DE102016014463A1 - Supply of a motor vehicle by means of a robot system - Google Patents

Abstract

A method according to the invention for supplying at least one motor vehicle (40) by means of a robot system having a robot arrangement comprising at least one mobile robot (10) and a controller (11, 30) for connecting a first connection means guided by the mobile robot (10) ( 21) with a vehicle-side second connecting means (42) for charging an energy store (41) and / or refueling a tank of the motor vehicle (40), in particular according to one of claims 5 to 8, comprising at least one of the step sequences: connecting (S40) of the first and second connecting means (21, 42) in response to a determined force on the first connecting means (21) after at least partially automated navigation or positioning (S10) of the motor vehicle (40), in particular on a parking space (60), and / or positioning ( S30) a mobile base (129 of the mobile robot (10), in particular relative to the motor vehicle (40); and / or selections n (S20) of the, in particular vehicle-favorable, first connecting means (21) of at least two connecting means and / or of the, in particular vehicle-favorable, mobile robot (10) of at least two mobile robots of the robot arrangement in dependence on the motor vehicle (40), in particular a position of the motor vehicle (40), in particular its parking space (60) and / or its second connecting means (42), and starting and picking up (S20) the, in particular selected, first connecting means (21) with the, in particular selected, mobile robot (10) ,

Description

The present invention relates to a method for charging an energy storage device and / or refueling a tank of a motor vehicle by means of a robot system as well as a robot system and a computer program product for carrying out the method.

From the WO 2014/015991 A1 For example, a method for electrically charging a motor vehicle is known in which a robot connects a connector to a vehicle-side mating connector based on a force that is detected by a force-detecting means of the robot.

Object of the present invention is to improve charging of an energy storage and / or refueling of a tank of a motor vehicle.

This object is achieved by a method having the features of claim 1. Claims 5, 9 protect a robot system or computer program product for carrying out a method described here. The subclaims relate to advantageous developments.

According to one embodiment of the present invention, a robot system for supplying one or more motor vehicles, in particular one or more passenger cars, with electrical energy and / or fuel and / or gas has a robot arrangement with one or more, in particular a plurality of identically constructed and / or multiple diverse, mobile Robots and a, in particular distributed and / or hierarchical, control on.

Identically identical mobile robots can advantageously be exchanged for one another in an embodiment or alternatively used and / or operated uniformly, while in one embodiment a robot arrangement with diverse mobile robots is particularly suitable, in particular for the respective motor vehicle and / or its location used, in particular structurally, different mobile robot, in particular can be selected.

The robot system, in particular its robot and / or controller, is / are in an embodiment for connecting a first connection means guided by the or one of the mobile robots to a vehicle-side second connection means for charging an energy store and / or refueling a tank of the vehicle (respective) motor vehicle established or is / are used for this purpose.

According to one embodiment of the present invention, a method for, in particular parallel and / or sequential, supplying one or more motor vehicles, in particular one or more passenger cars, with electrical energy and / or fuel and / or gas by means of the robot system, the sequence of steps: connecting the first and second connecting means in response or based on a determined force on the first connecting means after fully or partially automated navigation or positioning of the motor vehicle, in particular on a parking space, and / or positioning a mobile base of the mobile robot, in particular relative to the motor vehicle ,

By at least partially automated navigation or positioning of the motor vehicle and / or at least partially automated positioning of a mobile base of the mobile robot, a favorable, in particular safe and / or compact, configuration of motor vehicle and mobile robot (relative to each other) can be realized in one embodiment ,

Occurring or remaining (positioning) inaccuracies can advantageously compensated in one embodiment by a force-controlled or -steuertes, in particular -regeltes, connecting the first and second connecting means and so further improves the supply of the motor vehicle, in particular automated and / or safe (he ) and / or efficiently.

For a more compact representation, in the present case also a control or a drive on the basis of returned actual values is referred to as taxes in the sense of the present invention, generalizing an antiparallel force pair or torque as force in the sense of the present invention.

Additionally or alternatively, according to an embodiment of the present invention, the method for, in particular parallel and / or sequential, supplying one or more motor vehicles, in particular one or more passenger cars, with electrical energy and / or fuel and / or gas by means of the robot system, the step sequence Selecting the, in particular vehicle-favorable, first connection means from or from two or more (potential first) connection means and / or the, in particular vehicle-favorable, mobile robot from or from two or more mobile robots of the robot arrangement as a function of the motor vehicle, in particular one , in particular current or predicted, position of the motor vehicle, in particular its, in particular current or forecast, parking space and / or its second connecting means, and starting up and recording the, in particular selected, first connecting means with the, in particular selected, mobile robot.

As a result, in each case one vehicle-advantageous of a plurality of connection means and / or a vehicle-favorable of several mobile robots can be used. Thus, for example, in one embodiment, a mobile robot can selectively pick up either one of a plurality of (potential first) connection means and connect it to its second connection means for supplying a motor vehicle closest to that (respective) motor vehicle, for example a connection means associated with one or more parking spaces , Additionally or alternatively, the or one of a plurality of potential first connection means may optionally be picked up by the one of different mobile robots and connected to the second connection means of a motor vehicle closest to this (respective) motor vehicle and / or for this, in particular structurally suitable (he ).

Correspondingly, in one embodiment, the (first) connecting means is selected as vehicle-favorable (first) connecting means, closest to and / or available and / or available to the motor vehicle to be supplied and / or its, in particular current or predicted, parking space for the motor vehicle, in particular structurally, suitable, in particular most suitable, as the vehicle-cheapest mobile robot in one embodiment, that mobile robot, the next to the vehicle to be supplied and / or its, in particular current or predicted, next and / or free or available and / or for the motor vehicle whose, in particular current or predicted, parking space and / or the, in particular selected or vehicle cheapest, (first) connecting means, in particular structurally, suitable, in particular most suitable.

In one embodiment, the method, in particular in addition to selecting the first connection means and / or mobile robot, the step: fully or partially automated navigation or positioning of the motor vehicle, in particular on a parking space, and / or the mobile robot, in particular a mobile Base of the mobile robot, in particular the mobile robot, in particular its mobile base, relative to the motor vehicle.

As a result, in one embodiment, a favorable, in particular safe (re) and / or compact (re), configuration of motor vehicle and mobile robot (relative to each other) can be realized.

Additionally or alternatively, in one embodiment, the method, in particular in addition to the selection of the first connection means and / or mobile robot, the step: in particular fully or partially automated, performing and / or evaluating the connection of the first and second connection means in response to a determined force on the first connecting means.

As already explained, in particular (positioning) inaccuracies in one embodiment can advantageously be compensated by a force-controlled, in particular regulated, connection of the first and second connecting means and thus improves the supply of the motor vehicle, in particular automatically and / or safely. and / or performed efficiently. By evaluating the connection as a function of a determined force, in particular a force curve during the connection, the state of the connection between the first and second connection means can advantageously be evaluated and a corresponding reaction triggered, in particular an error message output and / or a connection and / or charging or refueling be prevented if the connection does not meet a predetermined criterion or charging or refueling are only allowed or performed if the connection meets a predetermined criterion.

In one embodiment, the force on the first connecting means, in particular a (e) by and / or on the first connecting means before, during and / or after the connection force, in particular so (also) a torque, by means of a on or in a further development on the first connection means and / or between the first connection means and the mobile robot, in particular on a receptacle and / or a (tool) flange of the mobile robot or an articulated arm of the robot, and / or or at one or more joints, in particular joint drives, of the robot, in particular (s) of an articulated arm and / or between this and a mobile base of the robot, and / or one or more mono- or multi-axis force, in particular ( Force) torque sensors may have. Thus, in particular, a force detected in the joint (drive) of the articulated arm can be transformed mathematically, in particular model-based, into a force on the robot (arm) guided first connecting means.

Additionally or alternatively, in one embodiment, the method, in particular in addition to the force-guided connection after the at least partially automated navigation or positioning of the motor vehicle and / or the mobile base, the step: selecting the, in particular vehicle-favorable, first connecting means from or from two or more (potential first) connecting means in dependence on the motor vehicle, in particular one, in particular current or predicted, position of the motor vehicle, in particular its, in particular current or forecast, parking space and / or its second connection means, and / or the step of: selecting the, in particular vehicle-favorable, mobile robot from two or more mobile robots of the robot arrangement in dependence on the motor vehicle, in particular one, in particular current or predicted, position of the motor vehicle , in particular its, in particular current or forecast, parking space and / or its second means of connection.

As already explained, in one embodiment, in each case one vehicle-advantageous of a plurality of connecting means and / or a vehicle-favorable of several mobile robots can be used and thus the supply of the motor vehicle (further) can be improved.

Additionally or alternatively, in one embodiment, the method, in particular in addition to the force-guided connection after the at least partially automated navigation or positioning of the motor vehicle and / or the mobile base, comprises the step: starting and receiving the, in particular selected, first connecting means with the, especially selected, mobile robots.

Additionally or alternatively, in one embodiment, the method comprises the step of: starting storage and depositing the guided by the mobile robot first connecting means, in particular after a release of the second connecting means.

Thereby, in one embodiment, the same mobile robot can sequentially and / or selectively connect different first connection means and / or guide the same first connection means sequentially and / or optionally from different mobile robots or connected to a second connection means and so on Supply of the motor vehicle (further) to be improved.

Additionally or alternatively, in one embodiment, the method comprises the step: determining, in particular tactile or non-contact, in particular optical, determining, in particular two- or three-dimensional, position and / or orientation of the second connection means, by means of one, in particular by the mobile robot guided or independent of this mobile or stationary detection means.

In one embodiment, a detection means guided by the mobile robot can advantageously be arranged efficiently in an advantageous detection position, an independent of the mobile robot mobile detection means are arranged independently of this in an advantageous detection position, for example, while the mobile robot still recording the first detection means or like. By a stationary detection means can advantageously be reduced in one embodiment, an apparatus and / or control effort.

In one embodiment, the controller, in particular a superordinate control level or hierarchy level or instance of the controller, communicates with the motor vehicle (s) and / or a robot controller of the mobile robot (s), in particular in parallel and / or sequentially, wirelessly, in particular for carrying out one or more of the steps described here, or is for this purpose, in particular hardware and / or software, in particular program technology, set up in a development based on a WLAN standard, RFID technology or the like.

The navigation or positioning of the motor vehicle (s) and the base of the robot (s) and / or the charging of the energy store or refueling of the tank can be improved in particular by such a communication.

In one embodiment, the or one or more of the mobile robots (respectively) have a, in particular unbound (e) or freely movable, mobile base with a drive arrangement for moving in at least, in particular exactly, two translational, in particular horizontal, degrees of freedom and / or at least, in particular precisely, a rotational degree of freedom, in particular around the vertical. In a development, the mobile base can have a, in particular omnidirectional and / or steerable, wheel, tracked or tracked running gear or the like.

As a result, in one embodiment, the mobile robot can advantageously approach the motor vehicle, in particular pre-position an articulated (robot) arm.

Additionally or alternatively, the or one or more of the mobile robots in one embodiment (each) an articulated (robot) arm with one or more, in particular at least four, in particular at least six, in particular at least seven, joints, in particular hinges, and (depending ) a joint drive to its or their movement.

In this way, in one embodiment, the mobile robot, in particular a mobile robot prepositioned by positioning its mobile base, can advantageously connect the first connecting means guided through it to the second connecting means.

Additionally or alternatively, the or one or more of the mobile robot, in particular its or its articulated (robot) arm, in one embodiment (in each case) one, in particular movable, recording, the first connecting means, in particular form and / or frictionally engaged and / or magnetically, in particular electromagnetically, temporarily receives or is set up for this purpose or is used.

Thereby, in one embodiment, the same mobile robot can sequentially and / or selectively connect different first connection means and / or guide the same first connection means sequentially and / or optionally from different mobile robots or connected to a second connection means and so on Supply of the motor vehicle (further) to be improved.

Additionally or alternatively, in one embodiment, the robot system on one or more bearings on which the or (each at least) one of the first connection means, in particular form and / or frictionally and / or magnetically, in particular electromagnetically, temporarily stored or the is set up for this / are or used / will be.

In this way, the (respective) first connection means can advantageously be stored (between) in an embodiment when not in use, or made available to the mobile robot (s).

• - Mittel zum Verbinden des ersten und zweiten Verbindungsmittels in Abhängigkeit von einer ermittelten Kraft an dem erstem Verbindungsmittel nach wenigstens teilweise automatisiertem Navigieren oder Positionieren des Kraftfahrzeugs, insbesondere auf einen Stellplatz, und/oder Positionieren einer mobilen Basis des mobilen Roboters, insbesondere relativ zu dem Kraftfahrzeug; und/oder
• - Mittel zum Auswählen des, insbesondere fahrzeuggünstigsten, ersten Verbindungsmittels von wenigstens zwei Verbindungsmitteln und/oder des, insbesondere fahrzeuggünstigsten, mobilen Roboters von wenigstens zwei mobilen Robotern der Roboteranordnung in Abhängigkeit von dem Kraftfahrzeug, insbesondere einer, insbesondere aktuellen oder prognostizierten, Position des Kraftfahrzeugs, insbesondere seines, insbesondere aktuellen oder prognostizierten, Stellplatzes und/oder seines zweiten Verbindungsmittels, und Anfahren und Aufnehmen des, insbesondere ausgewählten, ersten Verbindungsmittels mit dem, insbesondere ausgewählten, mobilen Roboter.

According to one embodiment of the present invention, the robot system, in particular hardware and / or software, in particular program technology, is set up to carry out a method described here and / or has:

• - Means for connecting the first and second connecting means in response to a determined force on the first connecting means after at least partially automated navigation or positioning of the motor vehicle, in particular on a parking space, and / or positioning a mobile base of the mobile robot, in particular relative to the motor vehicle ; and or
• Means for selecting the, in particular vehicle-favorable, first connection means of at least two connection means and / or of the, in particular vehicle-favorable, mobile robot of at least two mobile robots of the robot arrangement as a function of the motor vehicle, in particular one, in particular current or predicted, position of the motor vehicle, in particular its, in particular current or predicted, parking space and / or its second connecting means, and starting and receiving the, in particular selected, first connecting means with the, in particular selected, mobile robot.

A means in the sense of the present invention may be designed in terms of hardware and / or software, in particular a data or signal-connected, preferably digital, processing, in particular microprocessor unit (CPU) and / or a memory and / or bus system or multiple programs or program modules. The CPU may be configured to execute instructions implemented as a program stored in a memory system, to capture input signals from a data bus, and / or to output signals to a data bus. A storage system may comprise one or more, in particular different, storage media, in particular optical, magnetic, solid state and / or other non-volatile media. The program may be such that it is capable of embodying or executing the methods described herein so that the CPU may perform the steps of such methods and thereby control, in particular, the robot system, in particular its robot, and / or the or the Navigate or position motor vehicles.

In one embodiment, one or more, in particular all, steps of the method are completely or partially automated, in particular by the controller or its (e) means.

The present invention is used with particular advantage for (electrically) charging an (electric) energy store of one or more motor vehicles, in particular passenger cars, in particular in underground garages or the like, and will therefore be explained further below with reference thereto. However, in one embodiment, in addition to or as an alternative to refueling of a tank of one or more motor vehicles, in particular passenger cars, with fuel, in particular gasoline or diesel, and / or in particular liquefied, gas, in particular hydrogen, can be used.

The one or more first connecting means may accordingly comprise in one embodiment (electrical charging) plugs and / or filling tubes, in particular, the second or the second Connecting means corresponding in particular (electrical counter) plug or sockets and / or filling or filler neck or the like. In general, in one embodiment, first and second connection means are positively and / or frictionally engaged and / or magnetically, in particular electromagnetically, (temporarily connected with each other), in particular by means of plugging or for this purpose.

• 1: einen mobilen Roboter eines Robotersystems beim Aufladen eines Energiespeichers eines Kraftfahrzeugs nach einer Ausführung der vorliegenden Erfindung; und
• 2: ein Verfahren zum Aufladen des Energiespeichers mittels des Robotersystems nach einer Ausführung der vorliegenden Erfindung.

Further advantages and features emerge from the subclaims and the exemplary embodiments. This shows, partially schematized ,:

• 1 a mobile robot of a robot system when charging an energy storage of a motor vehicle according to an embodiment of the present invention; and
• 2 : A method of charging the energy storage by means of the robot system according to an embodiment of the present invention.

1 shows a mobile robot 10 a robot system charging an energy store 41 of a motor vehicle 40 according to an embodiment of the present invention.

The mobile robot 10 has a robot controller 11 , a mobile base 12 with wheels 13 and a drive assembly 14 for actuating the wheels for moving in two horizontal translatory degrees of freedom and rotating about a vertical axis of rotation, a hinged articulated arm 15 with six swivel joints, which are moved or moved by means of joint drives, and one movable receiver 16 for positive and / or frictional and / or magnetic, in particular electromagnetic, temporarily receiving a first connection means in the form of an (electrical charge) plug 21.

In one embodiment, the robot system has one or more further mobile robots, in particular one or more with the mobile robot 10 identical mobile robot and / or one or more this diverse mobile robots, such as robots with different articulated arms, in particular arm (limbs) dimensions, different heights of the mobile base and / or different shots (not shown).

The robot system has one or more, in particular identical, bearings, of which in 1 a storage in the form of an AC wallbox 22 is shown. The storage (s) is or are in one embodiment (each) associated with one or more parking spaces (spatial), of which in 1 a parking space 60 is shown.

At the or the bearings or AC wallboxes 22 is or is the or respectively an electrical charging plug 21 , in particular form-fitting and / or frictional and / or magnetic, in particular electromagnetic, temporarily stored and is via a cable 23 connected to an electrical source for charging the motor vehicle or vehicles.

The mobile robot (s) 10 lead (each) a camera 50 for optically determining a, in particular two- or three-dimensional, position and / or orientation of a vehicle-side second connection means in the form of an electrical mating connector or a socket 42 for this purpose with the (respective) robot controller 11 communicates as in 1 indicated by a dot-dashed signal transmission arrow. In non-illustrated variations, one or more cameras may additionally or alternatively be mobile or stationary independently of the mobile robot (s).

The robot system has a controller. This includes the robot controller (s) 11 of the mobile robot (s) 10 and a higher-level central (control) control level or instance 30 that communicates with the robot controller (s). 11 and communication tools 43 in the motor vehicle (s) 40 wireless, in particular via WLAN standard, is communicated or set up for this purpose.

The control level 30 controls (wirelessly) the mobile robots 10 or instructs their robot controller (s) 11 , in one embodiment (wireless) navigation systems or intelligent parking aids of the motor vehicle (s) 40 , and charging by AC wallboxes 22 , as in 1 indicated by a dot-dashed signal transmission arrow.

The robot system introduces hereafter with reference to FIG 2 explained method for charging the energy storage 41 by means of the mobile robot 10 according to an embodiment of the present invention.

In a step S10, the (respective) motor vehicle 40 by means of wireless communication from the (control) control level or instance 30 automatically or autonomously to the or a suitable, in particular free and / or suitable for the dimensions of the motor vehicle, parking space 60 positioned or navigated to this.

In a step S20, the central (control) control level or instance 30 selects a vehicle-appropriate, in particular free, and / or suitable (for) the dimensions of the motor vehicle and / or the motor vehicle or its current or predicted parking space next , mobile robot 10 out. Of course, if the robot system has only one mobile robot, this selection can be omitted.

The central (control) control level or instance 30 selects (also) in step S20 a least expensive vehicle, in particular free and / or for the dimensions of the motor vehicle (s) suitable (s) and / or the motor vehicle or (current or predicted ) Pitch next, (electrical charge) plug 21. If the robot system has only a single plug or only a single AC wallbox 22 Of course, this selection can be omitted.

Commanded by the central control level or instance 30, the optionally selected mobile robot moves in step S20 10 the, possibly selected, AC wallbox 22 and takes the, optionally selected, (electrical charging) connector 21st

Subsequently, the central control level 30 instructs the mobile base in a step S30 12 of the robot 10 to the motor vehicle 40 or parking space 60 and (pre) positioned this way.

In a step S40, the robot controller determines 11 by means of the camera 50 Location and / or orientation of the electrical mating connector or the socket 42 , positions the articulated arm 15 Accordingly before and then puts the robot-controlled (electrical charging) plug 21 force guided on the mating connector or in the socket 42 , In this regard, reference is also made to the above-mentioned WO 2014/015991 A1 and their contents are fully incorporated into the present disclosure. In the exemplary embodiment, the robot 10 For this purpose, a force (torque) sensor 17 between recording 16 and articulated arm 15 on. In a modification, a force exerted on the (electric charge) plug 21 or by this force can additionally or alternatively also be determined on the basis of detected joint forces.

In a step S50, the robot controller evaluates 11 the plug-in process or thereby determined force curves and transmits the result to the central (control) control level or instance 30th

If this is a successful mating process or a permissible state of the mating pair 21 - 42 determined (S50: "Y"), the system or method proceeds to step S60, in which the energy storage 41 via the AC wallbox 22 , Electric wire 23 , (electrical charging) connector 21 and mating connector or socket 42 is electrically charged. Also for this purpose, the (control) control level or instance 30 (wireless) with the motor vehicle 40 or its communication means 43 communicate, such as a desired amount of charge or the like, and the charging by means of the AC wallboxes 22 control accordingly.

If the evaluation in step S50 shows that the plug-in procedure failed or no permissible state of the plug-in pairing 21 - 42 has been reached (S50: "N"), a corresponding error message is output in a step S70 and the supply of the motor vehicle 40 canceled.

In a step S80, the (control) control panel 30 monitors the charging operation. Once an abort condition is detected (S80: "Y"), for example, a desired or maximum charge amount has been reached, or an opening of a door of the motor vehicle or a movement of the motor vehicle or the like has been detected, the system proceeds to a step S90, otherwise (S80: "N") the loading will continue.

In step S90, the articulated arm releases 15 of the mobile robot 10 the connector or the (electrical charging) connector 21 of mating connector or socket 42 , Then the mobile robot drives 10 back to the AC wallbox 22 and puts the (electrical charge) plug 21 at this.

If at one of the AC wallbox 22 assigned parking space is a (new or further) motor vehicle for charging its energy storage is or is positioned, the robot 10 Of course, continue directly with step S30 for this motor vehicle, without first the (electrical charge) plug 21 store and resume.

It can be seen that the first connection means assigned to the next user or the parking space 60 are loaded by loading 21 that's the mobile robot 10 this receives from the AC wallbox, in one embodiment advantageously shortened cable routes and so in particular the risk of jamming the cable 23 can be reduced. By using the mobile robot 10 can in one embodiment advantageously different parking spaces 60 or vehicles 40 be approached or supplied. By force-guided (plug-in) connection after an at least partially automated navigation or positioning of the vehicle 40 or the mobile base 12 If any position inaccuracy occurring in one embodiment can be advantageously compensated for.

Although exemplary embodiments have been explained in the foregoing description, it should be understood that a variety of modifications are possible. It should also be noted that the exemplary embodiments are merely examples of the scope, applications and construction of any To limit the way. Rather, the expert is given by the preceding description, a guide for the implementation of at least one exemplary embodiment, with various changes, in particular with regard to the function and arrangement of the components described, can be made without departing from the scope, as it turns out according to the claims and these equivalent combinations of features.

LIST OF REFERENCE NUMBERS

10

mobile robot

11

Robot control (control)

12

mobile base

13

wheel

14

(Wheel) drive (sanordnung)

15

articulated robotic / articulated arm

16

admission

17

Force (-Momenten) sensor

21

(electrical charging) connector 21 (first connection means)

22

AC wallbox (storage)

23

electric wire

30

central (control) control level or instance (control)

40

motor vehicle

41

energy storage

42

Mating plug / socket

43

Wireless communication

50

Camera (detection means)

60

parking space

QUOTES INCLUDE IN THE DESCRIPTION

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.

Cited patent literature

• WO 2014/015991 A1 [0002, 0057]

Claims (9)

Method for supplying at least one motor vehicle (40) by means of a robot system with a robot arrangement having at least one mobile robot (10) and a controller (11, 30) for connecting a first connection means (21) guided by the mobile robot (10) with a vehicle-side second connecting means (42) for charging an energy store (41) and / or fueling a tank of the motor vehicle (40), in particular according to one of Claims 5 to 8th in at least one of the step sequences: - connecting (S40) of the first and second connection means (21, 42) in response to a determined force on the first connection means (21) after at least partially automated navigation or positioning (S10) of the motor vehicle (40) in particular to a parking space (60), and / or positioning (S30) of a mobile base (129 of the mobile robot (10), in particular relative to the motor vehicle (40); and / or - selecting (S20) of, in particular vehicle-favorable, first connecting means (21) of at least two connecting means and / or of the, in particular vehicle-favorable, mobile robot (10) of at least two mobile robots of the robot arrangement as a function of the motor vehicle (40), in particular a position of the motor vehicle (40), in particular its parking space (60) and / or its second connection means (42), and starting and receiving (S20) of, in particular selected, the first connection means (21) with the, in particular selected, mobile robot (10). Method according to Claim 1 characterized by at least one of the steps: - at least partially automated navigation or positioning (S10) of the motor vehicle (40), in particular on a parking space (60), and / or the mobile robot (10), in particular a mobile base (12) of mobile robot (10), in particular relative to the motor vehicle (40); and / or - performing (S40) and / or evaluating (S50) the connection of the first and second connection means (21, 42) in dependence on a determined force on the first connection means (21); and / or - selecting (S20) the, in particular vehicle-favorable, first connecting means (21) of at least two connecting means as a function of the motor vehicle (40), in particular a position of the motor vehicle (40), in particular its parking space (60) and / or its second connection means (42); and / or - starting and picking up (S20) the, in particular selected, first connecting means (21) with the, in particular selected, mobile robot (10); and / or - selecting (S20) the, in particular vehicle-favorable, mobile robot (10) of at least two mobile robots of the robot arrangement as a function of the motor vehicle (40), in particular a position of the motor vehicle (40), in particular its parking space (60) and / or its second connection means (42); and / or - approaching (S90) a storage (22) and depositing the first connection means (21) guided by the mobile robot (10); and / or - determining, in particular tactile or non-contact, in particular optical, determining (S40), one, in particular two- or three-dimensional, position and / or orientation of the second connection means (42), by means of one, in particular by the mobile robot (10). guided or independent of this mobile or stationary detection means (50). Method according to one of the preceding claims, characterized in that the controller (30) with the motor vehicle (40) and / or a robot controller (11) of the mobile robot (10) communicates wirelessly, in particular for performing at least one of the steps. Method according to one of the preceding claims, characterized in that the mobile robot (10) has a mobile base (12) with a drive arrangement (14) for moving in at least two translatory degrees of freedom and / or at least one rotational degree of freedom; and / or an articulated arm (15) with at least one joint, in particular pivot, and a joint drive for moving it; and / or a, in particular movable, receptacle (16) for, in particular positive and / or frictional and / or magnetic, in particular electromagnetic, temporarily receiving the first connecting means (21); and / or the robot system has a bearing (22) for, in particular positive and / or frictional and / or magnetic, in particular electromagnetic, temporary bearings of the first connecting means (21). A robot system for supplying at least one motor vehicle (40) with a robot arrangement comprising at least one mobile robot (10), and a controller (11, 30) for connecting a first connection means (21) guided by the mobile robot (10) to a vehicle side second connection means (42) for charging an energy store (41) and / or refueling a tank of the motor vehicle (40), which is set up to carry out a method according to one of the preceding claims and / or comprises: Means for connecting the first and second connecting means (21, 42) as a function of a determined force on the first connecting means (21) after at least partially automated navigation or positioning of the motor vehicle (40), in particular on a parking space (60), and / or Positioning a mobile base (12) of the mobile robot (10), particularly relative to the motor vehicle (40); and / or - means for selecting the, in particular vehicle-favorable, first connection means (21) of at least two connection means and / or of the, in particular vehicle-favorable, mobile robot (10) of at least two mobile robots of the robot arrangement as a function of the motor vehicle (40), in particular a position of the motor vehicle (40), in particular its parking space (60) and / or second connecting means (42), and starting and receiving the, in particular selected, first connecting means (21) with the, in particular selected, mobile robot (10). Robot system according to the preceding claim, characterized by : - means for at least partially automated navigation or positioning of the motor vehicle (40), in particular on a parking space (60), and / or the mobile robot (10), in particular a mobile base (12) of mobile robot (10), in particular relative to the motor vehicle (40); and / or - means for performing and / or evaluating the connection of the first and second connection means (21, 42) in dependence on a determined force on the first connection means (21); and / or - means for selecting the, in particular vehicle-favorable, first connecting means (21) of at least two connecting means in dependence on the motor vehicle (40), in particular a position of the motor vehicle (40), in particular its parking space (60) and / or its second Connecting means (42); and / or - means for starting up and picking up the, in particular selected, first connecting means (21) with the, in particular selected, mobile robot (10); and / or - means for selecting the, in particular vehicle-favorable, mobile robot (10) of at least two mobile robots of the robot arrangement as a function of the motor vehicle (40), in particular a position of the motor vehicle (40), in particular its parking space (60) and / or its second connection means (42); and / or - means for approaching a storage (22) and depositing the first connection means (21) guided by the mobile robot (10); and / or - means for determining, in particular tactile or non-contact, in particular optical, determining one, in particular two- or three-dimensional, position and / or orientation of the second connection means (42), by means of one, in particular guided by the mobile robot (10) or independently of this mobile or stationary detection means (50). Robot system according to one of the preceding claims, characterized by means (11, 31, 43) for wireless communication between the controller (30) and the motor vehicle (40) and / or a robot controller (11) of the mobile robot (10). Robot system according to one of the preceding claims, characterized in that the mobile robot (10) comprises a mobile base (12) with a drive arrangement (14) for moving in at least two translatory degrees of freedom and / or at least one rotational degree of freedom; and / or an articulated arm (15) with at least one joint, in particular pivot, and a joint drive for moving it; and / or a, in particular movable, receptacle (16) for, in particular positive and / or frictional and / or magnetic, in particular electromagnetic, temporarily receiving the first connecting means (21); and / or the robot system has a bearing (22) for, in particular positive and / or frictional and / or magnetic, in particular electromagnetic, temporary bearings of the first connecting means (21). A computer program product having a program code stored on a computer-readable medium for performing a method according to any one of the preceding claims.

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