen des Ladesteckers analog, d. h. der Roboter wird zur entsprechenden Ladesäule bewegt und zieht dazu den Ladestecker heraus. Anschließend legt dann der Roboter den Ladestecker wieder in der Ladesäule ab. For this purpose, the robot for automated insertion of a charging plug into an interface of a vehicle comprises at least one actuator and at least one detection device for detecting the interface. The robot is designed in such a way that, after detecting the interface, it automatically inserts the charging plug into the interface, the robot being designed to be mobile. Mobile means, for example, that the robot can be moved freely programmable in the xy plane of a room (by means of wheels or caterpillars or a mobile platform) or rail-guided. The robot is designed such that the actuator can grasp a charging plug of a charging station and can perform the insertion process. For example, the actuator is designed as a gripper. After completing the insertion process, the actuator releases the charging plug and the robot moves to a different position. This makes it possible for a robot to be assigned to several charging stations and to be able to perform several plug-in operations in succession while the charging processes are still running. Ie. The connection robot charging plug is canceled after completion of the insertion process but before completion of loading. The robot can then be moved to the release of the charging plug to another charging station or moved to a parking position. Preferably, the pulling out of the charging plug is analogous, ie the robot is moved to the corresponding charging station and pulls the charging plug out. Then the robot places the charging plug back in the charging station.
In einer Ausführungsform weist der Roboter einen weiteren Aktor auf, der derart ausgebildet ist, dass dieser automatisch eine Ladeklappe öffnen oder schließen kann. Es ist aber auch möglich, den gleichen Aktor zu verwenden, der zunächst die Ladeklappe öffnet, anschließend den Ladestecker greift und einsteckt. Alternativ kann das Öffnen oder Schließen der Ladeklappe automatisch durch das Fahrzeug oder manuell durch eine Person erfolgen. In one embodiment, the robot has a further actuator, which is designed such that it can automatically open or close a loading flap. But it is also possible to use the same actuator, which first opens the tailgate, then the charging plug engages and inserted. Alternatively, the opening or closing of the tailgate can be done automatically by the vehicle or manually by a person.
In einer weiteren Ausführungsform weist der Roboter mindestens ein Krafterfassungsmittel auf, wobei der Roboter mindestens teilweise während des Einsteckvorgangs kraftgeregelt ist, so wie dies in der
In einer weiteren Ausführungsform weist der Roboter mindestens einen Aktor auf, der eine Verriegelung zwischen Ladestecker und Schnittstelle lösen kann. Dabei kann es sich um einen separaten Aktor handeln oder aber der Aktor zum Greifen des Ladesteckers oder der Aktor zum Öffnen oder Schließen der Ladeklappe ist multifunktional ausgebildet. Der Aktor kann auch derart ausgebildet sein, dass dieser eine Verriegelung durchführt, wobei diese vorzugsweise jedoch automatisch erfolgt. In a further embodiment, the robot has at least one actuator which can release a lock between the charging plug and the interface. It may be a separate actuator or the actuator for gripping the charging plug or the actuator for opening or closing the tailgate is designed to be multifunctional. The actuator can also be designed such that it performs a locking, but this preferably takes place automatically.
In einer weiteren Ausführungsform weist der Roboter eine Kommunikationsschnittstelle und eine Steuereinheit auf, wobei dem Roboter eine Position eines Fahrzeugs mitgeteilt wird, wobei über die Steuereinheit der Roboter automatisch zum Fahrzeug bewegt wird. Die Positionsdaten kann dabei eine Zentrale oder das Fahrzeug selbst übermitteln. In another embodiment, the robot has a communication interface and a control unit, wherein the robot is informed of a position of a vehicle, wherein the robot is automatically moved to the vehicle via the control unit. The position data can transmit a central office or the vehicle itself.
In einer weiteren Ausführungsform weist der Roboter mindestens eine Kommunikationsschnittstelle und eine Steuereinheit auf, wobei über die Kommunikationsschnittstelle dem Roboter Daten über die Schnittstelle und/oder die Ladeklappe mitgeteilt werden, wobei der Roboter in Abhängigkeit der übermittelten Daten einen Ladestecker auswählt und/oder eine Aktorik auswählt oder ansteuert. Die Daten können dabei von einer Zentrale oder dem Fahrzeug übertragen werden. In a further embodiment, the robot has at least one communication interface and a control unit, data being communicated to the robot via the interface and / or the loading flap via the communication interface, the robot selecting a charging plug in dependence on the transmitted data and / or selecting an actuator or driving. The data can be transmitted from a central office or the vehicle.
Hinsichtlich der verfahrensmäßigen Ausbildung kann vollinhaltlich auf die vorangegangenen Ausführungen zum Roboter Bezug genommen werden. With regard to the procedural training, reference may be made in full to the previous statements regarding the robot.
Die Erfindung wird nachfolgend anhand eines bevorzugten Ausführungsbeispiels näher erläutert. Die einzige Figur zeigt eine schematische Darstellung einer elektronischen Ladestation. The invention will be explained in more detail below with reference to a preferred embodiment. The single FIGURE shows a schematic representation of an electronic charging station.
Die elektronische Ladestation
Möchte nun ein Kraftfahrzeugführer sein Fahrzeug
Ist der Ladevorgang abgeschlossen oder soll dieser vorzeitig beendet werden, fährt der Roboter
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- DE 102009006982 A1 [0005] DE 102009006982 A1 [0005]
- DE 102012014936 A1 [0006, 0013, 0013] DE 102012014936 A1 [0006, 0013, 0013]
Claims (10)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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DE102015213160.2A DE102015213160A1 (en) | 2015-07-14 | 2015-07-14 | Robot and method for the automated insertion of a charging plug |
CN201610826731.0A CN106379185B (en) | 2015-07-14 | 2016-07-14 | The robot and method of autopatching for charging connector |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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DE102015213160.2A DE102015213160A1 (en) | 2015-07-14 | 2015-07-14 | Robot and method for the automated insertion of a charging plug |
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DE102015213160A1 true DE102015213160A1 (en) | 2017-01-19 |
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DE102015213160.2A Ceased DE102015213160A1 (en) | 2015-07-14 | 2015-07-14 | Robot and method for the automated insertion of a charging plug |
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CN (1) | CN106379185B (en) |
DE (1) | DE102015213160A1 (en) |
Cited By (14)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102016014463A1 (en) * | 2016-12-05 | 2018-06-07 | Kuka Roboter Gmbh | Supply of a motor vehicle by means of a robot system |
DE102017101291A1 (en) | 2017-01-24 | 2018-07-26 | Lisa Dräxlmaier GmbH | METHOD FOR LOADING A BATTERY SYSTEM |
DE102017205594A1 (en) | 2017-04-03 | 2018-10-04 | Audi Ag | A robotic device for establishing a charging connection between a charging device and an energy storage unit of a motor vehicle |
DE102017209713A1 (en) | 2017-06-08 | 2018-12-13 | Audi Ag | A method of operating a cover device for covering a connection element of a motor vehicle, release device, and motor vehicle |
DE102017007213A1 (en) | 2017-07-29 | 2019-01-31 | Daimler Ag | Mobile charging station |
DE102017217601A1 (en) * | 2017-10-04 | 2019-04-04 | Thyssenkrupp Ag | Method for producing a plug connection |
WO2019091674A1 (en) * | 2017-11-10 | 2019-05-16 | Volkswagen Ag | Mobile charging station and method for charging an electric vehicle |
DE102017221059A1 (en) | 2017-11-24 | 2019-05-29 | Audi Ag | Charging station for an electric vehicle and method for operating a charging station |
CN110014965A (en) * | 2017-12-20 | 2019-07-16 | 上海自放智能科技有限公司 | A kind of full-automatic charging station |
DE102018104759A1 (en) | 2018-03-02 | 2019-09-05 | Forward Ttc Gmbh | Method and device for automatically connecting a charging connection with a charging connection receptacle of a vehicle, in particular a land vehicle |
WO2020011411A1 (en) * | 2018-07-09 | 2020-01-16 | Innogy Se | Charging system for charging energy stores of electric vehicles |
CN113964915A (en) * | 2021-11-08 | 2022-01-21 | 北京华能新锐控制技术有限公司 | Control method for cooperative work of multi-working-part track robot |
US11267357B2 (en) * | 2018-11-02 | 2022-03-08 | Toyota Jidosha Kabushiki Kaisha | Charging system |
CN114312793A (en) * | 2021-12-31 | 2022-04-12 | 上汽大众汽车有限公司 | Track pattern matching method, track pattern matching system and computer-readable storage medium |
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EP3582995A4 (en) * | 2017-02-16 | 2021-01-13 | Buffers USA, Inc. | Device and method for automatically connecting a cable to a parked vehicle |
CN107097678A (en) * | 2017-06-02 | 2017-08-29 | 深圳市中科利亨车库设备有限公司 | One kind charging robot and charging implementation method |
CN112564235A (en) * | 2020-12-15 | 2021-03-26 | 上海有个机器人有限公司 | Robot charging stress release method and device, terminal and storage medium |
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