Docking assembly for electronic device

Abstract

A docking assembly 1000 for charging a battery of an electronic device, in particular a robot, comprises a first docking element 1 and a second docking element 2. If the first docking element 1 is docked to the second docking element 2, a recess of the first docking element 1 fits completely into a protrusion of the second docking element 2 in the direction of a central axis 100 of the recess.

Description

Technical Field

[0001] The invention relates in a first aspect to a docking assembly for charging batteries of electronic devices, particularly robots. The docking assembly includes a first docking element and a second docking element. A second aspect relates to a first docking element that advantageously includes a resilient element. A third aspect relates to a second docking element. A fourth aspect relates to a resilient element. A fifth aspect relates to a method for docking a first docking element to a second docking element to charge batteries of electronic devices, particularly robots. Background Technology

[0002] Electronic devices, and especially robots, are advantageously equipped with batteries as a power source. Therefore, electronic devices or robots are equipped with docking sockets to connect to fixed docking ports for recharging the batteries.

[0003] Legged robots equipped with batteries may be able to walk to the docking port on their own to recharge their batteries.

[0004] Legged robots like these are often used in rugged terrain. Therefore, when the robot's battery needs recharging, the docking socket may become contaminated with dust or water. This contamination can cause recharging problems because it may interrupt the electrical connection between the docking socket and the docking port.

[0005] There are many challenges to be addressed regarding this type of docking assembly, which includes docking sockets and docking ports. Summary of the Invention

[0006] Therefore, the problem to be solved by the present invention is to provide a robust docking assembly including a docking socket and a docking port.

[0007] This problem is addressed by the subject matter of the independent claims relating to the first, second, third, fourth, and fifth aspects of the invention.

[0008] Unless otherwise stated, the following limitations shall apply to this specification:

[0009] The terms “a,” “an,” “the,” and similar terms used in the context of this invention should be interpreted to cover both the singular and plural unless otherwise stated herein or clearly contradicted by the context. Furthermore, the terms “comprising,” “including,” and “containing” are used herein in their open, non-limiting sense. The term “comprising” should include both “including” and “consisting of.”

[0010] The first aspect of the present invention relates to a docking assembly for charging the battery of an electronic device.

[0011] This electronic device is particularly a robot, a legged robot, or an autonomous legged robot.

[0012] The docking assembly includes a first docking element and a second docking element.

[0013] If the first mating element is connected to the second mating element:

[0014] -The recessed portion of the first mating element fully engages with the protruding portion of the second mating element along the central axis of the recessed portion.

[0015] - At least one electrical contact portion integrated into the concave surface of the recess is electrically connected to at least one electrical contact portion integrated into the convex surface of the protrusion.

[0016] - The second surface of the first mating element is separated from the concave surface by the edge surrounding the recess, and fully mates with the second surface of the second mating element in the direction of the central axis.

[0017] - At least one electrical contact portion integrated into the second surface of the first docking element is electrically connected to at least one electrical contact portion integrated into the second surface of the second docking element.

[0018] In an advantageous embodiment of the invention, the first mating element is a mating port including a power supply, and the second mating element is a mating socket integrated into an electronic device for charging the battery when the mating socket is mated to the mating port, or vice versa. Conversely, this means that in another embodiment, the second mating element may also be adapted to serve as a mating port, and the first mating element may be a mating socket integrated into the electronic device.

[0019] In an advantageous embodiment, the docking port includes a power source and is configured to charge the battery of an electronic device when the docking socket is connected to the docking port.

[0020] Specifically, the docking port is configured as a standalone module placed on the ground.

[0021] Specifically, the docking socket can be integrated into the underside of the legged robot's torso.

[0022] Advantageously, the legged robot can walk toward the docking port if it needs to recharge. The legged robot can detect the docking socket using a method for aligning it above the docking port and estimate a pose for positioning itself relative to the docking port, such that the docking socket is positioned directly above the docking port, aligning the central axis of the protrusion with the central axis of the recess. In the next step, the legged robot can lower its torso toward the docking port in the direction of the central axis of the protrusion, allowing the docking socket to align with the docking port.

[0023] In particular, the term "convex" in this document refers to all possible shapes that protrude from the body of the mating socket. Specifically, such a first convex surface can be a hemispherical or conical surface protruding from the mating socket.

[0024] Specifically, the term "concave" herein refers to all possible shapes that form a groove or recess in the mating port. Such a first concave surface of the mating port can have a hemispherical surface. Advantageously, the first concave surface is a conical surface.

[0025] Specifically, the term "edge" herein refers to a wall protruding from the first mating element, and at least one electrical contact portion forming a concave surface on the inner side of the wall, and at least one electrical contact portion forming a second surface of the first mating element on the outer side of the wall.

[0026] In particular, the surface of the edge has a truncated cone shape on the outside and / or a hemispherical shape on the inside.

[0027] In particular, the arrangement of at least one electrical contact portion of the concave surface on the inner wall of the edge and the arrangement of at least one electrical contact portion of the first surface of the first mating element on the outer wall of the edge allow for two different connections to the second mating element, but also provide two different connections to the safety space, because the electrodes are arranged in a very compact manner.

[0028] In another advantageous embodiment of the invention, at least one electrical contact portion of the convex surface and at least one electrical contact portion of the second surface of the second mating element are arranged on the second mating element such that if they are not mated to the first mating element, they face each other, and if they are mated to the first mating element, they face the concave surface on the inner side of the edge and the second surface of the first mating element on the outer side of the edge. Such an arrangement is space-efficient and therefore highly advantageous if the second mating element is integrated into a robot or electronic device.

[0029] Furthermore, the advantageous arrangement of the concave surface fully fitting into the convex surface allows for a stable connection, even if contaminants or residues may be present on the first and / or second mating elements. Advantageously, more than one electrical contact portion is integrated into the concave or convex surface for interconnection. Even if one of the electrical contact portions is contaminated, the remaining electrical contact portions can still connect to each other, thus providing a stable connection. In another embodiment of the invention, the first mating element includes a resilient element having a geometry adapted to rotate the recess about a pivot point when the second mating element mates with the first mating element at an angle α relative to the central axis, to compensate for misalignment. In particular, an advantageous angle α is 20° ≥ α ≥ -20°.

[0030] Specifically, the elastic element enables the first and second mating elements to self-center during the mating process.

[0031] Therefore, the docking assembly is very robust, especially considering alignment issues that may arise when an autonomous robot attempts to mate with a docking socket to a docking port. In particular, if the autonomous robot does not have a camera on the underside of its torso, it may not be able to accurately identify the docking port. If the docking port corresponds to the first docking element and includes a resilient element, the docking port is more robust in receiving the docking socket, even if the docking angle is not precisely in the direction of the central axis.

[0032] Additionally, if there is a lateral offset between the convex surface of the first mating element, such as a mating socket, and the second mating element, such as a port socket, the rotation or pivoting of the elastic element allows the first mating element to remain mated to the second mating element, even if the mating direction is not aligned.

[0033] In another advantageous embodiment of the invention,

[0034] - At least one electrical contact portion on the concave surface and the electrical contact portion on the convex surface are electrical contacts, and / or

[0035] - At least one electrical contact portion of the second surface of the first mating element and at least one electrical contact portion of the second surface of the second mating element are grounding contacts, and / or

[0036] - A first central electrical contact portion integrated in the lowest region of a concave surface can be connected to a second central electrical contact portion integrated in the highest region of a convex surface, wherein the first and second central electrical contact portions are signal contacts adapted to detect contact between a first mating element and a second mating element.

[0037] In an advantageous embodiment of the invention, at least one electrical contact portion of the concave surface and the electrical contact portion of the convex surface have a power connection, +60V > power connection > +40V, particularly +48V.

[0038] In another advantageous embodiment of the invention, the first central electrical contact portion and the second central electrical contact portion have a power connection, +20V > +10V, particularly +12V, of the power connection central electrical contact portion.

[0039] In an advantageous embodiment of the invention, if the first mating element mates with the second mating element, the first central electrical contact portion and the second central electrical contact portion contact, the mating is detected, and the power supply for at least one electrical contact portion of the concave and convex surfaces is activated. Specifically, the activation occurs with a certain time delay to prevent electrical short circuits that may occur if the first and second mating elements are misaligned but the power supply is still activated.

[0040] In an advantageous embodiment, the first center electrode and the second center electrode are in contact only when at least one electrical contact portion of the concave surface and at least one electrical contact portion of the convex surface are in contact, and if at least one electrical contact portion of the second surface of the first mating element and at least one electrical contact portion of the second surface of the second mating element are in contact, the first center electrode and the second center electrode are in contact.

[0041] The second aspect of the invention relates to a first docking element for a docking assembly according to the first aspect of the invention.

[0042] Advantageously, the first docking element is a docking port for electronic equipment or a robot. Therefore, the first docking element includes a power source to provide power to charge the battery of the electronic equipment or robot.

[0043] In another advantageous embodiment of the invention, if the first mating element is mated to the second mating element, the first mating element includes an electrical contact portion integrated into the concave surface and adapted to be electrically connected to at least two, and particularly at least four, electrical contact portions of the convex surface. Specifically, the electrical contact portion of the concave surface is adapted to be electrically connected to all electrical contact portions of the convex surface.

[0044] Specifically, at least one electrical contact portion of the concave surface extends over a region of the concave surface to form a contact ring.

[0045] In particular, at least one electrical contact portion of the concave surface extends over the region of the concave surface, thereby forming a ring-shaped electrode, especially having a truncated cone shape.

[0046] In particular, the electrical contact portion of the second surface of the first mating element has an annular or ring-shaped shape, especially having a truncated cone surface geometry.

[0047] In another advantageous embodiment of the second aspect, at least one electrical contact portion of the second surface of the first mating element surrounds the edge. In particular, if the first mating element is mated to the second mating element, the electrical contact portion of the second surface of the first mating element is adapted to be electrically connected to at least two, particularly at least four, of at least one electrical contact portion of the second surface of the second mating element.

[0048] In another advantageous embodiment, at least one electrical contact portion of the concave surface is disposed on the inner surface of a circular edge surrounding the concave surface, and at least one electrical contact portion of the second surface is disposed on the outer surface of the circular edge. The edge isolates at least one electrical contact portion of the concave surface from at least one electrical contact portion of the second surface.

[0049] In another advantageous embodiment of the second aspect, the first docking element includes an elastic element having a geometry adapted to rotate a recess about a pivot point.

[0050] Specifically, if the second mating element is mated to the first mating element outside the first mating element, the pivot point of the elastic element is arranged on the central axis in the direction toward the second mating element.

[0051] Specifically, the pivot point of the elastic element is arranged on the central axis in a direction extending beyond the concave surface.

[0052] Due to the arrangement of the pivot points, the center point of the recess or concave surface does not move laterally during rotation, but remains essentially in a fixed position.

[0053] In another advantageous embodiment of the invention, the first mating element includes a first central electrical contact portion integrated at the lowest point of the concave surface.

[0054] Specifically, the first central electrical contact portion is adapted to connect to the second electrical contact portion of the second mating element.

[0055] Advantageously, the first and second central electrical contacts are signal electrodes to identify the mating conditions between the first and second mating elements. Specifically, they are only connected after the first and second mating elements have been connected.

[0056] A third aspect of the invention relates to a second docking element for use in a docking assembly according to a first aspect of the invention.

[0057] Advantageously, the second docking element is a docking socket integrated into an electronic device or robot, and is adapted to dock with a docking port for recharging the battery of the device or robot.

[0058] In an advantageous embodiment of the third aspect, the second mating element includes four electrical contact portions integrated into the convex surface, and / or four electrical contact portions integrated into the second surface of the second mating element.

[0059] In another advantageous embodiment of the third aspect, the second mating element includes a second central electrical contact portion integrated at the highest point of the convex surface. Specifically, the second central electrical contact portion is adapted to connect to the first central electrical contact portion of the first mating element.

[0060] The fourth aspect relates to an elastic element, particularly for a mating assembly according to the first aspect of the invention or a first mating element according to the second aspect.

[0061] The elastic element comprises at least three pipe segments. Each pipe segment is connected to two other pipe segments via bridging connectors to form a ring structure.

[0062] Each pipe segment has a central axis. All the central axes of the pipe segments intersect the axis of the annular structure at points outside the annular structure.

[0063] According to an advantageous embodiment of the invention in the fourth aspect, it has four pipe sections.

[0064] Specifically, the elastic element is made of polyurethane material.

[0065] The fifth aspect of the invention relates to a method for connecting a first docking element to a second docking element to charge the battery of an electronic device, particularly a robot.

[0066] The first mating element is a mating port, and the second mating element is a mating socket integrated into an electronic device, and vice versa. The reverse means that in another embodiment, the second mating element can also be adapted as a mating port, and the first mating element can be a mating socket integrated into an electronic device.

[0067] The method includes the following steps:

[0068] - Use the camera on the electronic device to detect the docking port.

[0069] - Estimate the pose of the electronic device for positioning, so that the electronic device can be connected to the docking port using a docking socket, and

[0070] - The control electronics are used to position the docking socket to the docking port.

[0071] Advantageously, the electronic device is an autonomous robot. Such an autonomous robot includes a camera that detects the docking port if it is positioned within the camera's coverage area.

[0072] If the camera detects the docking port, the robot's logic unit estimates the pose the robot needs to adopt to align the docking socket with the docking port. The autonomous robot can then use this pose to align the docking socket with the docking port.

[0073] Even if the pose is not adopted very precisely, the robot can still be docked to the docking port using the docking socket if the docking port includes a flexible element to compensate for misalignment of the docking socket.

[0074] Other advantageous embodiments are set forth in the dependent claims and in the description below. Attached Figure Description

[0075] The invention will be better understood from the following detailed description, and objects other than those described above will become apparent. This description refers to the accompanying drawings, in which:

[0076] Figure 1 A schematic cross-sectional view of a docking assembly according to an advantageous embodiment of the first aspect of the invention is shown;

[0077] Figure 2 A schematic perspective view of a first docking element according to an advantageous embodiment of the second aspect of the invention is shown;

[0078] Figure 3 A schematic perspective view of a second docking element according to an advantageous embodiment of a third aspect of the invention is shown; and

[0079] Figure 4 A schematic perspective view of an elastic element according to an advantageous embodiment of the fourth aspect of the invention is shown. Detailed Implementation

[0080] Figure 1 A cross-section of an advantageous embodiment of the docking assembly 1000 is shown. The docking assembly 1000 includes a first docking element 1 and a second docking element 2, the first docking element 1 being engaged with the second docking element 2.

[0081] The recessed portion of the first docking element 1 in the direction of the central axis 100 is fully engaged with the protruding portion of the second docking element 2 in the direction of the central axis 100.

[0082] At least one electrical contact portion 101 is integrated into the concave surface 11 of the recess to be electrically connected to at least one electrical contact portion 201 integrated into the convex surface 21 of the protrusion.

[0083] The second surface 12 of the first mating element 1 is separated from the concave surface 11 by the edge 110 surrounding the recess. Furthermore, the second surface 12 is adapted to fully engage with the second surface 22 of the second mating element 2 in the direction of the central axis 100.

[0084] At least one electrical contact portion 102 integrated into the second surface 12 of the first docking element 1 is electrically connected to at least one electrical contact portion 202 integrated into the second surface 22 of the second docking element 2.

[0085] exist Figure 1 In an advantageous embodiment of the docking assembly 1000, the first docking element 1 is a docking port, and the second docking element 2 is a docking socket.

[0086] Advantageously, the docking port includes a power supply and is configured to charge the battery of an electronic device or robot when the docking socket is connected to the docking port.

[0087] Advantageously, the docking socket is suitable for integration into electronic devices for charging the battery when the docking socket is connected to the docking port.

[0088] Advantageously, the first mating element 1 includes an elastic element 3 having a geometry adapted to rotate a recess about a pivot point when the second mating element 2 is engaged with the first mating element at an angle α relative to the central axis 100, to compensate for misalignment of the second mating element 2. Advantageously, the angle α is 20° ≥ α ≥ -20°.

[0089] Advantageously, if the second docking element 2 is docked to the first docking element 1 outside the first docking element 1, the pivot point of the elastic element 3 is arranged on the central axis 100 in the direction toward the second docking element 2.

[0090] Advantageously, the pivot point of the elastic element 3 is arranged on the central axis 100 in a direction extending beyond the concave surface 11.

[0091] exist Figure 1 In another advantageous embodiment of the docking assembly 1000, at least one electrical contact portion 101 of the concave surface 11 and at least one electrical contact portion 201 of the convex surface 21 are electrical contacts. In particular, they provide a high-voltage power supply, especially above +40V, particularly +48V.

[0092] exist Figure 1 In another advantageous embodiment of the docking assembly 1000, at least one electrical contact portion 102 of the second surface 12 of the first docking element 1 and at least one electrical contact portion 202 of the second surface 22 of the second docking element 2 are grounding contacts.

[0093] exist Figure 1 In another advantageous embodiment of the docking assembly 1000, the first docking element 1 includes a first central electrical contact portion 103 integrated into the lowest region of the concave surface 11. This first central electrical contact portion 103 can be connected to a second central electrical contact portion 203 integrated into the topmost region of the convex surface 21.

[0094] The first central electrical contact portion 103 and the second central electrical contact portion 203 are adapted to detect whether the second mating element 2 is mated to the first mating element 1. If the first central electrical contact 103 is connected to the second central electrical contact 203, the first mating element 1 is mated to the second mating element 2, and charging begins. If the first mating element is mated to the second mating element, and only at that time, power is applied to at least one electrical contact portion 101 of the concave surface 11 and at least one electrical contact portion 201 of the convex surface 21 for charging the battery of the electronic device.

[0095] In an advantageous embodiment of the invention, the docking of the first docking element 1 and the second docking element 2 occurs by a method for charging the battery of an electronic device according to the fifth aspect of the invention.

[0096] Figure 2 A perspective view of an embodiment of the first mating element 1 is shown. The first mating element 1 includes at least one electrical contact portion 101 integrated into the concave surface 11, and is adapted to be electrically connected to at least two of the electrical contact portions 201 integrated into the convex surface 21 when the first mating element 1 is mated to the second mating element 2. Specifically, for example, Figure 1 In the embodiment of the docking assembly shown, at least one electrical contact portion 101 of the concave surface 11 is electrically connected to four electrical contact portions 201 of the convex surface 21.

[0097] In particular, in an advantageous embodiment, at least one electrical contact portion 101 of the concave surface 11 extends over a region of the concave surface 11, thereby forming an annular electrode, such as Figure 2 As shown. In particular, the annular electrode may have a truncated conical surface geometry.

[0098] In another advantageous embodiment of the first docking element 1, if the first docking element 1 is docked to the second docking element 2, at least one electrical contact portion 102 of the second surface 12 surrounds the edge 110 and is adapted to be electrically connected to each of at least one electrical contact portion 202 integrated into the second surface 21 of the second docking element 2.

[0099] In particular, the electrical contact portion 102 of the second surface 12 has an annular or ring-shaped shape, and in particular has the geometry of a truncated cone surface.

[0100] In another advantageous embodiment of the first docking element 1, the docking element 1 includes an elastic element 3 (not visible from the outside). The geometry of the elastic element 3 is adapted to rotate or pivot about a pivot point.

[0101] Advantageously, if the second docking element 2 is docked to the first docking element 1 outside the first docking element 1, the pivot point of the elastic element 3 is arranged on the central axis 100 in the direction toward the second docking element 2.

[0102] Advantageously, the pivot point of the elastic element 3 is arranged on the central axis 100 in a direction extending beyond the concave surface 11.

[0103] Advantageously, the first mating element 1 includes a first central electrical contact portion 103 integrated into the lowest point or region of the concave surface 11. The central electrical contact portion 103... Figure 2 The first docking element 1 is not visible in the perspective view, but in Figure 1 The first docking element 1 can be seen in the cross-sectional view.

[0104] Specifically, if the first docking element 1 is docked to the second docking element 2, the central electrical contact portion 103 is adapted to be connected to the second electrical contact portion 203 of the second docking element 2.

[0105] Specifically, the central electrical contact portion 103 may be arranged within the opening in the lowest region of the concave surface 11.

[0106] Additionally, advantageously, if implemented as a docking port, the first docking element 1 also includes a power supply 111.

[0107] Furthermore, in another advantageous embodiment of the first docking element 1, if implemented as a docking port, the first docking element 1 includes a marked surface 112. Such a marked surface 112 can be identified by the autonomous robot if it is searching for a docking port to mate with its docking socket for battery charging.

[0108] Figure 3 A perspective view of an embodiment of the second docking element 2 is shown.

[0109] In such Figure 3 In the advantageous embodiment shown, the second docking element 2 includes four electrical contact portions 201 integrated into the convex surface 21 and / or four electrical contact portions 202 integrated into the second surface 22.

[0110] like Figure 3 An advantageous embodiment of the second docking element 2 shown also includes a second central electrical contact portion 203 integrated at the highest point of the convex surface 21.

[0111] Specifically, if the second docking element 2 is docked to the first docking element 1, the second central electrical contact portion 203 is adapted to be connected to the first central electrical contact portion 103 of the first docking element 1.

[0112] Figure 4 A perspective view of an embodiment of the elastic element 3 is shown.

[0113] In such Figure 4 In an advantageous embodiment of the elastic element 3 shown, the elastic element 3 comprises at least three tube segments 31, and more particularly, it comprises four tube segments 31 herein, wherein each tube segment 31 is connected to two other tube segments 31 by a bridging member 32 for forming a ring structure. Each tube segment 31 has a central axis 301. All central axes 301 of each of the tube segments 31 intersect at a point and intersect with the axis 300 of the ring structure at a point outside the ring structure. The intersection of the central axes 301 is the pivot point of the elastic element 3.

[0114] Figure Labels

[0115] First docking element 1

[0116] concave surface 11

[0117] The second surface 12 of the first docking element

[0118] Central axis 100

[0119] Electrical contact 101 in concave surface

[0120] Electrical contact 102 on the second surface of the first mating element

[0121] Edge 110

[0122] 1000 docking components

[0123] Second docking element 2

[0124] convex surface 21

[0125] The second surface 22 of the second docking element

[0126] Electrical contact 201 in convex surface

[0127] Electrical contact 202 on the second surface of the second docking element

[0128] Elastic element 3

[0129] Pipeline Section 31

[0130] Shaft 300 of the ring structure of the elastic element

[0131] Pipe section center axis 301

Claims

1. A docking assembly (1000) for charging a robot's battery, comprising a first docking element (1) and a second docking element (2). in, If the first docking element (1) is docked to the second docking element (2). The recessed portion of the first mating element (1) is fully fitted into the protruding portion of the second mating element (2) in the direction of the central axis (100) of the recessed portion. At least one electrical contact portion (101) integrated into the concave surface (11) of the recess is electrically connected to at least one electrical contact portion (201) integrated into the convex surface (21) of the protrusion. The second surface (12) of the first docking element (1) is separated from the concave surface (11) by the edge (110) surrounding the recess, and fully engages with the second surface (22) of the second docking element (2) in the direction of the central axis (100). At least one electrical contact portion (102) integrated into the second surface (12) of the first docking element (1) is electrically connected to at least one electrical contact portion (202) integrated into the second surface (22) of the second docking element (2).

2. The docking assembly (1000) according to claim 1, wherein, The first docking element (1) is a docking port including a power supply (111) and is configured to charge the robot's battery when the docking socket is connected to the docking port. The second docking element (2) is a docking socket suitable for integration into the robot for charging the battery when the docking socket is docked to the docking port.

3. The docking assembly (1000) according to claim 1 or 2, wherein, The first docking element (1) includes an elastic element (3) having a geometry adapted to rotate the recess about a pivot point when the second docking element (2) is engaged with the first docking element (1) at an angle α relative to the central axis (100) to compensate for misalignment of the second docking element (2).

4. The docking assembly (1000) according to claim 3, wherein, The angle α is 20°≥α≥-20°.

5. The docking assembly (1000) according to claim 4, wherein, At least one electrical contact portion (101) of the concave surface (11) and the electrical contact portion (201) of the convex surface (21) are electrical contacts, and / or At least one electrical contact portion (102) of the second surface (12) of the first docking element (1) and at least one electrical contact portion (202) of the second surface (22) of the second docking element (2) are grounding contacts, and / or A first central electrical contact portion (103) integrated in the lowest region of the concave surface (11) can be connected to a second central electrical contact portion (203) integrated in the highest region of the convex surface (21), wherein the first central electrical contact portion (103) and the second central electrical contact portion (203) are signal electrical contacts and / or adapted to detect contact between the first mating element and the second mating element.

6. The docking assembly (1000) according to claim 5, wherein, The elastic element (3) includes at least three pipe segments (31), each pipe segment (31) being connected to two other pipe segments (31) via bridging members (32) to form a ring structure. The central axis (301) of each of the at least three pipe segments (31) intersects the axis (300) of the annular structure at a point outside the annular structure.

7. The docking assembly (1000) according to claim 6, wherein, The elastic element (3) comprises four tube segments (31).

8. A first docking element (1) for use in a docking assembly (1000) according to claim 1 or 2.

9. The first docking element (1) according to claim 8, wherein, If the first docking element (1) is docked to the second docking element (2), then one of the electrical contact portions (101) integrated into the concave surface (11) is adapted to be electrically connected to at least two of the electrical contact portions (201) integrated into the convex surface (21).

10. The first docking element (1) according to claim 9, wherein, At least one electrical contact portion (101) integrated into the concave surface (11) extends over a region of the concave surface to form an annular electrode.

11. The first docking element (1) according to claim 9 or 10, wherein, If the first docking element (1) is docked to the second docking element (2), the edge (110) is surrounded by at least one electrical contact portion (102) integrated into the second surface (12) of the first docking element (1), and is adapted to be electrically connected to each of at least one electrical contact portion (202) integrated into the second surface (22) of the second docking element (2).

12. The first docking element (1) according to claim 11, comprising an elastic element (3) having a geometry adapted to rotate the recess about a pivot point. If the second docking element (2) is docked to the first docking element (1) outside the first docking element (1), then the pivot point is located on the central axis (100) outside the first docking element (1) in the direction toward the second docking element (2).

13. The first docking element (1) according to claim 12, comprising a first central electrical contact portion (103) integrated at the lowest point of the concave surface (11). If the first docking element (1) is docked to the second docking element (2), then the first central electrical contact portion (103) is adapted to be connected to the second central electrical contact portion (203) of the second docking element (2).

14. A second docking element (2) for use in a docking assembly (1000) according to claim 1 or 2.

15. The second docking element (2) according to claim 14, comprising: At least four electrical contact portions (201) are integrated into the convex surface (21), and / or At least four electrical contact portions (202) are integrated into the second surface (22).

16. The second docking element (2) according to claim 14 or 15, comprising a second central electrical contact portion (203) integrated at the highest point of the convex surface (21). If the second docking element (2) is docked to the first docking element (1), then the second central electrical contact portion (203) is adapted to be connected to the first central electrical contact portion (103) of the first docking element (1).

17. A method for docking a first docking element (1) according to any one of claims 8 to 13 to a second docking element (2) according to any one of claims 14 to 16 to charge a robot's battery. The first docking element (1) is a docking port, and the second docking element (2) is a docking socket integrated into the robot. Or vice versa. The method includes the following steps: The robot's camera is used to detect the docking port. Estimate the pose of the robot for positioning, such that the robot mates with the docking socket to the docking port, and The robot is controlled to position itself to mate the docking socket with the docking port.

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