WO2021204428A1 - Procédé et appareil pour alimenter un objet avec une substance d'alimentation - Google Patents

Procédé et appareil pour alimenter un objet avec une substance d'alimentation Download PDF

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Publication number
WO2021204428A1
WO2021204428A1 PCT/EP2021/050258 EP2021050258W WO2021204428A1 WO 2021204428 A1 WO2021204428 A1 WO 2021204428A1 EP 2021050258 W EP2021050258 W EP 2021050258W WO 2021204428 A1 WO2021204428 A1 WO 2021204428A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
transport device
mobile
supply
mobile platform
Prior art date
Application number
PCT/EP2021/050258
Other languages
German (de)
English (en)
Inventor
Hannes Schulz
Ralf Derda
Original Assignee
Volkswagen Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Volkswagen Aktiengesellschaft filed Critical Volkswagen Aktiengesellschaft
Publication of WO2021204428A1 publication Critical patent/WO2021204428A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60—Monitoring or controlling charging stations
    • B60L53/65—Monitoring or controlling charging stations involving identification of vehicles or their battery types
    • 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
    • B60L53/66—Data transfer between charging stations and vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles
    • 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
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • 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
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles
    • Y02T90/167—Systems integrating technologies related to power network operation and communication or information technologies for supporting the interoperability of electric or hybrid vehicles, i.e. smartgrids as interface for battery charging of electric vehicles [EV] or hybrid vehicles [HEV]
    • 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
    • Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S30/00—Systems supporting specific end-user applications in the sector of transportation
    • Y04S30/10—Systems supporting the interoperability of electric or hybrid vehicles
    • Y04S30/14—Details associated with the interoperability, e.g. vehicle recognition, authentication, identification or billing

Definitions

  • the invention relates to a method and a device for supplying an object with a supply item, in particular for supplying an electric vehicle with electrical energy.
  • US Pat. No. 9056555 B1 discloses a mobile charging robot which is electrically connected to a stationary charging column. The mobile robot can then drive to a vehicle and automatically plug in the charging plug, with the vehicle then being charged electrically by the stationary charging station. The robot can be supplied with electrical energy directly via the charging station or it can have a battery unit that is charged via the stationary charging station.
  • a similar charging station for automatically charging an electrical energy storage device in a vehicle comprising a communication device which is designed to receive vehicle-specific data from the vehicle and, using the received vehicle-specific data, a position of a charging socket on the vehicle to investigate.
  • the charging station has a charging robot which comprises a contact head with a plurality of contacts, the contacts being connected to an electrical voltage source, the charging robot being designed to move to a charging position based on the determined position of the charging socket on the vehicle and after when the charging position is reached, insert the contact head into the charging socket of the vehicle and electrically connect the contacts of the contact head to contacts of the charging socket.
  • a mobile charging station for electric vehicles is known from DE 10201720017 A1, comprising at least one battery unit, at least one first charging interface for charging the battery unit, and at least one second interface for charging an electric vehicle the battery unit, means for automated navigation of the mobile charging station and means for receiving a charging mode.
  • the mobile charging station has a robot arm which is designed in such a way that the first charging interface is automatically connected to a stationary charging station and / or the second interface is connected to a charging interface of an electric vehicle.
  • the document discloses an embodiment in which the mobile charging station has a mobile robot platform on which the at least one battery unit is detachably arranged. In an alternative embodiment, the mobile charging station has a mobile robot platform and a passive platform, the battery unit for charging an electric vehicle being arranged on the passive platform.
  • This mobile charging station has many advantages over stationary charging stations.
  • robot platforms are relatively expensive and technically complex. If such robots are therefore used to supply an object with a supply item, they should be used as efficiently as possible and be able to be used as flexibly as possible.
  • Another great advantage is that the robot can be made much smaller and more compact because the transport task of correspondingly large weight is dispensed with. This enables him to maneuver better or at all in tight spaces, for example between vehicles to reach the charging socket. This saves costs because the robot can be designed with smaller drives.
  • the invention is based on the technical problem of providing a method for supplying an object with a supply item which enables a more flexible supply. Another technical problem is the creation of a suitable device.
  • the method for supplying an object with a supply item is carried out by means of at least one mobile, automatically driving robot and a separate mobile platform with the supply item.
  • the mobile platform has a mechanical coupling for a separate mobile, automatically moving transport device and / or the mobile platform itself has an automatically moving transport device.
  • the transport device and the robot receive a supply order in order to supply an object with a supply item, the transport device and robot then moving independently of one another to the object. Independent means that these are separated control the object from each other.
  • the respective movement to the object can, however, be coordinated so that, for example, both arrive almost simultaneously or also arrive at the object in a targeted manner one after the other.
  • the separation of the robot and the transport device has the advantage of being able to use the usually complex robot more effectively, since it is no longer used for transport purposes, as described in DE 102017220017 A1. It has an even greater advantage to separate the transport device and the supplies on the mobile platform so that the transport device can also be used effectively, since it only has to deliver and pick up the mobile platform, but can carry out new transports again during the supply process .
  • the supplies can be, for example, packages, supplies or the like.
  • the separate transport device therefore moves the mobile platform with the goods to be supplied to the object, where the coupling to the mobile platform is then released, the transport device then moving away from the object.
  • the transport device can then carry out new orders. Another advantage is that there is more space on the object for the robot so that it can maneuver better, for example.
  • the robot initiates a supply process and then moves away from the object so that it can move, for example, to another object and there initiates a next supply process while the first supply process is still running.
  • the robot moves back to the object at a later point in time in order to end the supply process.
  • the or another transport device moves back to the mobile platform, couples it and moves on.
  • the transport device can move to another object or to a loading station, depending on the level of supply, in order to load new supplies.
  • the object is an electric vehicle and the supply item is electrical energy that is stored, for example, in one or more battery units or battery packs.
  • the device for supplying an object with a supply item has at least one mobile, automatically driving robot and at least one separate, mobile platform with the supply item.
  • the mobile platform has a mechanical coupling for a separate, mobile, automated transport device.
  • the mobile platform has an automated moving transport device, the device being designed in such a way that the transport device and the robot receive a supply order and move to the object independently of one another.
  • the robot has at least one gripping arm for the automated insertion and removal of a charging plug.
  • the supply item is electrical energy in the form of at least one battery unit or rechargeable battery pack.
  • the device has at least one charging station which makes the supply items available, for example a stationary electric charging column which charges the discharged battery units again electrically.
  • the device also has a control center in order to distribute and transmit the orders to the robots and platforms.
  • FIG. 1 shows a schematic perspective illustration of a transport device with a coupled platform and a robot
  • Fig. 2 is a schematic representation of a device for supplying
  • a transport device 1 is shown schematically.
  • the transport device 1 has an environment sensor system 2 and wheels 3.
  • a mobile platform 4 with a battery unit 5 is coupled to the transport device 1.
  • the mobile platform 4 has wheels 6 and the battery unit 5 is designed with a charging cable with a charging plug 7.
  • the mobile platform 4 also has a coupling 8, which can be received by a corresponding mating coupling of the transport device 1 in order to mechanically connect the transport device 1 and the mobile platform 4 to one another.
  • the transport device 1 is designed to drive automatically.
  • a separate, mobile robot 9 is also shown, which also has at least one environment sensor system 10 and wheels 11.
  • the robot 9 additionally has a gripping arm 12 in order to grip the charging plug 7 and to automatically plug it into a charging socket of an electric vehicle or to unplug it.
  • the robot 9 is also designed to drive automatically.
  • a device 20 for supplying electric vehicles 21 with electrical energy is shown very schematically.
  • the device 20 has at least one central charging column 22 in which mobile platforms 4 with battery units 5 are parked in order to charge them.
  • the device 20 also has a control center 23 which controls the supply orders and for this purpose can communicate wirelessly with the robots 9 and the transport devices 1. There are preferably several transport devices 1 and robots 9.
  • the control center 23 receives, for example, a supply order from an electric vehicle 21, i.e. the electric vehicle 21 would like to be charged.
  • the control center 23 determines which transport devices 1 are currently free or will be free for a short time and which transport device 1 has the shortest route.
  • the transport device 1 selected in this way then picks up a mobile platform 4 with a battery unit 5 from the charging column 22 or drives directly to the electric vehicle 21 if a mobile platform 4 with an at least partially charged battery unit 5 is already coupled.
  • the transport device 1 then drives to the electric vehicle 21 and parks the mobile platform 4 there and uncouples itself from the platform 4.
  • the transport device 1 can then take over the next transport process.
  • the control center 23 asks where the robots 9 are located and which ones are free or will be free for a short time.
  • the control center 23 transmits the order to a selected robot 9 to drive to the electric vehicle 21.
  • the robot 9 is preferably commissioned in such a way that it does not arrive at the electric vehicle 21 until the mobile platform 4 with the battery unit 5 is already there.
  • the robot 9 then grabs the charging plug 7 with its gripping arm 12 and plugs it into a charging socket of the electric vehicle 21.
  • the robot 9 also has a coupling for the platform 4, for example in order to connect the platform 4 to the electric vehicle 21 more cheaply position.
  • the robot 9 can remove itself again and carry out a new order.
  • the process is reversed.
  • a robot 9 is ordered to the electric vehicle 21, which releases the plugged-in charging plug 7 and reattaches it to the battery unit 5.
  • the robot 9 can then move away again.
  • a transport device 1 is ordered to the electric vehicle 21, which then couples the platform 4 and transports it to another electric vehicle 21 or to the charging station 22. List of reference symbols

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un procédé d'alimentation d'un objet avec une substance d'alimentation, au moyen d'au moins un robot mobile (9) sans conducteur et d'une plate-forme mobile (4) séparée qui comprend la substance d'alimentation. La plate-forme mobile (4) possède un couplage mécanique (8) pour un dispositif de transport (1) sans conducteur mobile séparé et/ou la plate-forme mobile (4) possède un dispositif de transport sans conducteur, le dispositif de transport (1) et le robot (9) obtenant une tâche d'alimentation et se déplaçant, indépendamment l'un de l'autre, vers l'objet. L'invention concerne également un appareil (20).
PCT/EP2021/050258 2020-04-06 2021-01-08 Procédé et appareil pour alimenter un objet avec une substance d'alimentation WO2021204428A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020204437.6A DE102020204437A1 (de) 2020-04-06 2020-04-06 Verfahren und Vorrichtung zur Versorgung eines Objekts mit einem Versorgungsgut
DE102020204437.6 2020-04-06

Publications (1)

Publication Number Publication Date
WO2021204428A1 true WO2021204428A1 (fr) 2021-10-14

Family

ID=74183153

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2021/050258 WO2021204428A1 (fr) 2020-04-06 2021-01-08 Procédé et appareil pour alimenter un objet avec une substance d'alimentation

Country Status (2)

Country Link
DE (1) DE102020204437A1 (fr)
WO (1) WO2021204428A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9056555B1 (en) 2014-10-21 2015-06-16 Wesley Zhou Vehicle charge robot
DE102014226357A1 (de) 2014-12-18 2016-06-23 Robert Bosch Gmbh Ladestation und Verfahren zum automatischen Laden eines elektrischen Energiespeichers in einem Fahrzeug
DE102015225789A1 (de) * 2015-12-17 2017-06-22 Volkswagen Aktiengesellschaft Mobiler Energiespeicher und Verfahren zum Bereitstellen von Energie für einen Verbraucher
DE102017220017A1 (de) 2017-11-10 2019-05-16 Kuka Ag Mobile Ladestation und Verfahren zum Laden eines Elektrofahrzeuges
US20190315236A1 (en) * 2018-04-13 2019-10-17 Bedestrian LLC Method for autonomous charging of a motor vehicle

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9592742B1 (en) 2014-04-09 2017-03-14 FreeWire Technologies, Inc. Systems, apparatus, and methods of charging electric vehicles
US10399458B2 (en) 2016-06-16 2019-09-03 Memes Associates, Ltd. Tethered charging/re-charging drone (TCR) assembly system
DE102017200170A1 (de) 2017-01-09 2018-07-12 Robert Bosch Gmbh Vorrichtung und Verfahren zur Formung eines Laserstrahls durch einen programmierbaren Strahlformer
DE102017008077A1 (de) 2017-08-25 2018-02-22 Daimler Ag Verfahren zum Laden eines elektrischen Energiespeichers eines elektrisch antreibbaren Kraftwagens sowie Ladesystem zum Laden eines solchen elektrischen Energiespeichers
DE102017219730A1 (de) 2017-11-07 2019-05-09 Ford Global Technologies, Llc Mobiler Energiespeicher
DE102017220478A1 (de) 2017-11-16 2019-05-16 Achim Fricker Selbstfahrender serviceroboter

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9056555B1 (en) 2014-10-21 2015-06-16 Wesley Zhou Vehicle charge robot
DE102014226357A1 (de) 2014-12-18 2016-06-23 Robert Bosch Gmbh Ladestation und Verfahren zum automatischen Laden eines elektrischen Energiespeichers in einem Fahrzeug
DE102015225789A1 (de) * 2015-12-17 2017-06-22 Volkswagen Aktiengesellschaft Mobiler Energiespeicher und Verfahren zum Bereitstellen von Energie für einen Verbraucher
DE102017220017A1 (de) 2017-11-10 2019-05-16 Kuka Ag Mobile Ladestation und Verfahren zum Laden eines Elektrofahrzeuges
US20190315236A1 (en) * 2018-04-13 2019-10-17 Bedestrian LLC Method for autonomous charging of a motor vehicle

Also Published As

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