DE102019210118A1 - Electric charging of a vehicle energy storage device with the help of a multi-axis robot - Google Patents

Abstract

A method according to the invention for electrically charging an energy store (11) of a vehicle (10) with the aid of an automated charging assistant (20) with at least one multi-axis robot (21) comprises the following steps: the charging assistant receives charge request information (l1) transmitted by the vehicle - Approaching a charging interface (12) of the vehicle with a counter-interface (22) guided by the robot on the basis of the received charge request information by means of motorized movement of axes of the robot by the charging assistant; - connecting the charging and counter-interface; - electrical charging of the energy storage device the connected charging and counter-interface through the charging assistant; - the charging assistant receives, in particular from the vehicle (10) or a person (30), transmitted cancellation information (l5; l5.1); - the charging is terminated on the basis of the received Cancellation information from the charging assistant; - Release of the charging and counter interface; and removal of the robot-controlled counter-interface from the charging interface by means of motorized movement of axes of the robot by the charging assistant.

Description

The present invention relates to an automated charging assistant for electrically charging an energy storage device of a vehicle, which has at least one multi-axis robot, a method for electrically charging the energy storage device of the vehicle using the automated charging assistant, an arrangement with the automated charging assistant and a computer program product for performing the method.

It is known from in-house practice to connect a robot-controlled counter-interface to a charging interface of a vehicle in order to electrically charge an energy store of the vehicle. The movement command to approach and remove the robot-controlled counter-interface is triggered via a mobile phone app, so that a user has to operate the robot and vehicle separately, which makes the charging process complex and error-prone.

The object of the present invention is to improve the electrical charging of an energy store of a vehicle, in particular to reduce at least one of the aforementioned features.

This object is achieved by a method with the features of claim 1. Claims 8-10 provide a loading assistant or a computer program product for carrying out a method described here or an arrangement with a loading assistant described here under protection. The subclaims relate to advantageous developments.

According to one embodiment of the present invention, an automated loading assistant has at least one multi-axis robot.

In one embodiment, the robot has a robot arm with at least three, in particular at least and / or at most five, in one embodiment at least and / or at most six, in a further development at least seven, (movement) axes or joints, in particular three, four, five , six or more swivel joints or axes and / or one or more linear axis (s), in particular sliding joint (s), which in one embodiment are driven by, in particular electric, drives. With at least six axes, an end effector of the robot (arm) can assume any poses or three-dimensional positions and orientations within its workspace, with at least seven axes in one embodiment, a redundant robot (arm) circumvents obstacles. In particular, four or five actuated (rotary) axes can be provided, which results in a simpler structure. A further axis is particularly preferably provided, for example on the end effector, which is designed as a linear axis and enables a linear displacement or a pushing movement.

In one embodiment, the robot is or is at least temporarily compliant and / or force-regulated during the process, in particular in such a way that it stops, in particular for (at least) a predetermined time, if one is exercised on it, in particular one or more of its limbs external, in particular manually applied, force exceeds a predetermined maximum value that differs from zero in one embodiment, in particular the robot detects this with sensors, or in such a case, in particular the force, evades. As a result, the security can be increased in one embodiment. In one embodiment, in particular for this purpose, the robot has one or more force and / or torque sensors, in one embodiment on one or more of its axes, in particular drives, on its outer skin and / or on its end effector.

In one embodiment, the automated loading assistant is mobile, in a further development it has a mobile base for this purpose, in particular a chassis, in one embodiment a wheeled or crawler chassis. In this way, in one embodiment, it can advantageously charge vehicles at different locations. In another embodiment, the automated charging assistant is stationary, in a further development it is permanently connected to an environment, in particular a floor, a wall and / or a ceiling. As a result, the security can be increased in one embodiment.

According to one embodiment of the present invention, a method for electrically charging an energy store of a vehicle with the aid of the automated charging assistant comprises the step: the charging assistant receives information about the charging request transmitted by the vehicle. In one embodiment, the vehicle accordingly transmits the charge request information to the charging assistant or communication between the charging assistant and the vehicle is initiated by the vehicle and / or not by the charging assistant.

As a result and / or the features explained below, an advantageous, in particular orderly, communication process between the charging assistant and vehicle can be implemented in one embodiment and, in particular, a safer and / or more efficient functional sequence can be ensured and / or ease of use can be increased , especially since the user does not have to operate the robot and vehicle separately. In one embodiment, the vehicle gives control to the Charging assistant, whereby in a further development the charging process can only be canceled by the user until the battery is fully charged, and not by the vehicle itself.

In one version, the vehicle is an electric or hybrid vehicle, in particular a, in one version, autonomous, passenger vehicle, a, in one version, autonomous, conveyor vehicle, in particular a forklift or transporter, in particular a driverless transport vehicle (“Automated Guided Vehicle”, AGV) or like that. The present invention is particularly suitable for this, in particular because of the operating conditions and safety requirements. In one embodiment, the energy store supplies a traction drive of the vehicle, in particular at least one electric motor for driving the vehicle, or is provided for this purpose, in particular set up or is used for this purpose.

According to one embodiment of the present invention, the method comprises the step of: approaching a charging interface of the vehicle with or by a counter-interface guided by the robot on the basis of or as a function of, in particular as a result, of the received charging request information by means of the Load assistant controlled motorized movement of one or more axes of the robot (arm) s.

In one embodiment, the robot picks up, in particular grabs, the counter-interface for this purpose. As a result, in one embodiment, the robot can successively operate or handle several and / or different, in particular vehicle-specific or charging-interface-specific, counter interfaces. In another embodiment, the mating interface is permanently or permanently arranged on the robot. As a result, reliability and / or process speed can be improved in one embodiment.

In one embodiment, the robot removes the counter-interface from a holder before it approaches the charging interface with it; in a further development, it sets it down again on the holder after removing it from the charging interface. As a result, reliability can be improved in one embodiment.

In one embodiment, a loading flap of the vehicle, which covers its loading interface, is opened, in a further development it is automated by the vehicle and / or the loading assistant, in particular a robot.

According to one embodiment of the present invention, the method comprises the step of: connecting, in particular mechanical and / or electrical connecting, of the charging interface and counter-interface. In one embodiment, this can be done by the robot and / or the vehicle or in an automated manner. In one embodiment, the charging and mating interfaces are plugged together; in a further development, the mating interface has a female connector or socket or socket and the charging interface has a male connector or a plug or an inlet that is plugged into it becomes. As a result, reliability and / or process speed can be improved in one embodiment.

According to one embodiment of the present invention, the method includes the step of: charging the energy store with electrical energy (“electrical charging”) via or through the (interconnected) charging and counter interfaces by the charging assistant.

According to one embodiment of the present invention, the method comprises the step of: receiving, in one embodiment from the vehicle or a person, the cancellation information by the loading assistant. In one embodiment, the vehicle or the person accordingly transmits the cancellation information to the charging assistant. In a further development, the vehicle transmits the termination information as soon as a predetermined termination condition is met, in particular a predetermined minimum charge state of the energy store has been reached or an error has been detected.

According to one embodiment of the present invention, the method comprises the step: ending the charging on the basis of or as a function of, in particular as a result of, the received cancellation information by the charging assistant. In one embodiment, the charging assistant inputs, in particular a visual and / or acoustic, signal based on or as a function of the received cancellation information and / or acknowledges the received cancellation information to the vehicle or the person. As a result, security can be improved in one embodiment.

According to one embodiment of the present invention, the method comprises the step: releasing, in particular mechanical and / or electrical separation, the charging interface and the counter-interface (from one another). In one embodiment, this can be done by the robot and / or the vehicle or in an automated manner. As a result, reliability and / or process speed can be improved in one embodiment.

In one embodiment, the opened loading flap of the vehicle is automated after being released, in a further development by the vehicle and / or the charging assistant, especially robots, is closed.

According to one embodiment of the present invention, the method comprises the step: removing the robot-controlled counter-interface from the charging interface by means of the charging assistant-controlled motorized movement of axes of the robot (arm). In one embodiment, the charging assistant or robot (arm) removes the counter-interface on the same path on which it previously approached the charging interface, or moves (through) this path backwards (down) accordingly. As a result, reliability and / or process speed can be improved in one embodiment.

In one embodiment, the method comprises the step of: receiving by the charging assistant at least one vehicle status information transmitted by the vehicle, in a further development at least one error information transmitted by the vehicle, which depends on a deviation from a predetermined target state of the vehicle, wherein the charging interface is approached , connecting and / or disconnecting the charging and counter-interface, removing the robot-controlled counter-interface on the basis and / or particularly preferably at least charging or stopping the charging of the energy store of the received vehicle status based on or depending on this vehicle status information or this Vehicle status information takes place. In one embodiment, the vehicle accordingly transmits the vehicle status information (s) to the charging assistant.

In one embodiment, the or at least one of the vehicle status information (s) indicates a status of one or more vehicle components, in particular at least one brake, at least one drive, at least one door and / or window pane, of the vehicle, in particular whether this vehicle component (n each ) has / have a predetermined target state, whereby in a further development the approach of the charging interface, connecting the charging and counter interfaces and / or electrical charging of the energy storage device is only or only carried out if one or more predetermined vehicle components have a predetermined target state has / have or corresponding vehicle status information (s) have been received, and / or approaching the charging interface with the counter interface, connecting the charging and counter interface, electrical charging and / or ending the charging of the energy storage device, disconnecting the charging and counter interface and / or distance The robot-controlled counter-interface is interrupted or modified by the charging interface if one or more specified vehicle components (each) do not have a specified target state or corresponding error information (s) have been received.

In one embodiment, vehicle status or fault information can indicate the presence or absence of the specified target state or can be transmitted or received in the presence or absence of the specified target state. In other words, in one embodiment the presence or absence of corresponding vehicle status or error information can indicate the presence or absence of the specified target status (no error ⇒ signal “no error” or no signal “error”; error ⇒ Signal "error" or no signal "no error"). As a result, security can be improved in one embodiment.

In one embodiment, the method comprises the step of: transmitting at least one robot information item that is dependent on a pose and / or a change in pose of the robot from the charging assistant to the vehicle, in particular before and / or after approaching the charging interface and / or before and / or after removal the robot-controlled counter-interface and / or during the start-up of the charging interface and / or during the removal of the robot-controlled counter-interface. In a further development, the loading assistant transmits robot information, which indicates whether or that the robot is (still or again) in a predetermined pose, in particular a safe basic pose, or has left or reached it, to the vehicle, in particular a Robot information that indicates that the robot will leave it, in particular before it leaves it, robot information that indicates that the robot is (just) leaving it, robot information that indicates that the robot has (already) left it, a Robot information that indicates that the robot is (still) approaching you, robot information that indicates that the robot is (just) reaching you, and / or robot information that is that the robot has (already) reached you. As a result, security and / or process speed can be improved in one embodiment. In one embodiment, the vehicle reacts to this robot information (s), in one embodiment by not performing an action, for example not starting or driving until it has received the corresponding robot information (s) or only carries it out, for example starts or drives off when it has received the appropriate robot information (s).

In one embodiment, the method comprises the step of: receiving at least one piece of interface information transmitted by the vehicle, which is provided by a mechanical and / or electrical contact state of the charging and counter interface depends, in particular an interface information transmitted by the vehicle, which from a mechanical contact of predetermined (pre) contact points of the charging and counter interface, in particular independent of one or (also) still without electrical contact of the charging and Counter interface for charging the energy store ("(mechanical) pre-contacting"), depends, in particular indicates such, on interface information transmitted by the vehicle, which depends on, in particular, a mechanical, locking state of the charging and counter interface, in particular indicates such, and / or interface information transmitted by the vehicle, which depends on an electrical contact state of the charging and counter-interface, in particular for charging the energy store, in particular indicating such. Accordingly, in one embodiment, the vehicle transmits this interface information (s) to the charging assistant.

Additionally or alternatively, in one embodiment, the method includes the step: sensor-based determination of at least one such interface information item by the charging assistant.

In one embodiment, starting up the charging interface, connecting and / or disconnecting the charging and counter-interface, charging and / or stopping the charging of the energy storage device and / or removing the robot-controlled counter-interface is based on or depending on, in particular as a result, this interface information (s) carried out.

In a further development, the charging assistant initially determines and / or receives, at least in two stages, interface information that specifies mechanical (pre) contacting of predetermined contact points of the charging and counter interfaces, in which no electrical charging of the energy storage is possible, and then at least one additional interface information, which specifies a mechanical locking and / or electrical contacting of the charging and counter interfaces for electrically charging the energy store, or the vehicle transmits corresponding interface information.

Additionally or alternatively, the charging assistant initially determines and / or receives at least one piece of interface information in at least two stages, which indicates a mechanical unlocking and / or electrical separation of an electrical contact of the charging and counter-interface for electrically charging the energy storage device, and then further interface information, which is mechanical Separation (including the) specified contact points from the charging and counter interfaces or pre-contacting indicates, or the vehicle transmits corresponding interface information.

As a result, an at least two-stage coupling and uncoupling of the counterpart to the charging interface with movements of different axes of the robot can be improved.

In one embodiment, the charging assistant moves a first selection of the axes of the robot when starting up or, in a further development, until it detects the pre-contact or receives corresponding interface information, and then when or when connecting, a different second selection of the axes of the robot, in a further development a single and / or counter-interface nearest or distal and / or translational axis, in a further development until it detects the locking or electrical contact for electrically charging the energy storage device or receives corresponding interface information, and / or conversely, in particular during or for releasing, initially only this second selection, in particular until it detects a separation of the predetermined contact points or receives corresponding interface information, and then for or for removal the first selection of the axes of the robot.

As a result, reliability and / or process speed can be improved in one embodiment.

In one embodiment, the method comprises the step: mechanical and / or software-technical blocking of at least one axis of the robot, in particular the first selection of the axes of the robot, after approaching the charging interface, in particular the detection of the previous contact or receipt of corresponding interface information The charging and counter interface are connected using the motorized movement of the counter interface, in particular by the second selection of the axes of the robot, and this locked axis (s) or first selection is mechanically and / or software-technically blocked when connecting and / or when charging of the energy storage is or will be unlocked.

Additionally or alternatively, the method in one embodiment includes the step: mechanical and / or software-technical blocking of at least one axis of the robot, in particular the first selection of the axes of the robot, after charging, with the releasing of the charging and counter interface with the aid of motorized movement of the counter interface , in particular by the second selection of the axes of the robot, and this blocked axis (s) or first selection is mechanically and / or software-technically blocked.

A software lock can in particular include a corresponding position and / or force control of the robot or the corresponding axis (s) or be implemented as a result. In one embodiment, one or more axis drives of the robot are or are currentless (switched) during charging.

As a result, reliability, safety and / or process speed can be improved in one embodiment.

In one embodiment, the method comprises the step of: transmitting at least one piece of error information, which depends on a deviation from a predefined setpoint state of the charging assistant, from the charging assistant to the vehicle. As a result, the security can be improved in one embodiment. In one embodiment, the vehicle reacts accordingly to this error information.

In one embodiment, the charging request information, cancellation information, vehicle status information (s), robot information (s) and / or interface information (s) are transmitted by radio, in particular on the basis of a Bluetooth standard, preferably a Bluetooth low energy standard. As a result, the reliability can be improved in one embodiment.

• Mittel zum Empfangen einer von dem Fahrzeug übermittelten Ladewunschinformation;
• Mittel zum Anfahren einer Ladeschnittstelle des Fahrzeugs mit einer durch den Roboter geführten Gegenschnittstelle auf Basis der empfangenen Ladewunschinformation mittels motorischer Bewegung von Achsen des Roboters; Mittel zum elektrischen Aufladen des Energiespeichers über die verbundene Lade- und Gegenschnittstelle durch den Ladeassistenten;
• Mittel zum Empfangen einer, insbesondere von dem Fahrzeug oder einer Person, übermittelten, Abbruchinformation;
• Mittel zum Beenden des Aufladens auf Basis der empfangenen Abbruchinformation; und
• Mittel zum Entfernen der robotergeführten Gegenschnittstelle von der Ladeschnittstelle mittels motorischer Bewegung von Achsen des Roboters.

According to one embodiment of the present invention, an or the automated loading assistant, in particular in terms of hardware and / or software, in particular in terms of programming, is set up to carry out a method described here and / or has:

• Means for receiving a charge request information transmitted by the vehicle;
• Means for approaching a charging interface of the vehicle with a counter-interface guided by the robot on the basis of the received charging request information by means of motorized movement of axes of the robot; Means for electrically charging the energy storage device via the connected charging and counter interfaces by the charging assistant;
• Means for receiving an interrupt information transmitted, in particular by the vehicle or a person;
• Means for terminating charging based on the received cancellation information; and
• Means for removing the robot-controlled counter-interface from the charging interface by means of motorized movement of axes of the robot.

• Mittel zum Empfangen wenigstens einer von dem Fahrzeug übermittelten Fahrzeugzustandsinformation, insbesondere einer von dem Fahrzeug übermittelten Fehlerinformation, die von einer Abweichung von einem vorgegebenen Sollzustand des Fahrzeugs abhängt, und Mittel zum Durchführen des Anfahrens der Ladeschnittstelle, des Verbindens und/oder Lösens der Lade- und Gegenschnittstelle, des Aufladens und/oder Beendens des Aufladens des Energiespeichers und/oder des Entfernens der robotergeführten Gegenschnittstelle auf Basis des empfangenen Fahrzeugzustands;
• Mittel zum Übermitteln wenigstens einer von einer Pose und/oder Posenänderung des Roboters abhängige Roboterinformation von dem Ladeassistenten an das Fahrzeug, insbesondere vor und/oder nach dem Anfahren der Ladeschnittstelle und/oder Entfernen der robotergeführten Gegenschnittstelle und/oder während des Anfahrens der Ladeschnittstelle und/oder Entfernens der robotergeführten Gegenschnittstelle; Mittel zum Empfangen wenigstens einer von dem Fahrzeug übermittelten Schnittstelleninformation, die von einem mechanischen und/oder elektrischen Kontaktzustand der Lade- und Gegenschnittstelle abhängt, insbesondere einer von dem Fahrzeug übermittelten Schnittstelleninformation, die von einem mechanischen Kontakt vorgegebener Kontaktstellen der Lade- und Gegenschnittstelle abhängt, einer von dem Fahrzeug übermittelten Schnittstelleninformation, die von einem Verriegelungszustand der Lade- und Gegenschnittstelle abhängt, und/oder einer von dem Fahrzeug übermittelten Schnittstelleninformation, die von einem elektrischen Kontaktzustand der Lade- und Gegenschnittstelle abhängt; und/oder
• Mittel zum sensorischen Ermitteln wenigstens einer Schnittstelleninformation, die von einem mechanischen und/oder elektrischen Kontaktzustand der Lade- und Gegenschnittstelle abhängt, insbesondere einer Schnittstelleninformation, die von einem mechanischen Kontakt vorgegebener Kontaktstellen der Lade- und Gegenschnittstelle abhängt, einer Schnittstelleninformation, die von einem Verriegelungszustand der Lade- und Gegenschnittstelle abhängt, und/oder einer Schnittstelleninformation, die von einem elektrischen Kontaktzustand der Lade- und Gegenschnittstelle abhängt, durch den Ladeassistenten; und/oder
• Mittel zum Anfahren der Ladeschnittstelle, Verbinden und/oder Lösen der Lade- und Gegenschnittstelle, Aufladen und/oder Beenden des Aufladens des Energiespeichers und/oder Entfernen der robotergeführten Gegenschnittstelle auf Basis dieser Schnittstelleninformation bzw. Schnittstelleninformationen;
• Mittel zum Sperren wenigstens einer Achse des Roboters nach dem Anfahren der Ladeschnittstelle und Mittel zum Verbinden der Lade- und Gegenschnittstelle mittels motorischer Bewegung der Gegenschnittstelle, wobei diese Achse beim Verbinden gesperrt und/oder beim Aufladen des Energiespeichers entsperrt ist; und/oder Mittel zum Sperren wenigstens einer Achse des Roboters nach dem Aufladen und Mittel zum Lösen der Lade- und Gegenschnittstelle mittels motorischer Bewegung der Gegenschnittstelle, wobei diese Achse dabei gesperrt ist; und/oder
• Mittel zum Übermitteln wenigstens einer Fehlerinformation, die von einer Abweichung von einem vorgegebenen Sollzustand des Ladeassistenten abhängt, von dem Ladeassistenten an das Fahrzeug.

In one embodiment, the charging assistant or its means or the arrangement:

• Means for receiving at least one vehicle state information transmitted by the vehicle, in particular error information transmitted by the vehicle, which depends on a deviation from a predetermined target state of the vehicle, and means for carrying out the approach to the charging interface, the connection and / or disconnection of the charging and Counter interface, the charging and / or termination of the charging of the energy store and / or the removal of the robot-controlled counter interface based on the received vehicle status;
• Means for transmitting at least one robot information item, which is dependent on a pose and / or a change in pose of the robot, from the charging assistant to the vehicle, in particular before and / or after approaching the charging interface and / or removing the robot-controlled counter-interface and / or while the charging interface is approaching and / or or removal of the robot-controlled counter interface; Means for receiving at least one interface information transmitted by the vehicle, which depends on a mechanical and / or electrical contact state of the charging and counter interface, in particular an interface information transmitted by the vehicle, which depends on a mechanical contact of predetermined contact points of the charging and counter interface, one Interface information transmitted by the vehicle, which depends on a locking state of the charging and counter interface, and / or interface information transmitted by the vehicle, which depends on an electrical contact state of the charging and counter interface; and or
• Means for the sensory determination of at least one interface information that depends on a mechanical and / or electrical contact state of the charging and counter interface, in particular interface information that depends on a mechanical contact of predetermined contact points of the charging and counter interface, interface information that depends on a locking state of the Charging and counter-interface depends, and / or an interface information that depends on an electrical contact state of the charging and counter-interface, by the charging assistant; and or
• Means for approaching the charging interface, connecting and / or disconnecting the charging and counter-interface, charging and / or ending the charging of the energy store and / or removing the robot-controlled counter-interface based on this interface information or interface information;
• Means for locking at least one axis of the robot after approaching the charging interface and means for connecting the charging and counter interface by means of a motorized movement of the counter interface, this axis being locked when connecting and / or unlocked when charging the energy store; and / or means for locking at least one axis of the robot after charging and means for releasing the loading and counter interface by means of motorized movement of the counter interface, this axis being locked in the process; and or
• Means for transmitting at least one piece of error information, which depends on a deviation from a predetermined desired state of the charging assistant, from the charging assistant to the vehicle.

A means within the meaning of the present invention can be designed in terms of hardware and / or software, in particular a processing, in particular microprocessor unit (CPU), graphics card (GPU), preferably a data or signal connected to a memory and / or bus system, in particular a digital processing unit ) or the like, and / or one or more programs or program modules. The processing unit can be designed to process commands that are implemented as a program stored in a memory system, to acquire input signals from a data bus and / or to output output signals to a data bus. A storage system can have one or more, in particular different, storage media, in particular optical, magnetic, solid-state and / or other non-volatile media. The program can be designed in such a way that it embodies or is able to execute the methods described here, so that the processing unit can execute the steps of such methods and thus in particular can operate or control the loading assistant or the arrangement. In one embodiment, a computer program product can have, in particular a non-volatile, storage medium for storing a program or with a program stored on it, wherein the execution of this program causes a system or a controller, in particular a computer, to create a to carry out the method described here or one or more of its steps.

In one embodiment, one or more, in particular all, steps of the method are carried out completely or partially in an automated manner, in particular by the charging assistant or its means or the arrangement.

In one embodiment, the arrangement has the vehicle. Additionally or alternatively, in one embodiment, the method includes one or more of the steps carried out by the vehicle and / or the person.

• 1: eine Anordnung zum elektrischen Aufladen eines Energiespeichers eines Fahrzeugs mit einem automatisierten Ladeassistenten nach einer Ausführung der vorliegenden Erfindung; und
• 2: ein Verfahren zum elektrischen Aufladen des Energiespeichers nach einer Ausführung der vorliegenden Erfindung.

Further advantages and features emerge from the subclaims and the exemplary embodiments. This shows, partly schematically:

• 1 : an arrangement for electrically charging an energy storage device of a vehicle with an automated charging assistant according to an embodiment of the present invention; and
• 2 : a method for electrically charging the energy storage device according to an embodiment of the present invention.

1 shows an arrangement for electrically charging an energy store 11 of a vehicle 10 with or with the help of an automated charging assistant (s) 20 with a multi-axis robot 21st according to an embodiment of the present invention, 2 a method for electrically charging the energy store according to an embodiment of the present invention, wherein information transfers between vehicles 10 and charging assistant 20th in 2 be done chronologically from top to bottom.

First the vehicle transmits 10 a loading request information l1 to the loading assistant 20th which he receives accordingly.

This now takes control of the charging process or the vehicle.

The vehicle then transmits 10 first vehicle state information l2 indicating, for example, that his handbrake is on, his doors and / or windows are closed and / or his loading flap 13 to cover a charging interface 12 opened manually or automatically, to the loading assistant 20th which he receives accordingly.

As a result, a safe state can advantageously be ensured in one embodiment.

The charging assistant then transmits 20th a robot information l3 to the vehicle 10 that indicates the robot 21st leaves a safe basic pose, and then drives the charging interface 12 with one by the robot 21st guided counter interface 22nd by means of motorized movement of the six axes A1 - A6 of the robot 21st at.

Once the vehicle 10 mechanical contact between a given contact point 1 the charging interface 12 and a predetermined contact point 2 the counter interface 22nd where the interfaces are not yet electrically connected to each other (" Pre-contact "), it transmits a corresponding first interface information l4.1 to the charging assistant 20th .

As a result, security can advantageously be increased or guaranteed in one embodiment.

The charging assistant then locks 20th the axes A1 - A6 and connects charging interface 12 and counter interface 22nd by motorized movement of its nearest axis A7 . The axes remain A1 - A6 blocked.

After charging interface 12 and counter interface 22nd are connected to each other, the vehicle locks the charging interface 12 and counter interface 22nd and transmits corresponding second interface information l4.2 to the charging assistant 20th .

The loading assistant 20th unlocks the axes A1 - A6 to compensate for any movements of the vehicle and charges the energy storage 11 via the connected charging and counter interface 12 , 22nd electric.

As soon as this has reached a desired charge level, the vehicle transmits 10 an abort information l5 to the charging assistant 20th .

The loading wizard then ends 20th charging.

The vehicle 10 unlocks the charging interface 12 and counter interface 22nd and transmits corresponding third interface information l6 to the charging assistant 20th .

Alternatively and therefore in 2 indicated by dashed lines can also be a person 30th cancel the charging process and a corresponding cancellation information l5.1 to the charging assistant 20th to transfer. The loading wizard then ends 20th also the charging and then transmits a corresponding information l5.2 to the vehicle 10 , which then also has a charging interface 12 and counter interface 22nd unlocked and a corresponding third interface information l6 to the charging assistant 20th transmitted.

The charging assistant then locks 20th the axes again A1 - A6 and solves charging interface 12 and counter interface 22nd by motorized movement of its axis A7 . The axes remain A1 - A6 blocked.

The vehicle optionally transmits 10 corresponding fourth interface information l7 to the charging assistant 20th as soon as it detects that the specified contact points from charging interface 12 and counter interface 22nd no longer contact each other mechanically.

The charging assistant then unlocks 20th the axes again A1 - A6 and then moves these axes by means of motorized movement A1 - A6 the robot 21st in his basic pose.

Does the robot 21st reaches its basic pose, transmits the loading assistant 20th corresponding robot information l8 to the vehicle 10 which then his loading flap 13 closes automatically. Alternatively, the charging assistant can also be used 20th using the robot 21st , especially the robot-controlled counter-interface 22nd , after mechanically loosening the charging interface 12 and counter interface 22nd the loading flap before starting the basic pose 13 close automatically.

In the event of errors on the load assistant side, such as failure to recognize the charging interface or a fault in a drive on one of the axes A1 - A7 or the like is transmitted by the charging assistant 20th a corresponding error information 19.1 to the vehicle 10 .

Conversely, the vehicle transmits 10 in the event of any errors in the vehicle, such as a defective charging interface 12 , overheating of the energy storage 11 or the like, corresponding error information l9.2 to the charging assistant 20th .

Additionally or alternatively, the loading assistant 20th and vehicle 10 each other different information l9.3 transmit, for example via a water cooling system (closed water cycle, leakage, temperature or the like).

In the 1 , 2 Communication between the charging assistant indicated by dash-dotted lines 20th and vehicle 10 is carried out in one version via Bluetooth Low Energy.

Although exemplary embodiments have been explained in the preceding description, it should be pointed out that a large number of modifications are possible. It should also be pointed out that the exemplary designs are merely examples that are not intended to restrict the scope of protection, the applications and the structure in any way. Rather, the preceding description provides a person skilled in the art with guidelines 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, being able to be made without departing from the scope of protection as it emerges from the claims and these equivalent combinations of features.

List of reference symbols

1

Contact point

2

Contact point

10

vehicle

11

Energy storage

12

Charging interface

13

Loading flap

20th

Loading assistant

21st

robot

22nd

Counter interface

30th

person

A1, ..., A7

Robot axis

11, ..., 19.3

information

Claims (10)

A method for electrically charging an energy store (11) of a vehicle (10) using an automated charging assistant (20) with at least one multi-axis robot (21), comprising the steps: - Receipt of a charge request information (l1) transmitted by the vehicle by the charging assistant; - Approaching a charging interface (12) of the vehicle with a counter-interface (22) guided by the robot on the basis of the received charging request information by means of motorized movement of axes of the robot by the charging assistant; - Connect the charging and counter interfaces; - Electrical charging of the energy storage device via the connected charging and counter interfaces by the charging assistant; - Receipt of cancellation information (15; 15.1) transmitted, in particular by the vehicle (10) or a person (30), by the charging assistant; - Termination of charging based on the received cancellation information by the charging assistant; - release of the charging and counter interfaces; and - Removal of the robot-controlled counter-interface from the charging interface by means of motorized movement of axes of the robot by the charging assistant. Procedure according to Claim 1 , characterized by the step: - Receiving at least one vehicle status information (l2; l9.2, l9.3) transmitted by the vehicle, in particular error information transmitted by the vehicle, which depends on a deviation from a predetermined target state of the vehicle, by the charging assistant ; The approach of the charging interface, the connection and / or disconnection of the charging and counter-interface, the charging and / or termination of the charging of the energy store and / or the removal of the robot-controlled counter-interface takes place on the basis of the received vehicle status information. Method according to one of the preceding claims, characterized by the step of: - transmitting at least one robot information item (l3, l8) dependent on a pose and / or change of pose of the robot from the charging assistant to the vehicle, in particular before and / or after approaching the charging interface and / or removing the robot-controlled counter-interface and / or during the approach to the charging interface and / or removing the robot-controlled counter-interface. Method according to one of the preceding claims, characterized by the step of: receiving at least one piece of interface information transmitted by the vehicle, which depends on a mechanical and / or electrical contact state of the charging and counter-interface, in particular an piece of interface information transmitted by the vehicle (14.1, l7), which depends on a mechanical contact of predetermined contact points (1, 2) of the charging and counter interface, interface information (l4.2, l6) transmitted by the vehicle, which depends on a locked state of the charging and counter interface, and / or interface information transmitted by the vehicle, which depends on an electrical contact state of the charging and counterpart interfaces; and / or - sensory determination of at least one piece of interface information that depends on a mechanical and / or electrical contact state of the charging and counter interface, in particular interface information that depends on a mechanical contact of predetermined contact points (1, 2) of the charging and counter interface, a Interface information, which depends on a locking state of the charging and counter interface, and / or interface information, which depends on an electrical contact state of the charging and counter interface, by the charging assistant; approaching the charging interface, connecting and / or disconnecting the charging and counter interface, charging and / or ending the charging of the energy store and / or removing the robot-controlled counter interface based on this interface information or interface information (14.1, l4.2, l6, l7) takes place. Method according to one of the preceding claims, characterized by the step: Blocking at least one axis (A1-A6) of the robot after approaching the charging interface, the charging and counter interface being connected by means of a motorized movement of the counter interface and this axis (A1-A6) blocked when connecting and / or unlocked when charging the energy storage device is; and / or by the step: - blocking at least one axis (A1-A6) of the robot after charging, the loosening of the charging and counter-interface taking place by means of motorized movement of the counter-interface and this axis (A1-A6) being blocked. Method according to one of the preceding claims, characterized by the step of: - transmitting at least one piece of error information (19.1), which depends on a deviation from a predetermined target state of the charging assistant, from the charging assistant to the vehicle. Method according to one of the preceding claims, characterized in that the loading request information (l1), termination information (l5, l5.1), vehicle status information (l2), robot information (l3, l8) and / or interface information or interface information (l4.1, l4 .2, l6, l7) is or are transmitted wirelessly, in particular on the basis of a Bluetooth standard, and / or communication between the charging assistant and vehicle is initiated by the vehicle and / or not by the charging assistant. Automated charging assistant (20) with at least one multi-axis robot (21) which is set up to carry out a method according to one of the preceding claims and / or has: - Means for receiving a charge request information (l1) transmitted by the vehicle; - Means for approaching a charging interface (12) of the vehicle with a counter-interface (22) guided by the robot on the basis of the received charging request information by means of motorized movement of axes (A1-A6) of the robot; - Means for electrically charging the energy storage device via the connected charging and counter interfaces by the charging assistant; - Means for receiving a, in particular from the vehicle (10) or a person (30), transmitted, termination information (15; 15.1); - means for terminating charging based on the received cancellation information; and - Means for removing the robot-controlled counter-interface from the charging interface by means of motorized movement of axes (A1-A6) of the robot. Arrangement for electrically charging an energy store of a vehicle with an automated charging assistant according to the preceding claim. Computer program product with a program code, which is stored on a medium readable by a computer, for carrying out a method according to one of the preceding claims.

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