CN111619388A - Intelligent charging device for electric automobile - Google Patents
Intelligent charging device for electric automobile Download PDFInfo
- Publication number
- CN111619388A CN111619388A CN202010628447.9A CN202010628447A CN111619388A CN 111619388 A CN111619388 A CN 111619388A CN 202010628447 A CN202010628447 A CN 202010628447A CN 111619388 A CN111619388 A CN 111619388A
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- Prior art keywords
- robot
- charging
- electric automobile
- electric
- automobile
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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
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
- B60L53/30—Constructional details of charging stations
-
- 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
- B60L53/31—Charging columns specially adapted for 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
- B60L53/60—Monitoring or controlling charging stations
- B60L53/65—Monitoring or controlling charging stations involving identification of vehicles or their battery types
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
An intelligent charging device for an electric automobile comprises a charging pile, a parking frame for parking the automobile and a movable robot, wherein a control system, a vision system, a positioning system, a camera and a plurality of various sensors are arranged on the robot; when the automobile is parked in the parking frame, the robot moves to the charging pile, takes out the charging gun by using the manipulator arranged on the robot, and then drives the charging gun to be inserted into the automobile charging port; during the charging process of the automobile, the robot can leave and provide services for other automobiles; and after the automobile is charged, the robot moves to the automobile again, takes out the charging gun and puts back the charging gun to the charging pile. This electric automobile intelligent charging device can improve the convenience of setting up and the utilization ratio of filling electric pile and jiffy stand, and the work of robot is quick, accurate, sets up adjustment mechanism on the jiffy stand simultaneously and is used for adjusting the car position in order to cooperate the robot, can improve the work accuracy and satisfy the use needs of all kinds of cars to improve charging device's application scope.
Description
Technical Field
The invention relates to charging equipment, in particular to an intelligent charging device for automatically charging an electric automobile.
Background
With the continuous development of automobile technology, electric automobiles are widely used. Electric automobile adopts electric power as the energy, is provided with the mouth that charges of connecting the rifle that charges and covers the lid that charges that the protection charges the mouth on it, and the rifle that charges fills electric pile through the connection of electric lines. When charging electric automobile, need the user to pull out the rifle that charges from filling electric pile, then insert electric automobile's the mouth that charges on, pull out the rifle that charges again after accomplishing charging. But artifical plug needs the user to pay close attention to the charging condition for a long time, and most users can't in time pull out the rifle that charges, not only harm car battery, still can lead to filling electric pile to be taken for a long time, has greatly reduced its utilization ratio, causes the tension of charging parking stall.
In view of this, automatic charging equipment such as a mobile charging robot and a mechanical arm charging pile is adopted at present to replace manual operation of charging of an electric vehicle. The mobile charging robot is a mobile robot with a large-capacity battery, and electric energy is stored in an internal battery and then is moved to an automobile and connected with the automobile for charging. However, the robot has extremely low working efficiency and serious electric energy consumption, and the internal high-capacity battery has high manufacturing cost and great potential safety hazard. The electric pile is filled to the arm is external a arm on traditional electric pile that fills to the rifle that will charge is placed on the arm, and after the car drove into the assigned position, the arm stretches out again so that the rifle that charges inserts the car mouth that charges. However, the mechanical arm charging pile has extremely high requirements on an installation site and a parking position of an automobile, has a low application range, cannot be simultaneously applied to various automobile types, and can only set specific mechanical arms for different automobile types to perform one-to-one service; meanwhile, even after the electric automobile is charged, if the automobile owner can not take away the automobile in time, the charging pile can not continue to work, and the utilization rate of the charging pile can not be effectively improved.
Disclosure of Invention
The invention aims to provide a charging device capable of intelligently charging a plurality of electric automobiles so as to improve the charging efficiency of the automobiles and the utilization rate of charging piles.
The invention relates to an intelligent charging device for an electric automobile, which comprises a charging pile, a movable robot and a jiffy stand, wherein the charging pile is connected with a charging gun through an electric wire; the robot is provided with a control system, a sensor for detecting the position of an object and a manipulator for grabbing and driving the charging gun to move, the control system receives signals of the sensor and drives the manipulator to work according to a control instruction, and the manipulator pulls out the charging gun according to the working instruction and inserts the charging gun into a charging port of an electric automobile or pulls out the charging gun from the charging port of the electric automobile and puts the charging gun on a charging pile; the parking frame is provided with an adjusting mechanism which can drive the electric automobile to lift up and down and/or move horizontally.
According to the intelligent charging device for the electric automobile, the robot is provided with a moving mechanism for driving the robot to move and various sensors for detecting positions and objects; the electric automobile to be charged is fixedly parked on the parking frame, and the charging pile for charging the electric automobile is arranged near the parking frame. After the electric automobile is parked, the adjusting mechanism moves the electric automobile to a corresponding position required by charging, meanwhile, the robot moves to a corresponding charging pile, a manipulator on the robot grabs and extracts a charging gun on the charging pile, then the robot drives the charging gun to move to the electric automobile, and the manipulator accurately inserts the charging gun into a charging opening on the electric automobile; after that, the robot leaves the current parking space, moves to a waiting position or provides required services for other electric vehicles; after the electric vehicle is charged, the robot moves to the electric vehicle again, the charging gun is pulled out and placed back to the charging pile again; then, the adjusting mechanism moves the electric automobile which is charged completely away, and moves other automobiles to be charged to a charging position; and in the process, the sensors on the robot continuously detect the surrounding environment, so that the robot can clearly determine the specific positions of surrounding objects, the charging pile and the electric automobile, and can more accurately take, place and plug the charging gun. According to the intelligent charging device for the electric automobile, the charging pile and the parking frame are connected through the movable robot, so that the charging pile and the parking frame can be arranged more conveniently, and the limitation on the specification and installation of the charging pile and the parking frame is reduced; the robot is provided with a moving mechanism and various sensors, so that the robot can move conveniently, quickly and accurately, and the manipulator on the robot can flexibly operate the charging gun; the parking frame and the adjusting mechanism can prevent the charged automobile from occupying the charging potential for a long time, and after the electric automobile is plugged in the charging gun, the robot can provide service for other automobiles, so that the utilization rate of all equipment can be greatly improved, and the setting requirements of the charging pile and the robot can be reduced.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent charging device for an electric vehicle.
Detailed Description
An intelligent charging device for an electric automobile comprises a charging pile 1 connected with a charging gun through an electric wire, a movable robot 2 and a parking frame 3 for parking the electric automobile; the robot is provided with a control system, a sensor for detecting the position of an object and a manipulator for grabbing and driving the charging gun to move, the control system receives signals of the sensor and drives the manipulator to work according to a control instruction, and the manipulator pulls out the charging gun according to the working instruction and inserts the charging gun into a charging port of an electric automobile or pulls out the charging gun from the charging port of the electric automobile and puts the charging gun on a charging pile; the parking frame is provided with an adjusting mechanism which can drive the electric automobile to lift up and down and/or move horizontally.
The robot of the intelligent charging device for the electric automobile is provided with a moving mechanism for driving the robot to move and various sensors for detecting positions and objects; the electric automobile to be charged is fixedly parked on the parking frame, and the charging pile for charging the electric automobile is arranged near the parking frame. When the electric automobile drives into the parking frame and stops in a corresponding parking space, the robot moves to a corresponding charging pile, then a charging gun on the charging pile is grabbed and pulled out by a manipulator on the robot, then the robot drives the charging gun to move to the electric automobile, and the manipulator accurately inserts the charging gun into a charging opening on the electric automobile; after that, the robot leaves the current parking space, moves to a waiting position or provides required services for other electric vehicles; after the electric vehicle is charged, the robot moves to the electric vehicle again, the charging gun is pulled out and placed back to the charging pile again; in the process, the sensor on the robot continuously detects the surrounding environment, so that the robot can clearly determine the specific positions of surrounding objects, the charging pile and the electric automobile, and can more accurately pick and place and plug the charging gun; and in the process of plugging and unplugging the charging gun by the robot, the adjusting mechanism on the parking frame can drive the electric automobile to lift or move transversely so as to match the robot to more accurately and conveniently plug and unplug the charging gun.
The intelligent charging device for the electric automobile is characterized in that a camera and a computer vision system based on a deep neural network are installed on the robot, objects such as a charging pile, a charging gun, a vehicle type and a license plate are accurately identified through an image processing technology, a charging port in the automobile and a charging cover covering the charging port can be accurately searched, and therefore the range and the accuracy of the robot for acquiring the position information of the specific object are improved. The control system on the robot comprises a simulation system (such as Gazebo simulation) for building a simulation environment and a control system (such as Moveit and Rviz systems) for controlling the robot to work, the physical states (such as position, direction, speed and the like) of parts of each part of the robot are acquired in real time through the systems, a program is written, and the IKFAST algorithm is used for solving inverse kinematics of a manipulator of the robot, so that the robot works accurately. In addition, the control system controls the manipulator of the robot by simulating a learning algorithm, wherein the input of the algorithm is computer vision, robot joint torque and angle sensors, and the output is the target joint torque, joint angle or state of the robot; firstly, establishing a simulated or real robot environment; then collecting a data set for controlling the charging gun to be inserted into the charging port in the environment; then carrying out data enhancement on the data set; initializing a neural network, inputting computer vision and robot joint torque and angle sensors into the neural network, and outputting target joint torque, joint angle or state of the robot; then training the neural network in a supervised learning mode until the neural network converges; then deploying the trained neural network in a robot onboard computer, and connecting a sensor and a robot controller; and finally, operating a neural network, and inserting the charging gun clamped by the robot into the charging port through the network. The robot control system is provided with a two-dimensional code positioning system, the distance identification of the two-dimensional code is to draw a line outgoing section and a rectangle through the high-aberration transformation of a photo, then calculate the three-dimensional space distance and the direction information of the two-dimensional code according to the perspective principle, and after the robot obtains the specific three-dimensional information of an object to be grabbed, the formal grabbing task can be realized; the accurate position information of the charging gun is acquired by utilizing two-dimension code distance identification, and the accuracy of taking and placing the charging gun is improved.
The intelligent charging device for the electric automobile is characterized in that the charging pile is a direct-current charging pile, the direct-current quick-charging pile technology is adopted to directly output adjustable direct current to charge the vehicle-mounted battery, the output voltage and current adjusting range is large, the power is large, the charging speed is high, and the reduction of the time required by charging is facilitated.
The intelligent charging device for the electric automobile can be used for placing a single electric automobile on the parking frame, can also be used for placing a plurality of electric automobiles on the horizontal direction, and can also be used for placing a three-dimensional frame of the plurality of electric automobiles respectively along the horizontal direction and the vertical direction so as to meet the parking requirement of the automobile, reduce the setting requirement of the charging pile and reduce the moving requirement of the robot. The adjusting mechanism comprises a lifting mechanism for driving the electric automobile to ascend and descend and a translation mechanism for driving the electric automobile to horizontally move, and the lifting mechanism or the translation mechanism can be independently arranged on the parking frame according to needs and can also be simultaneously arranged.
Claims (8)
1. The utility model provides an electric automobile intelligent charging device, includes through the connection of electric lines fill electric pile (1), park electric automobile's jiffy stand (3) of rifle that charges, its characterized in that: the robot is provided with a movable robot (2), a control system, a sensor for detecting the position of an object and a manipulator for grabbing and driving a charging gun to move are arranged on the robot, the control system receives signals of the sensor and drives the manipulator to work according to a control instruction, and the manipulator pulls out the charging gun according to the working instruction and inserts the charging gun into a charging port of an electric vehicle or pulls out the charging gun from the charging port of the electric vehicle and puts the charging gun on a charging pile; the parking frame is provided with an adjusting mechanism which can drive the electric automobile to lift up and down and/or move horizontally.
2. The intelligent charging device for the electric automobile according to claim 1, characterized in that: the robot is provided with a camera and a computer vision system based on a deep neural network.
3. The intelligent charging device for the electric automobile according to claim 2, characterized in that: the control system on the robot comprises a simulation system for building a simulation environment and a control system for controlling the robot to work.
4. The intelligent charging device for the electric automobile according to claim 1, 2 or 3, characterized in that: the control system controls the manipulator of the robot by simulating a learning algorithm.
5. The intelligent charging device for the electric automobile according to claim 1, 2 or 3, characterized in that: and a two-dimensional code positioning system is arranged on the robot control system.
6. The intelligent charging device for the electric automobile according to claim 1, characterized in that: the charging pile is a direct current charging pile.
7. The intelligent charging device for the electric automobile according to claim 1, characterized in that: the parking frame is a three-dimensional frame for respectively placing a plurality of electric automobiles along the horizontal direction and the vertical direction.
8. The intelligent charging device for the electric automobile according to claim 1 or 7, characterized in that: the adjusting mechanism comprises a lifting mechanism for driving the electric automobile to ascend and descend and a translation mechanism for driving the electric automobile to horizontally move.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010628447.9A CN111619388A (en) | 2020-07-02 | 2020-07-02 | Intelligent charging device for electric automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010628447.9A CN111619388A (en) | 2020-07-02 | 2020-07-02 | Intelligent charging device for electric automobile |
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| CN111619388A true CN111619388A (en) | 2020-09-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010628447.9A Pending CN111619388A (en) | 2020-07-02 | 2020-07-02 | Intelligent charging device for electric automobile |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112046306A (en) * | 2020-09-17 | 2020-12-08 | 杭州佳顿智能科技有限公司 | Intelligent charging parking garage for new energy electric automobile |
| CN112092666A (en) * | 2020-09-16 | 2020-12-18 | 中建材创新科技研究院有限公司 | Automatic charging system and charging method of laser navigation forklift |
| CN112455260A (en) * | 2020-11-12 | 2021-03-09 | 武汉合康智能电气有限公司 | Charging conversion platform and charging system |
| CN112793441A (en) * | 2021-01-22 | 2021-05-14 | 上海阪辉新能源科技有限公司 | Electric vehicle charging system applied to queuing occasions |
| CN113119769A (en) * | 2021-05-14 | 2021-07-16 | 哈尔滨工业大学 | Automatic electric automobile charging robot based on two-machine cooperation and charging method |
| CN113525139A (en) * | 2021-07-20 | 2021-10-22 | 浙江麦浪电气股份有限公司 | New energy automobile self-identification non-intrusive charging pile and automatic charging method |
| TWI751930B (en) * | 2021-03-18 | 2022-01-01 | 兆竑智聯股份有限公司 | Power supply connector assembly, mechanical parking equipment charging system and method |
| CN113928146A (en) * | 2021-11-09 | 2022-01-14 | 武汉科技大学 | Moving double-arm robot for automatic charging of electric automobile |
| DE102021212485B3 (en) | 2021-11-05 | 2023-02-23 | Volkswagen Aktiengesellschaft | Method and device for autonomously plugging a charging connector into a charging socket of a vehicle |
| DE102021212484A1 (en) | 2021-11-05 | 2023-05-11 | Volkswagen Aktiengesellschaft | Method and device for autonomously plugging a charging connector into a charging socket of a vehicle |
-
2020
- 2020-07-02 CN CN202010628447.9A patent/CN111619388A/en active Pending
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112092666A (en) * | 2020-09-16 | 2020-12-18 | 中建材创新科技研究院有限公司 | Automatic charging system and charging method of laser navigation forklift |
| CN112046306B (en) * | 2020-09-17 | 2021-08-10 | 智慧工场创新科技(东台)有限公司 | Intelligent charging parking garage for new energy electric automobile |
| CN112046306A (en) * | 2020-09-17 | 2020-12-08 | 杭州佳顿智能科技有限公司 | Intelligent charging parking garage for new energy electric automobile |
| CN112455260A (en) * | 2020-11-12 | 2021-03-09 | 武汉合康智能电气有限公司 | Charging conversion platform and charging system |
| CN112793441A (en) * | 2021-01-22 | 2021-05-14 | 上海阪辉新能源科技有限公司 | Electric vehicle charging system applied to queuing occasions |
| TWI751930B (en) * | 2021-03-18 | 2022-01-01 | 兆竑智聯股份有限公司 | Power supply connector assembly, mechanical parking equipment charging system and method |
| CN113119769A (en) * | 2021-05-14 | 2021-07-16 | 哈尔滨工业大学 | Automatic electric automobile charging robot based on two-machine cooperation and charging method |
| CN113119769B (en) * | 2021-05-14 | 2022-05-10 | 哈尔滨工业大学 | Automatic electric vehicle charging robot based on two-machine cooperation and charging method |
| CN113525139B (en) * | 2021-07-20 | 2023-02-28 | 浙江麦浪电气股份有限公司 | New energy automobile self-identification non-intrusive charging pile and automatic charging method |
| CN113525139A (en) * | 2021-07-20 | 2021-10-22 | 浙江麦浪电气股份有限公司 | New energy automobile self-identification non-intrusive charging pile and automatic charging method |
| DE102021212484A1 (en) | 2021-11-05 | 2023-05-11 | Volkswagen Aktiengesellschaft | Method and device for autonomously plugging a charging connector into a charging socket of a vehicle |
| DE102021212485B3 (en) | 2021-11-05 | 2023-02-23 | Volkswagen Aktiengesellschaft | Method and device for autonomously plugging a charging connector into a charging socket of a vehicle |
| WO2023078697A1 (en) | 2021-11-05 | 2023-05-11 | Volkswagen Aktiengesellschaft | Method and device for autonomously plugging a charging plug into a charging socket of a vehicle |
| WO2023078695A1 (en) | 2021-11-05 | 2023-05-11 | Volkswagen Aktiengesellschaft | Method and apparatus for autonomously plugging a charging plug into a charging socket of a vehicle |
| CN113928146A (en) * | 2021-11-09 | 2022-01-14 | 武汉科技大学 | Moving double-arm robot for automatic charging of electric automobile |
| CN113928146B (en) * | 2021-11-09 | 2024-01-26 | 武汉科技大学 | Mobile double-arm robot for automatic charging of electric automobile |
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