CN108146264A - Supplying a motor vehicle by means of a robot system - Google Patents

Supplying a motor vehicle by means of a robot system Download PDF

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Publication number
CN108146264A
CN108146264A CN201711267431.4A CN201711267431A CN108146264A CN 108146264 A CN108146264 A CN 108146264A CN 201711267431 A CN201711267431 A CN 201711267431A CN 108146264 A CN108146264 A CN 108146264A
Authority
CN
China
Prior art keywords
motor vehicle
interface unit
robot
mobile robot
mobile
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201711267431.4A
Other languages
Chinese (zh)
Inventor
诺伯特·赛特勒
D·舒茨
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Volkswagen AG
KUKA Deutschland GmbH
Original Assignee
KUKA Roboter GmbH
Volkswagen AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by KUKA Roboter GmbH, Volkswagen AG filed Critical KUKA Roboter GmbH
Publication of CN108146264A publication Critical patent/CN108146264A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • 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
    • 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
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
    • 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
    • B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
    • 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

Abstract

A method according to the invention for replenishing at least one motor vehicle by means of a robot system comprises at least one of the following sequences of steps: after at least partially automatically navigating or positioning the motor vehicle, in particular, into the installation position and/or positioning the mobile base of the mobile robot, in particular, relative to the motor vehicle, the first connecting means and the second connecting means are connected according to the determined force on the first connecting means; and/or depending on the position of the motor vehicle, in particular of the installation position of the motor vehicle and/or of the second connecting means of the motor vehicle, a first connecting means, in particular the most favorable connecting means for the vehicle, is selected from the at least two connecting means and/or a mobile robot, in particular the most favorable mobile robot for the vehicle, is selected from the at least two mobile robots of the robot group, and the first connecting means, in particular the selected mobile robot, is approached and stored.

Description

It is fed by means of robot system to motor vehicle
Technical field
It is used for the present invention relates to a kind of by means of robot system to the energy accumulator charging of motor vehicle and/or to motor-driven A kind of method of the fuel tank refuelling of vehicle and for performing a kind of robot system of this method and computer program product.
Background technology
A kind of method for charging to motor vehicle as known to WO 2014/015991A1, wherein, robot is based on by machine The power of the force detector part detection of device people connects plug and the pairing plug of vehicle side.
Invention content
The purpose of the present invention is improve adding for the fuel tank of the charging of the energy accumulator of motor vehicle and/or motor vehicle to fire Material.
The purpose of the present invention is realized by the method for the feature with claim 1.Claim 5,9 claimed one Plant the robot system or computer program product for performing method as described herein.Dependent claims are related to advantageous Improvement project.
An embodiment according to the present invention, for giving one or more motor vehicles, especially one or more carrying vapour The robot system of vehicle supply of electrical energy and/or fuel and/or gas has robot group and especially distributed and/or layer-stepping Controller, robot group has the identical and/or multiple and different removable movement machine of one or more especially multiple structures People.
In one embodiment, the identical mobile robot of structure advantageously can be replaced mutually and alternatively be made in other words With and/or similarly run, and can have from the robot group with different mobile robots in one embodiment Sharp ground respectively using, especially select in mobile robot different in especially structure especially especially suitable for corresponding machine The mobile robot of motor-car and/or its stand.
In one embodiment, be arranged for will be by one for robot system, especially its robot and/or controller The first interface unit and vehicle of a mobile robot guiding in the mobile robot or multiple mobile robots Side the second interface unit connection, to give the energy accumulator of (corresponding) motor vehicle charge and/or to (corresponding) it is motor-driven The fuel tank refuelling of vehicle is used for this.
An embodiment according to the present invention, for especially giving one parallel and/or sequentially by means of robot system Or multiple motor vehicles, especially one or more passenger car supply of electrical energy and/or the method for fuel and/or gas are with following Sequence of steps：By the complete or partial self-navigation of the motor vehicle or positioning especially on installation position and/or will be described removable After the movable base of mobile robot is positioned especially with respect to the motor vehicle, according to or based on first interface unit Identified power connects first interface unit and the second interface unit.
In one embodiment, by self-navigation at least partly or positioning motor vehicle and/or automatic at least partly Position the movable base of mobile robot, can realize motor vehicle and mobile robot (relative to each other) it is advantageous, Especially safe and/or compact configuration.
In one embodiment, (positioning) occur herein or leaving inaccuracy can be advantageous by first and Power in other words that the power of two interface units is guided is controlled, connection that especially power is conditioned compensates, and therefore into one Step improves, especially automatic and/or (compared with) safety and/or (compared with) are efficiently performed to the supply of motor vehicle.
In order to more compactly introduce, the adjusting carried out based on the actual value of feedback is manipulated in other words in the present invention Control referred to as in the sense of the present invention, not parallel couple or torque are referred to as power in the sense of the present invention.
Additionally or alternatively, an embodiment according to the present invention, for by means of robot system it is especially parallel and/ Or sequence is to one or more motor vehicles, especially one or more passenger car supply of electrical energy and/or fuel and/or gas Method has the following steps sequence：According to the motor vehicle, the especially current or predicted position of especially described motor vehicle, institute State especially current or the second interface unit of prediction installation position and/or the motor vehicle the current or prediction of motor vehicle Position, from or by two or more (selected in potential first) interface unit especially for vehicle it is best first connect It connects device and/or is selected from or by two or more mobile robots of the robot group particularly with vehicle most Advantageous mobile robot, and the especially selected come approaching and storage using the mobile robot especially selected Connector piece.
Thus, it is possible to respectively using in multiple interface units for the best interface unit of vehicle and/or it is multiple can In mobile robot for the best mobile robot of vehicle.Thus, for example in one embodiment, removable movement machine People can optionally store respectively it is multiple (interface unit as follows in potential first) interface unit and by its in order to It feeds to motor vehicle and is connect with the second interface unit of the motor vehicle, i.e., the interface unit is with being somebody's turn to do (corresponding) motor vehicle distance Recently, the e.g. interface unit of dispensing one or more installation position respectively.Additionally or alternatively, described potential first Potential first interface unit in interface unit potential first interface units multiple in other words optionally can be by different Such robot in mobile robot is stored and is connect with the second interface unit of motor vehicle, i.e., the robot is with being somebody's turn to do (corresponding) motor vehicle it is closest and/or especially in structure (compared with) suitable for this.
Correspondingly, in one embodiment, (first) interface unit as follows is elected as most having vehicle (first) interface unit of profit, the i.e. interface unit and motor vehicle to be supplied and/or the motor vehicle it is especially current or pre- The installation position of survey is closest and/or the interface unit is idle can dominate in other words and/or interface unit Especially it is structurally adapted to, is especially optimally adapted to the motor vehicle, is used as in one embodiment best for vehicle Mobile robot is mobile robot as follows, i.e. the mobile robot and motor vehicle to be supplied and/or should Especially current or prediction the installation position of motor vehicle is closest and/or the mobile robot is in other words for free time The dominate and/or mobile robot is especially structurally adapted to, is especially optimally adapted to the motor vehicle, the motor vehicle Especially current or prediction installation position and/or suitable for especially selecting in other words for vehicle best (first) Interface unit.
In one embodiment, the method is gone back especially other than selecting the first interface unit and/or mobile robot With the following steps：Completely or partially automatically by motor vehicle navigation or positioning especially on installation position and/or completely or portion Point automatically by the movable base of the mobile robot, especially mobile robot, especially mobile robot, The movable base of especially described mobile robot is relative to motor vehicle navigation or positioning.
Thus, it is possible to the advantageous, especially of motor vehicle and mobile robot (relative to each other) is realized in one embodiment It is the configuration that (compared with) is safe and/or (compared with) is compact.
Additionally or alternatively, in one embodiment, the method is especially in addition to selecting the first interface unit and/or can Also there are the following steps except mobile robot：According to power identified on the first interface unit, especially completely or partially from Perform and/or evaluate dynamicly the connection of the first and second interface units.
Just as having illustrated, especially (positioning) inaccuracy can be in one embodiment advantageous by One and second interface unit the power in other words that is guided of power is controlled, connection that especially power is conditioned compensates, and because This improves, especially automatic and/or (compared with) safety and/or (compared with) efficiently perform the supply of motor vehicle.By according to determining Power, especially connect during the change curve of power evaluate the connection, can be in one embodiment advantageously to the One and the second connection status between interface unit assessed and trigger corresponding reaction, especially provide Trouble Report and/ Or prevent connection and/or charging or refuelling (if the connection is unsatisfactory for previously given standard) or charging or refuelling only It is just allowed to or performs in the case where the connection meets previously given standard.
In one embodiment, the power on the first interface unit, especially before proceeding, during and/or after by Connector piece applies and/or the power that is applied on the first interface unit therefore especially goes back moment, is by mean of one The force detector part of formula or multi-piece type and/or single shaft or multiaxis determines that the force detector part can be with cloth in an improvement project It puts on the first interface unit and/or between the first interface unit and mobile robot, especially in mobile robot Incorporating section and/or (tool) flange on or the incorporating section of joint arm of robot and/or (tool) flange on and/or in machine Device people, especially on one or more joints of joint arm, especially joint driver and/or in the joint arm and machine Between the movable base of people and/or the force detector part can have one or more uniaxial or multiaxis force snesors, because This especially (power -) torque sensor.Therefore, it is particularly possible to pass through the power detected on the joint of joint arm (driver) The power for being calculated by, especially by model supports being converted on the first interface unit guided by robot (arm).
Additionally or alternatively, in one embodiment, the method especially in addition in self-navigation at least partly or Except progress power connects with being guided after positioning motor vehicle and/or moveable pedestal, there are the following steps：According to motor-driven Especially current or prediction the installation position of especially current or prediction the position of vehicle, especially motor vehicle, especially motor vehicle And/or current or prediction the position of the second interface unit of motor vehicle, from or by two or more, (potential first) is even It connects and is selected in device particularly with best first interface unit of vehicle and/or with the following steps：According to motor vehicle, especially It is motor vehicle especially current or prediction position, especially especially current or prediction the installation position of motor vehicle and/or Second interface unit of motor vehicle current or the position of prediction, from or by robot group two or more removable movement machines It is selected in people particularly with the best mobile robot of vehicle.
Just as having illustrated, it is possible thereby in one embodiment respectively using in multiple interface units for In the best interface unit of vehicle and/or multiple mobile robots for the best mobile robot of vehicle, and Therefore (further) improves the supply to motor vehicle.
Additionally or alternatively, in one embodiment, the method is especially in addition at least part self-navigation or calmly Carry out that also there are the following steps except power connects with being guided after position motor vehicle and/or movable base：Using especially selecting The first interface unit that the mobile robot approaching and storage gone out is especially selected.
Additionally or alternatively, in one embodiment, the method has the following steps：Especially unclamping the second connection It drives towards supporting arrangement after device and puts down the first interface unit guided by mobile robot.
As a result, in one embodiment, identical mobile robot sequence and/or can optionally guide different the Connector piece or by the first interface unit connect with the second interface unit and/or the first identical interface unit sequence and/or Optionally connect, and therefore (further) improve to motor vehicle by different mobile robot guiding or with the second interface unit Supply.
Additionally or alternatively, in one embodiment, the method has the following steps：By means of especially by described Mobile robot guiding or independently of the mobile robot it is moveable or fixed detection device to determine, especially It is sense of touch or especially two dimension that is touchless, especially optically determining second interface unit or three-dimensional pose and/or Orientation.
The detection device guided by mobile robot can advantageously be efficiently arranged in one in one embodiment to be had In the test position of profit, independently of the mobile robot it is arranged in independently of the removable detection device of mobile robot In one advantageous test position (such as during mobile robot also stores the first detection device or during similar situation).It is logical Fixed detection device is crossed, can advantageously reduce the consuming in relation to instrument and/or the consumption in relation to controlling in one embodiment Take.
In one embodiment, higher level's key-course grade of higher level's control hierarchy in other words of controller, the especially controller Upper-level leader's controller and the robot of one or more motor vehicles and/or one or more mobile robots control in other words Device especially parallel and/or sequentially, wireless communication, in particular for performing one or more of step described here Step is especially arranged for this in hardware technology and/or software technology, especially program technic in other words, is improved one Based on wlan standard, RFID technique etc. in scheme.
The navigation of the pedestal of (multiple) motor vehicle and one or more robots can be improved particularly by this communication Or positioning and/or improve energy accumulator charging fuel tank in other words refuelling.
In one embodiment, one or more of multiple mobile robots can in other words for the mobile robot Mobile robot (difference) has especially not connected or freely movable movable base, movable base have drive Dynamic device group, driver group be used at least, especially just two translations, in especially horizontal degree of freedom and/or at least, Especially just what a is especially moved in the rotary freedom of vertical line.In an improvement project, movable base can have Especially universal (omnidirektionales) and/or wheel traveling mechanism, crawler belt traveling mechanism or the chain row that can be turned to Sail mechanism etc..
As a result, mobile robot can advantageously approaching motor vehicle in one embodiment, especially make joint (machine People) arm pre-determined bit.
Additionally or alternatively, one or more of multiple mobile robots can in other words for the mobile robot (difference) has joint (robot) arm to mobile robot in one embodiment, and there are one joint (robot) arm tools or more A, especially at least four, especially at least six, especially at least seven joints, especially cradle head and have (each) joint driver, joint driver are used to make a joint or multiple joint motions.
Mobile robot, the removable motivation being pre-positioned in particular by means of the positioning of its movable base as a result, The first interface unit guided by it can advantageously be connect by device people with the second interface unit in one embodiment.
Additionally or alternatively, one or more of the mobile robot or multiple mobile robots are removable Robot, especially described mobile robot or one or more of multiple mobile robots mobile robots (difference) has especially movable incorporating section to joint (robot) arm in one embodiment, and the incorporating section especially shape is matched Conjunction and/or frictional fit and/or magnetism especially store the first interface unit or are set or are used in temporarily electromagnetically This.
As a result, in one embodiment, identical mobile robot sequentially and/or can be guided optionally different First interface unit or by the first interface unit connect with the second interface unit and/or the first identical interface unit sequentially And/or it is connect optionally by different mobile robot guiding or with the second interface unit, and therefore (further) improvement machine The supply of motor-car.
Additionally or alternatively, in one embodiment, robot system has one or more supporting arrangements, at these On supporting arrangement especially shape cooperation and/or frictional fit and/or magnetism, especially first connect described in temporary support electromagnetically It connects device and (distinguishes at least) first interface unit supported in multiple first interface units, the in other words bearing in other words Device is set is used in this in other words.
As a result, (corresponding) first interface unit can in one embodiment in the case of no needs advantageously by (centre) supports or is supplied to one or more mobile robots.
An embodiment according to the invention, robot system especially in hardware technology and/or in software technology, especially It is to be arranged for performing method as described herein in program technic and/or have：
Be used for by the motor vehicle at least partly self-navigation or positioning especially on installation position and/or by institute It states after the movable base of mobile robot positions especially with respect to the motor vehicle, for according to first connector The device that identified power connects first interface unit and the second interface unit on part；And/or
It is used for especially current or predicted position, the especially described machine according to the motor vehicle, especially described motor vehicle Especially current or the second interface unit of prediction installation position and/or the motor vehicle the current or predicted position of motor-car, It selects from least two interface units especially for best first interface unit of vehicle and/or from the robot group At least two mobile robots in select particularly with the best mobile robot of vehicle, and using especially selecting The device of the first interface unit that the mobile robot gone out carrys out approaching and storage is especially selected.
Device in the sense of the present invention can construct in hardware technology and/or software technology, especially have preferably with depositing That storage system and/or bus system connect in data or signal, especially digital processing unit, especially microprocessor (CPU) and/or with one or more programs or program module.CPU can be arranged for：Operation is embodied as being stored in storage The order of program in system；The input signal of detection data bus and/or provide is output signals on data/address bus.Storage system System can have one or more, especially different storage medium, especially optical, magnetic, solid and/or in addition Non-volatile media.The program can be implemented as follows, that is, and it embodies or can implement method as described herein, from And the step of CPU is allowd to implement this method and then it can especially control robot system, especially its robot (group) and/or one or more motor vehicles can be navigated or be positioned.
In one embodiment, the one or more, especially all of the method are automatically carried out completely or partially Step is performed especially by controller or its device.
The present invention has the advantages that (electricity) energy for being used for one or more motor vehicles, especially passenger car specially is deposited Reservoir fills (electricity), especially in underground parking etc., and is therefore then referred to this and is further illustrated.But one Additionally or alternatively the present invention can be used for the combustion of one or more motor vehicles, especially passenger car in embodiment Hopper refuelling, especially gasoline or diesel oil and/or especially liquefied gas, especially hydrogen.
One or more first interface units can correspondingly have, especially be exactly (charging) plug in one embodiment And/or ascending pipe, one or more second interface units correspondingly especially have, are especially exactly (electricity pairing) plug or socket And/or injection pipe fitting or fuel tank pipe fitting etc..In general, in one embodiment, the first and second interface units shape each other Shape cooperation and/or frictional fit and/or magnetism connect (temporarily each other) especially electromagnetically, are connected especially by plug, Or it is set or is used in this.
Description of the drawings
Other advantages and features in dependent claims and embodiment by obtaining.Partly schematically show thus：
Fig. 1：The robot system in the energy accumulator charging to motor vehicle according to one embodiment of the present invention Mobile robot；And
Fig. 2：According to one embodiment of the present invention for the side charged by means of robot system to energy accumulator Method.
Reference numerals list
10 mobile robots
11 robot controllers (controller)
12 movable bases
13 wheels
14 (wheel) drivers (group)
15 articulated robot arms/crank arm
16 incorporating sections
17 power (- torque) sensor
21 (the first interface unit) (charging) plugs 21
22AC walls box (supporting arrangement)
23 cables
30 central (leading) key-courses or supervisor's (controller)
40 motor vehicles
41 energy accumulators
42 pairing plug/sockets
43WLAN communication devices
50 cameras (detection device)
60 installation positions
Specific embodiment
Fig. 1 shows the machine in the charging of energy accumulator 41 to motor vehicle 40 according to one embodiment of the present invention The mobile robot 10 of people's system.
Mobile robot 10 has：Robot controller 11；Movable base 12 with wheel 13；And driving group 14, it is used to activate wheel, to travel and around vertical pivot axis in the degree of freedom of two horizontal translations；It cranks arm in joint 15, there are six moved or movable cradle head by joint driver for tool；And movable incorporating section 16, to Shape cooperation and/or frictional fit and/or magnetism, especially electromagnetically interim storage connects in the first of 21 form of (charging) plug Connect device.
Robot system has one or more other mobile robots in one embodiment, especially with can The identical one or more mobile robots of 10 structure of mobile robot and/or the removable motivation of one or more being different from Device people, for example, with it is different crank arm, especially arm (segmental appendage) size, the different structure height with movable base and/or The robot of different incorporating section (not shown).
Robot system has one or more especially identical supporting arrangements of structure, in these supporting arrangements, Fig. 1 In show supporting arrangement in 22 form of AC walls box.(multiple) supporting arrangement is in one embodiment by (difference) (in space On) dispensing one or more installation position, wherein, installation position 60 is shown in FIG. 1.
On one or more supporting arrangements in other words AC walls box 22, the charging plug or each charging plug 21 Especially shape cooperation and/or frictional fit and/or magnetism, especially it is supported temporarily electromagnetically, and pass through cable 23 With for the power supply of one or more motor vehicles chargings to be given to connect.
One or more mobile robots 10 (difference) guide a camera 50, optically to determine in pairing electricity The especially two dimension of the second interface unit of vehicle side of 42 form of plug or socket or three-dimensional pose and/or orientation, the camera It communicates thus with (corresponding) robot controller 11, just as the signal that is drawn by a dotted line in Fig. 1 transmits that arrow shows Sample.In unshowned change programme, one or more cameras can be additionally or alternatively independently of described in one or more Mobile robot is removable or fixed.
Robot system has controller.The controller includes (multiple) of one or more mobile robots 10 Central (leading) key-course of robot controller 11 and higher level or supervisor's controller 30, central (leading) key-course of the higher level or Be responsible for controller wirelessly, especially via wlan standard and one or more robot controllers 11 and the motor vehicle One or more of 40 communication devices 43 communicate or are arranged for communicate.
(leading) key-course or supervisor's controller 30 (wirelessly) control mobile robot 10 or the removable movement machine of instruction (multiple) robot controller 11 of people (wirelessly) indicates the navigation system of one or more motor vehicles 40 in one embodiment System or intelligent parking auxiliary device and control or indicate by means of AC walls box 22 charging process, just as in Fig. 1 by a dotted line As the signal transmission arrow drawn is shown.
Robot system perform according to one embodiment of the present invention be used for by means of mobile robot 10 come to energy The method that reference chart 2 that memory 41 charges, subsequent is illustrated.
In step slo, (each) motor vehicle 40 is by means of the channel radio with (leading) key-course or supervisor's controller 30 Letter, automatic or autonomous positioning to a described or installation position appropriate, especially idle and/or suitable for motor vehicle size On 60 or it is navigated to the installation position.
In step S20, central (leading) key-course or supervisor's controller 30 select, especially sky best to vehicle Not busy and/or (most) suitable for motor vehicle size and/or for motor vehicle or motor vehicle current or prediction installation position away from From nearest mobile robot 10.If robot system only has unique mobile robot, then it is of course possible to take Disappearing, this is selected.
In step S20, central (leading) key-course or be responsible for controller 30 () select it is best to vehicle, especially Idle and/or (most) suitable for motor vehicle size and/or for motor vehicle or (current or prediction) installation position distance Nearest (charging) plug 21.If robot system is only with unique plug or only with unique AC walls box 22, then It is selected it is of course possible to cancel this.
It is dispatched by central (leading) key-course or supervisor's controller 30, in step S20, it is possible to which what is be selected is removable 10 approaching of mobile robot is it is possible that the AC walls box 22 that is selected and obtain it is possible that (charging) plug 21 being selected.
Next, central (leading) key-course or supervisor's controller 30 are in step 30 to motor vehicle 40 or installation position 60 Dispatch the movable base 12 of robot 10 and in this way by (pre-) positioning of the movable base.
In step s 40, robot controller 11 by means of camera 50 determine pairing plug or socket 42 pose and/ Or orientation, will crank arm 15 is correspondingly pre-positioned, and next guided (charging) plug 21 guided by robot by power Ground is plugged on pairing plug or in socket 42.Associatedly, addedly referring also to the WO 2014/ being initially mentioned Its content is simultaneously fully incorporated in the application by 015991A1.In this embodiment, robot 10 has in incorporating section 16 thus And power (- torque) sensor 17 cranked arm between 15.In a change programme, it can also additionally or alternatively be based on being detected To joint power determine to be applied to the power applied on (charging) plug 21 or by (charging) plug.
In step s 50, robot controller 11 evaluates grafting process or the herein change curve of identified power, and will As a result central (leading) key-course or supervisor's controller 30 are sent to.
Here, if it is determined that grafting is to the successful grafting process of 21-42 or the state (S50 of permission：" Y "), then System or method are continued with step S60, in this step, pass through AC walls box 22, cable 23, (charging) plug 21 and pairing Plug or socket 42 charge to energy accumulator.For this purpose, (leading) key-course or supervisor's controller 30 can (wirelessly) and machine Motor-car 40 or its communication device 43 communicate, such as charge volume of communication expectation etc., and are correspondingly controlled by means of AC walls box 22 Charging process processed.
If obtaining following evaluation in step s 50, i.e., grafting procedure failure or do not reach permission of the grafting to 21-42 State (S50：" N "), then the supply of corresponding Trouble Report and interruption to motor vehicle 40 is provided in step S70.
In step S80, (leading) key-course or supervisor's controller 30 monitor charging process.Once detect interrupt condition (S80：" Y "), such as reach expected or maximum charge volume or detect the opening of motor vehicle door or the movement of motor vehicle etc., that System or method are continued with step S90, otherwise (S80：" N ") continue charging process.
In step S90, mobile robot 10 crank arm 15 release plug connections or make (charging) plug 21 with pairing Plug or socket 42 unclamp.Next, mobile robot 10 sails back AC walls box 22 and (charging) plug 21 is placed on the AC walls On box.
As long as there is (new or other) motor vehicle to be positioned in dispensing AC wall boxes to charge to its energy accumulator On 22 installation position, then robot 10 can certainly directly continue by the motor vehicle of step S30, and in advance not It puts down and stores (charging) plug 21 again.
It is known that in one embodiment, by using with installation position is closest or dispensing installation position 60 , mobile robot 10 thus from AC walls box store the first interface unit 21, it can be advantageous to shorten cable path and because This can especially reduce the danger that cable 23 is stuck.It, can be in one embodiment by using mobile robot 10 The advantageously different installation position 60 of approaching or supply or vehicle 40.By vehicle 40 or movable base 12 at least partly certainly (grafting) connection that power after navigating or position dynamicly is guided, can advantageously compensate and occur herein in one embodiment Position inaccuracy.
Although illustrating illustrative embodiment in description in front, however, it is noted that many variant schemes are Feasible.Furthermore, it is noted that these exemplary implementations are only example, they should not in any way limit protection Range, application scheme and structure.Exactly, by the description of front to those skilled in the art provide conversion it is at least one The introduction of exemplary implementation, wherein, several changes especially in terms of the function and arrangement of described component part Scheme can be without departing from just as from claims and the feature equivalent with claims combines obtained protection domain In the case of carry out.

Claims (9)

1. one kind is for the method that at least one motor vehicle (40) are fed by means of robot system, the robot system tool Have：Robot group, the robot group have at least one mobile robot (10)；Controller (11,30), for will be by described The first interface unit (21) of mobile robot (10) guiding is connect with the second interface unit (42) of vehicle side, described to give Energy accumulator (41) charging of motor vehicle (40) and/or the fuel tank refuelling to the motor vehicle, the robot system Especially in accordance with the robot system described in any one of claim 5 to 8, the method has in the following steps sequence extremely A few sequence of steps：
By the motor vehicle (40) at least partly self-navigation or positioning (S10) especially arrive on installation position (60) and/or After the mobile foundation (12) of the mobile robot (10) is positioned (S30) especially with respect to the motor vehicle (40), according to Identified power connects first interface unit and the second interface unit (21,42) on first interface unit (21) (S40)；And/or
According to the motor vehicle (40), the position of especially described motor vehicle (40), especially described motor vehicle installation position (60) and/or the position of the second interface unit of the motor vehicle (42) (S20), is selected from least two interface units especially It is to select for best first interface unit of vehicle (21) and/or from least two mobile robots of the robot group Go out particularly with the best mobile robot of vehicle (10), and utilize the especially selected mobile robot (10) Carry out approaching and store (S20) especially selected first interface unit (21).
2. according to the method described in claim 1, it is characterized in that at least one of the following steps step：
Make the motor vehicle (40) at least partially automatically navigate or position (S10) especially arrive on installation position (60) and/or Make the mobile robot (10), especially described mobile robot (10) mobile foundation (12) especially relative to the machine Motor-car (40) at least partially automatically navigates or positions；And/or
Connected according to identified power on first interface unit (21) to perform (S40) and/or evaluation (S50) described first Connect the connection of device and the second interface unit (21,42)；And/or-according to the motor vehicle (40), especially described motor vehicle (40) the second interface unit (42) of position, the installation position (60) of especially described motor vehicle and/or the motor vehicle (S20) is selected especially for best first interface unit (21) of vehicle in position from least two interface units；With/ Or
Using the especially selected mobile robot (10) approaching and store first especially selected connection of (S2) Device (21)；And/or
According to the motor vehicle (40), the position of especially described motor vehicle (40), especially described motor vehicle installation position (60) and/or the position of the second interface unit of the motor vehicle (42) machines, are moved from at least two of the robot group (S20) is selected in people especially for the best mobile robot of vehicle (10)；And/or
Approaching (S90) supporting arrangement (22) simultaneously puts down the first interface unit (21) guided by the mobile robot (10)； And/or
By means of especially by the mobile robot (10) guiding or independently of the movement of the mobile robot or solid Fixed detection device (50) to determine, especially sense of touch or it is touchless, especially optically determine (S40) described second connector The especially two dimension of part (42) or three-dimensional pose and/or orientation.
3. according to any method of the preceding claims, which is characterized in that the controller (30) wirelessly with institute Robot controller (11) communication of motor vehicle (40) and/or the mobile robot (10) is stated, it is especially described to perform At least one of step step.
4. according to any method of the preceding claims, which is characterized in that the mobile robot (10) has：
Mobile foundation (12), the mobile foundation have driver group (14), and the driver group is used at least two translations It is moved in degree of freedom and/or at least one rotary freedom；And/or joint arm (15), the joint arm have at least one Joint, especially cradle head and the joint driver for moving it；And/or especially movable incorporating section (16), The movable incorporating section is for the cooperation of especially shape and/or frictional fit and/or magnetism, especially electromagnetically interim Store first interface unit (21)；And/or
The robot system has supporting arrangement (22), and the supporting arrangement is matched for the cooperation of especially shape and/or friction It closes and/or magnetic, especially the first interface unit (21) described in temporary support electromagnetically.
5. one kind, for feeding the robot system of at least one motor vehicle (40), the robot system has：Robot group, The robot group has at least one mobile robot (10)；Controller (11,30), the controller is used for will be by the shifting The first interface unit (21) of mobile robot (10) guiding is connect with the second interface unit (42) of vehicle side, to give the machine Energy accumulator (41) charging of motor-car (40) and/or the fuel tank refuelling to the motor vehicle, the robot system quilt It is arranged for carrying out according to any method of the preceding claims and/or has：
Be used for by the motor vehicle (40) at least partly self-navigation or positioning especially arrive on installation position (60) and/or After the mobile foundation (12) of the mobile robot (10) is positioned especially with respect to the motor vehicle (40), according to described the The device that identified power connects first interface unit and the second interface unit (21,42) on connector piece (21)； And/or-for according to the motor vehicle (40), the position of especially described motor vehicle (40), especially described motor vehicle peace The position of seated position (60) and/or the second interface unit (42), is selected from least two interface units especially for vehicle Best first interface unit (21) and/or selected from least two mobile robots of the robot group particularly with The best mobile robot of vehicle (10), and for outstanding come approaching and storage using the mobile robot (10) especially selected It is the device of the first interface unit (21) selected.
6. according to the robot system described in previous claim, it is characterised in that：
It especially arrives installation position (60) for the motor vehicle (40) to be made at least partially automatically to navigate or position and/or makes The mobile robot (10), especially described mobile robot (10) mobile foundation (12) especially relative to described motor-driven The device that vehicle (40) at least partially automatically navigates or positions；And/or
It is used to perform and/or evaluate first interface unit according to identified power on first interface unit (21) With the device of the connection of the second interface unit (21,42)；And/or
It is used for according to the motor vehicle (40), the placement of the position, especially described motor vehicle of especially described motor vehicle (40) The second interface unit (42) of position (60) and/or the motor vehicle is selected from least two interface units especially for vehicle The device of best first interface unit (21)；And/or
It is used for the first interface unit (21) especially selected using mobile robot (10) approaching and storage especially selected Device；And/or
It is used for according to the motor vehicle (40), the placement of the position, especially described motor vehicle of especially described motor vehicle (40) The position of the second interface unit (42) of position (60) and/or the motor vehicle is from least two moving machines of the robot group The device especially for the best mobile robot of vehicle (10) is selected in device people；And/or
It is used for approaching supporting arrangement (22) and puts down the dress of the first interface unit (21) guided by the mobile robot (10) It puts；And/or
It is used for by means of especially by the mobile robot (10) guiding or independently of the mobile robot movement Or it is fixed detection device (50) to determine, especially sense of touch or it is touchless, especially optically determine second connector The especially two dimension of part (42) or three-dimensional pose and/or the device of orientation.
7. robot system according to any one of the preceding claims, it is characterised in that in the controller (30) The device carried out wireless communication between the motor vehicle (40) and/or the robot controller (11) of the mobile robot (10) Part (11,31,43).
8. robot system according to any one of the preceding claims, which is characterized in that the mobile robot (10) Have：
Mobile foundation (12), the mobile foundation have driver group (14), and the driver group is used at least two translations It is moved in degree of freedom and/or at least one rotary freedom；And/or joint arm (15), the joint arm have at least one Joint, especially cradle head and the joint driver for moving it；And/or especially movable incorporating section (16), The movable incorporating section is for the cooperation of especially shape and/or frictional fit and/or magnetism, especially electromagnetically interim Store first interface unit (21) and/or
The robot system has supporting arrangement (22), and the supporting arrangement is matched for the cooperation of especially shape and/or friction It closes and/or magnetic, especially the first interface unit (21) described in temporary support electromagnetically.
9. a kind of computer program product, with program code, which is stored in the medium that can be read by computer On, the computer program product is used to perform according to any method of the preceding claims.
CN201711267431.4A 2016-12-05 2017-12-05 Supplying a motor vehicle by means of a robot system Pending CN108146264A (en)

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