Method for an automated charging device for charging an electrically operable vehicle and automated charging device

Abstract

The invention relates to a method for an automated charging device (100) for charging an electrically operated vehicle (50) with a robot system (10) which comprises at least one robot arm (12) with a gripping tool (14), a camera (16), and a storage device (18) for a plurality of charging cables (20) with different charging standards.The method comprises, at least when a vehicle (50) is detected at the charging device (100), waiting for a charging flap (52) of the vehicle (50) to open; verifying a charging socket (54) in the opened charging flap (52) using the camera (16); identifying the charging standard of the vehicle; picking up the charging cable (20) with the identified charging standard from the storage device (18) by gripping the charging cable (20) using the gripping tool (14) arranged on the robot arm (12); inserting the charging plug (22) into the charging socket (54); releasing the gripping tool (14) from the charging cable (20); and removing the robot arm (12). The invention further relates to an automated loading device (100).

Description

[0001] The invention relates to a method for an automated charging device for charging an electrically operated vehicle and to an automated charging device for charging an electrically operated vehicle.

[0002] Charging stations for electric vehicles typically require passengers to manually select the charging cable and insert it into the charging socket of the electric vehicle. This selection can be cumbersome for customers. Furthermore, the physical activity required may not be readily available to all groups of people. One way to circumvent this is to use so-called charging robots. These robots automatically connect a charging cable to an electric vehicle, eliminating the need for passengers to get out of the vehicle.

[0003] DE 10 2016 014 463 A1, for example, describes a method for supplying a motor vehicle by means of a robot system with a robot arrangement comprising a mobile robot and with a controller for connecting a first connecting means guided by the mobile robot to a vehicle-side second connecting means for charging an energy storage device and / or refueling a tank of the motor vehicle.

[0004] An object of the invention is to provide an improved method for an automated charging device for charging an electrically operated vehicle.

[0005] A further object is to provide an improved automated charging device for charging an electrically operated vehicle.

[0006] The above-mentioned objects are solved by the features of the independent claims.

[0007] Advantageous embodiments and advantages of the invention emerge from the further claims, the description and the drawing.

[0008] According to one aspect of the invention, a method is proposed for an automated charging device for charging an electrically operable vehicle with a robot system which comprises at least one robot arm with a gripping tool, a camera, and a storage device for a plurality of charging cables with different charging standards.The method comprises, at least when a vehicle is detected at the charging device, waiting for a charging flap of the vehicle to open; verifying a charging socket in the opened charging flap using the camera; identifying the charging standard of the vehicle; picking up the charging cable with the identified charging standard from the storage device by gripping the charging cable using the gripping tool arranged on the robot arm; inserting the charging plug into the charging socket; releasing the gripping tool from the charging cable; removing the robot arm; after completing a charging process, approaching the robot arm to the vehicle; picking up the charging cable using the gripping tool and pulling the charging plug out of the charging socket; placing the charging cable in the storage device.

[0009] The proposed method uses a robot system that has at least one robot arm, a magnetic gripping tool, a camera, access to charging cables of common charging standards and preferably a Lidar system (Light Detection And Ranging).

[0010] As soon as a vehicle is detected according to the procedure, the tailgate can either be opened manually or, advantageously, a signal can be sent that causes the tailgate to open. The tailgate can be located using the camera.

[0011] After opening the charging flap, the authenticity of the charging socket can be verified by the lidar system, if available, or otherwise by the camera, in order to rule out any attempts at manipulation.

[0012] A suitable charging standard is then selected based on the charging socket. This can be done either through communication between the vehicle and the charging infrastructure. Alternatively, or additionally, the charging device can already recognize the charging standard based on the camera images or identification features in the camera images.

[0013] The correct charging plug can be identified, and the robot arm now moves to the charging cable storage device, if the correct charging cable is not already attached to the gripper. There, the gripper picks up the correct charging cable by approaching it. Thanks to the gripper, this pick-up can be done without play, thus enabling precise control of the cable connection. This can be achieved, for example, with a magnetic gripper. The charging cable is inserted into the charging socket and released from the robot arm by applying current, which neutralizes the magnetic field.

[0014] In the event of a power failure during cable transport, the charging cable remains on the robot arm, thus preventing damage to the vehicle.

[0015] The robot arm can now supply the next vehicle.

[0016] After the charging process is complete, the charging cable is picked up again and either released from the gripper and stowed away by a current flow that creates a counter magnetic field to the magnetic field of the gripper, or left on the robot arm for the next customer.

[0017] Advantageously, the proposed method allows several vehicles to be supplied with different charging standards at one time, which increases both the number of vehicles to be charged and customer satisfaction.

[0018] The method also advantageously solves the problem of detecting and locating the open tailgate, since the exact position and orientation can vary for each vehicle. The position and orientation of the tailgate can be adaptively detected, thus also identifying the required charging standard.

[0019] The driver of the vehicle benefits from increased convenience through automated plugging in of the correct charging cable.

[0020] The efficiency of the charging infrastructure is advantageously increased by the fact that several vehicles can be served by one charging robot.

[0021] According to an advantageous embodiment of the method, the gripping tool can have a magnetic field and can pick up the charging cable, in particular at a cable attachment, using magnetic force. The magnetic field of the gripping tool can be at least temporarily neutralized by an electric current to release the charging cable. The magnetic field can be generated, for example, by a permanent magnet or a magnetized ferromagnet. Thus, the charging cable with the charging plug can be magnetically fixed to the gripping tool in the de-energized state and released again by applying current to the gripping tool. This allows for the charging cable to be picked up without play.

[0022] According to an advantageous embodiment of the method, the charging socket can be verified using a lidar system mounted on the robot arm. In particular, the lidar system can detect depth information about the charging socket. This advantageously allows the charging socket to be verified for authenticity and distinguished from a dummy.

[0023] According to an advantageous embodiment of the method, a signal to open the tailgate can be sent to the vehicle via a communication system arranged on the robot system. This can cause the vehicle to open the tailgate automatically without the driver having to get out of the vehicle or perform any further action.

[0024] According to an advantageous embodiment of the method, the charging standard can be identified by means of communication with the vehicle or by means of visual identification of the charging socket by the camera. In particular, at least one method of machine vision and classification can be used to identify the charging socket. This allows the charging device to advantageously recognize the charging standard in order to select the appropriate charging cable and also set the correct parameters for charging the vehicle.

[0025] In particular, a number of vehicles with different charging standards can be supplied simultaneously at one time. This can advantageously increase both the number of vehicles being charged and customer satisfaction.

[0026] According to a further aspect of the invention, an automated charging device for charging an electrically operated vehicle using the described method is proposed, comprising at least a robot system with at least one robot arm with a gripping tool, a camera arranged on the robot arm, and a storage device for a plurality of charging cables with different charging standards.

[0027] Advantageously, the proposed automated charging device can supply several vehicles with different charging standards at one time, which increases both the number of vehicles to be charged and customer satisfaction.

[0028] Advantageously, the charging device can detect and locate an open tailgate, as the exact position and orientation can vary for each vehicle. The position and orientation of the tailgate can be adaptively detected, thus also identifying the required charging standard.

[0029] The driver of the vehicle benefits from increased convenience through automated plugging in of the correct charging cable.

[0030] The efficiency of the charging infrastructure is advantageously increased by the fact that several vehicles can be served by one charging robot.

[0031] According to an advantageous embodiment of the charging device, the gripping tool can have a magnetic field for receiving the charging cable, in particular on a cable attachment, with magnetic force. The magnetic field of the gripping tool can be at least temporarily neutralized by an electric current to release the charging cable. The magnetic field can be generated, for example, by a permanent magnet or a magnetized ferromagnet. This allows for a play-free reception of the charging cable, for example, on a cable attachment.

[0032] According to an advantageous embodiment, the charging device can further comprise a lidar system arranged on the robot arm. This advantageously allows the charging socket to be checked for authenticity and distinguished from a dummy.

[0033] According to an advantageous embodiment, the charging device can further comprise a communication system arranged on the robot system, in particular on the robot arm, for wireless communication with the vehicle, in particular with a communication system of the vehicle. Thus, the charging device can advantageously recognize the charging standard in order to select the appropriate charging cable and also set the correct parameters for charging the vehicle.

[0034] According to an advantageous embodiment, the charging device can further comprise a control system for automated visual identification of the charging socket using the camera. In particular, the control system can comprise at least one machine classifier for identifying the charging socket. At least one method of machine vision and classification can thus advantageously be used to identify the charging socket. The charging device can thus advantageously recognize the charging standard in order to select the appropriate charging cable and also set the correct parameters for charging the vehicle.

[0035] Further advantages will become apparent from the following description of the drawings. The drawings illustrate an exemplary embodiment of the invention. The drawings, the description, and the claims contain numerous features in combination. Those skilled in the art will also expediently consider the features individually and combine them into useful further combinations.

[0036] Showing: Fig. 1 is a schematic representation of an automated charging device for charging an electrically operable vehicle according to an embodiment of the invention; and Fig. 2 a vehicle for a method for charging the vehicle with the automated charging device according to Fig. 1.

[0037] In the figures, identical or similar components are designated by identical reference numerals. The figures are merely examples and are not to be construed as limiting.

[0038] Fig. 1 shows a schematic representation of an automated charging device 100 for charging an electrically operable vehicle 50 according to an embodiment of the invention, while Fig. 2 shows a vehicle 50 for a method of charging the vehicle 50 with the automated charging device 100.

[0039] The charging device 100 comprises a robot system 10 with a robot arm 12 with a gripping tool 14, a camera 16 which is arranged on the robot arm 12, and a storage device 18 for a plurality of charging cables 20 with different common charging standards.

[0040] Optionally, the robot arm 12, as shown in Fig. 1, a lidar system 30 may be arranged to locate the charging socket 54.

[0041] The gripping tool 14 has a magnetic field that can be at least temporarily neutralized or deactivated by an electric current through a counter-magnetic field. This allows the charging cable 20 with the metallic charging plug 22 to be magnetically picked up and held by the gripping tool 14 in the de-energized state and released again by energizing the gripping tool 14. This allows the charging plug 22 to be picked up without play.

[0042] Furthermore, on the robot system 10, in particular on the robot arm 12, as shown in Fig. 1, a communication system 40 for wireless communication with the vehicle 50, in particular with a communication system 60 of the vehicle 50, may be arranged.

[0043] The vehicle 50 has, as in Fig. 2, a loading flap 52, which is in Fig.2 is shown in the open state. The charging socket 54 is located behind the charging flap 52.

[0044] The robot arm 12 can advantageously have sufficient degrees of freedom of movement to move between a position of the charging plug 22 available in the storage device 18 and the position of the charging socket 54. Advantageously, the robot arm 12 is movable in each of the three spatial directions as well as in a rotational axis.

[0045] As soon as a vehicle 50 enters the area accessible to the robot arm 12, the vehicle 50 is initially recognized as such by the robot system 10. For this purpose, various techniques are used, such as detection by induction loops, weight measurements, and / or detection by the camera 16 in the robot system 10.

[0046] Machine vision methods such as pattern matching and / or neural networks, such as convolutional neural networks or networks based on the so-called transformer architecture, can be used. These are trained using images to detect vehicles. This can be accomplished either via a simple binary prediction by the model, which, for example, represents a zero for "no vehicle" and a one for "a vehicle" was detected in the image.

[0047] Alternatively, more complex methods can be used, allowing multiple objects to be detected and possibly localized using so-called bounding boxes in the image. In both cases, both images containing vehicles and those without them are used as training data. In the first case, the binary values ​​representing the two cases are input as labels, while in the second case, the locations of the vehicles in the image are input in the form of bounding boxes.

[0048] When a vehicle 50 is detected, the proposed method waits for the loading flap 54 to open. The loading flap 54 can be operated by the driver.

[0049] In an advantageous embodiment, the detected vehicle 50 can be signaled to open the charging flap 54 via an interface, for example, via V2I (Vehicle to Infrastructure), Bluetooth, NFC, and / or other communication channels. This signal should be secured and possibly localized to prevent third parties from opening the charging flap 54.

[0050] In an advantageous embodiment, the depth information of an optional lidar system 30 can be used to verify the authenticity of the detected charging socket. With a purely camera-based system, a glued-on dummy can be mistakenly identified as a charging socket, which could lead to damage to the vehicle. This is prevented by the advantageous use of a lidar system 30.

[0051] The next step is to determine the correct charging plug 22. The plug-in attachment must be selected so that it does not collide with the charging socket 54. Here, too, several approaches can be used and combined. On the one hand, the vehicle 50 can communicate its preferred standard to the charging device 100, for example via V2I communication (Vehicle to Infrastructure). Alternatively or additionally, other communication methods such as RFID, WLAN, Bluetooth, etc. can be used. Another method is visual identification by the charging device 100. Here, for example, the robot system 10 can recognize and classify the charging socket 54 using machine vision methods. Alternatively or additionally, standardized information carriers can be visually evaluated. For example, QR codes, barcodes, and vehicle labels can be used for this purpose.

[0052] The charging cable 20 with the correct charging plug 22 is then picked up and inserted into the charging socket 54. To do this, the magnetic gripping tool 14 is moved by the robot arm 12 into the gripping position for the correct charging plug 22. With the help of the magnetic force, the charging plug 22 itself or a cable attachment 24 on the charging cable 20 can now be gripped without play and inserted into the charging socket 54. The magnetic field of the gripping tool 14 is then neutralized by a current flow that generates a counter-magnetic field, releasing the charging plug 22 and allowing it to remain in the charging socket 54, while the robot arm 12 can already serve the next vehicle 50.

[0053] This advantageously allows a number of vehicles to be supplied with different charging standards at one time.

[0054] Once the charging process is complete, the process is repeated in reverse. The charging device 100 is notified of the desired completion of the charging process, also via one of the aforementioned communication channels, whereupon the robot arm 12 moves with the gripping tool 14 to the cable attachment 24 and can directly secure the cable attachment 24 using the magnetic gripping tool 14. The charging cable 20 is then returned to the storage position 18 and is deposited by the robot arm 12 by temporarily deactivating the magnetic field.

[0055] In an advantageous embodiment, the current flow through the charging cable 20 can be detected, which can be used as confirmation of correct insertion of the charging plug 22 as well as as a signal to remove the charging cable.

[0056] If a power failure occurs during transport of the charging cable 20 with the robot arm 12, there is no risk of the charging cable 20 being released because the magnetic gripping tool 14 is locked without a power supply.

[0057] Optionally, the charging device 100 can have a control system (not shown) for automated visual identification of the charging socket 54 by the camera 16. In particular, the control system can include at least one machine classifier for identifying the charging socket 54. List of reference symbols 10 Robot system 12 Robot arm 14 gripping tool 16 Camera 18 Storage device 20 charging cables 22 charging plugs 24 Cable attachment 30 Lidar system 40 Communication system 50 vehicles 52 tailgate 54 Charging socket 60 Communication system 100 loading device QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2016 014 463 A1

[0003]

Claims

[1] Method for an automated charging device (100) for charging an electrically operable vehicle (50) with a robot system (10) which comprises at least one robot arm (12) with a gripping tool (14), a camera (16), and a storage device (18) for a plurality of charging cables (20) with different charging standards, wherein the method comprises at least When a vehicle (50) is detected at the loading device (100), waiting for a loading flap (52) of the vehicle (50) to open; Verifying a charging socket (54) in the opened charging flap (52) by means of the camera (16); Identify the vehicle's charging standard; Picking up the charging cable (20) with the identified charging standard from the storage device (18) by gripping the charging cable (20) using the gripping tool (14) arranged on the robot arm (12); Inserting the charging plug (22) into the charging socket (54); Detaching the gripping tool (14) from the charging cable (20); Removing the robot arm (12); After completion of a charging process, the robot arm (12) approaches the vehicle (50); Picking up the charging cable (20) by means of the gripping tool (14) and pulling the charging plug (22) out of the charging socket (54); Place the charging cable (20) in the storage device (18). [2] Method according to claim 1, wherein the gripping tool (14) has a magnetic field and picks up the charging cable (20), in particular on a cable attachment (24), with magnetic force, wherein the magnetic field of the gripping tool (14) is at least temporarily neutralized by means of an electric current in order to release the charging cable (20). [3] Method according to claim 1 or 2, wherein the charging socket (54) is verified by means of a lidar system (30) arranged on the robot arm (12), in particular wherein depth information of the charging socket (54) is detected by means of the lidar system (30). [4] Method according to one of the preceding claims, wherein a signal for opening the loading flap (54) is sent to the vehicle (50) by means of a communication system (40) arranged on the robot system (10). [5] Method according to one of the preceding claims, wherein the charging standard is identified by means of communication with the vehicle (50) or by means of visual identification of the charging socket (54) by the camera (16), in particular, at least one method of machine vision and classification is used to identify the charging socket (54), in particular wherein a plurality of vehicles (50) are supplied with different charging standards at one time. [6] Automated charging device (100) for charging an electrically operable vehicle (50) with a method according to one of the preceding claims, at least comprising - a robot system (10) with at least one robot arm (12) with a gripping tool (14), - a camera (16) arranged on the robot arm (12), - a storage device (18) for a plurality of charging cables (20) with different charging standards. [7] Charging device according to claim 6, wherein the gripping tool (14) has a magnetic field for receiving the charging cable (20), in particular on a cable attachment (24), with magnetic force, wherein the magnetic field of the gripping tool (14) for releasing the charging cable (20) is at least temporarily neutralized by means of an electric current. [8] Charging device according to claim 6 or 7, further comprising a lidar system (30) arranged on the robot arm (12). [9] Charging device according to one of claims 6 to 8, further comprising a communication system (40) arranged on the robot system (10), in particular on the robot arm (12), for wireless communication with the vehicle (50), in particular with a communication system (60) of the vehicle (50). [10] Charging device according to one of claims 6 to 9, further comprising a control system for automated visual identification of the charging socket (54) by the camera (16), in particular wherein the control system comprises at least one machine classifier for identifying the charging socket (54).

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