Robot apparatus for establishing a charging connection between a charging apparatus and an energy storage unit of a motor vehicle

A robot apparatus for establishing a charging connection between a charging device and an energy storage unit of a motor vehicle, having a movement unit, by which the robot apparatus is movable in relation to the charging device and the motor vehicle, having a receptacle device, by which a charging element of the charging device can be received, can be coupled to a coupling element of the energy storage unit and subsequently released, and having a detection unit, by which a position of the coupling element on the motor vehicle is ascertainable, wherein the robot apparatus is connectable by a support device to the motor vehicle, whereby a force is transmittable from the robot apparatus to the motor vehicle.

FIELD

The disclosure relates to a robot apparatus for establishing a charging connection between a charging device and an energy storage unit of a motor vehicle and a method for establishing a charging connection according to the preamble of the independent patent claims.

BACKGROUND

A robot for automated plugging of a charging plug into an interface of a vehicle is known from DE 10 2015 213 160 A1. This robot is designed as mobile and comprises an actuator, which grasps the charging plug of a charging column and carries out a plugging-in procedure of the charging plug into the interface. The robot comprises a detection unit for detecting the interface. After ending the plugging-in procedure, the actuator releases the charging plug and the robot moves into another position.

In addition, a robot for automatically plugging a charging plug into an interface of a vehicle is also known from DE 10 2015 213 161 A1. This robot comprises a detection unit, by means of which a location and type of the interface of the vehicle is ascertained and a charging plug for a plugging-in procedure is selected in dependence on the type of the interface.

A charging system for charging an energy source of a means of transportation is disclosed in DE 10 2009 006 982 A1. The charging system comprises a charging device and a robot unit, wherein the robot unit is embodied for automatically attaching the charging device to an interface of the energy source.

SUMMARY

The object of the present invention is to provide a robot apparatus for establishing a charging connection between a charging device and an energy storage unit of a vehicle, which is particularly simple, cost-effective, and light.

This object is achieved according to the invention by a robot apparatus and a method having the features of the independent patent claims. Advantageous embodiments having expedient refinements of the invention are specified in the respective dependent claims.

A first aspect of the invention relates to a robot apparatus for establishing a charging connection between a charging device and an energy storage unit of a motor vehicle. In this case, the robot apparatus comprises a movement unit, by means of which the robot apparatus is movable in relation to the charging device and the motor vehicle. Furthermore, the robot apparatus comprises a receptacle device, by means of which a charging element of the charging device can be received, can be coupled to a coupling element of the energy storage unit, and subsequently can be released. The robot apparatus also comprises a detection unit, by means of which a position of the coupling element on the motor vehicle is ascertainable.

According to the invention, the robot apparatus is connectable by means of a support device to the motor vehicle, whereby a force is transmittable from the robot apparatus to the motor vehicle. In other words, the robot apparatus according to the invention comprises the support device, wherein the charging connection between the charging device, which can be, for example, a power source, a gaseous fuel source, or a liquid fuel source, and the energy storage unit of the motor vehicle, which can be a battery or a tank for a gaseous fuel or a liquid fuel, is established by means of the robot apparatus. By means of the movement unit, the robot apparatus can be moved toward the charging device to receive the charging element and can be moved toward the motor vehicle to couple the charging element to the coupling element.

After the charging element is received by the receptacle device and it is moved toward the motor vehicle, the robot apparatus is, for example, before the coupling of the charging element to the coupling element, connected by means of the support device to the motor vehicle. During the coupling of the charging element to the coupling element, the force can thus be transmitted from the robot apparatus to the motor vehicle. The force is, for example, a resistance force, which can occur during the coupling and decoupling of the charging element to or from the coupling element. Because of the transmission of the force to the motor vehicle, the robot apparatus does not have to be formed solidly to absorb the force, but rather can be embodied as particularly light and therefore particularly cost-effective, since a transmission of the force to a floor is not necessary or is only necessary to a restricted extent.

The detection unit preferably comprises a camera, by means of which the position of the coupling element is detectable. In other words, the position is detected and recognized by means of camera optics. In particular, the position of the coupling element is ascertained by means of an image recognition function. The image recognition function can comprise in particular an association rule, in which a shape of the coupling element and/or a contour of the motor vehicle is associated with a respective position of the coupling element on the respective motor vehicle. The respective position of the coupling element is stored, for example, in relation to a reference point of the respective motor vehicle in the association rule. In particular, the position of the coupling element in relation to the reference point of the respective motor vehicle is ascertained by means of the detection unit and the position of the coupling element is modulated by the robot apparatus transporting the charging element to effectuate coupling between the charging element and the coupling element. The advantage results therefrom that the position of the coupling element is detectable particularly cost-effectively and simply by means of the detection unit.

In an alternative embodiment of the invention, the detection unit comprises a marking detection unit, by means of which the position of the coupling element marked by means of a transponder is detectable. In other words, the marking detection unit detects a position of the transponder, which can be, for example, an RFID chip, in particular by receiving a signal from the transponder, and ascertains therefrom the position of the coupling element marked by the transponder. This has the advantage that the robot apparatus can move the charging element positioned in a particularly accurate manner toward the coupling element, since the position of the coupling element is detectable by the robot apparatus by means of the detection unit.

In one advantageous embodiment of the invention, it is provided that the movement unit comprises a chassis, by means of which the robot apparatus is freely movable in a plane, and multiple adjustment elements. In this case, the receptacle device is adjustable by means of the adjustment element in relation to the chassis in its height and in its angle of attack. This means that the robot apparatus is freely movable by means of the chassis of the movement unit in the plane, in particular in a horizontal plane, in relation to the motor vehicle and in relation to the charging device. The chassis can comprise, for example, multiple wheels, which are freely pivotable in the spatial alignment thereof, for example, so that the robot apparatus is freely movable in the plane. In addition, the movement unit comprises the multiple adjustment elements, by means of which the receptacle device is adjustable in its height and in its angle of attack in relation to the chassis and in relation to the plane. This advantageously enables the charging element to be moved particularly close to the coupling element by means of the robot apparatus. In addition, the charging element can be adjusted in its angle of attack in relation to the chassis and in relation to the plane corresponding to an alignment of the coupling element.

The receptacle device is preferably mounted so it is rotatable around an axis of rotation on the movement unit. In this case, the axis of rotation extends in particular perpendicularly to an adjustment axis of the adjustment element, by means of which the receptacle device is adjustable around the adjustment axis in its angle of attack. The charging element can thus be arranged particularly accurately in position corresponding to the coupling element by means of the robot apparatus, to subsequently carry out a coupling of the charging element to the coupling element particularly rapidly and particularly reliably.

In a further advantageous embodiment of the invention, an opening device is provided, by means of which a closure unit of the coupling element is openable. This means that the opening device is formed corresponding to the closure unit of the coupling element in order to open it. In this case, the opening device can comprise, for example, a gripping element, a pressure element, or a magnet element to open the closure unit. The advantage results therefrom that the closure unit, which is used, for example, to protect the coupling element in a driving mode of the motor vehicle, is automatically openable by means of the robot apparatus. Opening of the closure unit of the coupling element by the driver of the motor vehicle, for example, is thus advantageously not necessary.

A second aspect of the invention relates to a method for establishing a charging connection by means of a robot apparatus between an energy storage unit of a motor vehicle and a charging device for carrying out a charging procedure. For this purpose, the robot apparatus moves by means of a movement unit toward the charging device and receives a charging element of the charging device by means of a receptacle device. Subsequently, the robot apparatus moves by means of the movement unit with the charging element toward the motor vehicle, detects a position of a coupling element of the energy storage unit of the motor vehicle by means of a detection unit, and opens a closure unit of the coupling element by means of an opening device. The robot apparatus then couples the charging element of the charging device to the coupling element and subsequently releases the charging element.

According to the invention, the robot apparatus is connected by means of a support device to the motor vehicle, whereby a force is transmittable or is transmitted, respectively, from the robot apparatus to the motor vehicle. This means that the robot apparatus is supported in particular laterally on the motor vehicle by means of the support device in particular shortly before and during the coupling of the charging element to the coupling element. This lateral support is used to transmit the force from the robot apparatus to the motor vehicle, which occurs in particular during a coupling procedure and during a decoupling procedure of the charging element to or from the coupling element. This advantageously enables a particularly light and simple design of the robot apparatus, whereby additional costs can be saved.

In a further design of the method, it is provided that the detection unit ascertains the position of the coupling element via an association rule, in which respective positions of coupling elements are associated with respective motor vehicle types, to move the charging element accurately in position toward the coupling element and couple it thereto. In particular, the detection unit comprises a camera, by means of which the motor vehicle is recordable or detectable, wherein a vehicle type of the recorded motor vehicle is ascertainable in a processing unit by means of the recording of the camera. The respective position of the coupling element of the recorded motor vehicle can be ascertained in dependence on the vehicle type by means of the processing unit via the association rule. For this purpose, the respective positions of coupling elements are associated with respective motor vehicle types in the association rule, which is stored in the processing unit. In this case, the processing unit can be, for example, a part of the robot apparatus or alternatively can be arranged outside the robot apparatus and can communicate with a processing unit of the robot apparatus, for example, via the Internet or via radio. The robot apparatus can thus advantageously move the charging element accurately in position toward the coupling element and couple it thereto.

The robot apparatus, after completion of the charging procedure of the energy storage unit by the charging device, preferably supports itself by means of the support device against the vehicle, receives the charging element and removes it from the coupling element, closes the closure unit of the coupling element, and moves away from the motor vehicle with the charging element. Due to the support of the robot apparatus by means of the support device against the motor vehicle, the force can be transmitted from the robot apparatus to the motor vehicle, wherein the force can occur in particular during the removal of the charging element from the coupling element. Due to the support of the robot apparatus by means of the support device on the motor vehicle, in particular tipping over of the robot apparatus can be avoided. The removal of the charging element from the coupling element, the closing of the closure unit, and the moving of the robot apparatus away from the motor vehicle with the charging element are used to produce a state in which the motor vehicle is ready to drive away.

The invention also includes refinements of the method according to the invention, which comprise features as have already been described in conjunction with the refinements of the robot apparatus according to the invention. For this reason, the corresponding refinements of the method according to the invention are not described once again here.

DETAILED DESCRIPTION

The exemplary embodiments explained hereafter are preferred embodiments of the invention. In the exemplary embodiments, the described components of the embodiments each represent individual features of the invention to be considered independently of one another, which each also refine the invention independently of one another and thus are to be considered to be a component of the invention individually or in a combination other than that shown. Furthermore, the described embodiments can also be supplemented by further ones of the above-described features of the invention.

In the figures, functionally-identical elements are each provided with the same reference signs.

InFIG.1, a robot apparatus1is illustrated while establishing a charging connection between a charging device4comprising an energy accumulator7and an energy storage unit2of a motor vehicle3. The charging device4comprises the energy accumulator7and a charging element5and also a cable element6in the present case. An energy carrier or energy is transferable from the energy accumulator7of the charging device4to the charging element5via the cable element6. The charging element5can be moved toward the motor vehicle3by means of the robot apparatus1and can be coupled to a coupling element8of the energy storage unit2of the motor vehicle3. The energy which is transferred from the energy accumulator7of the charging device4by means of the charging element5to the energy storage unit2of the motor vehicle3can be electrical energy or electric current. The energy carrier is, for example, a gaseous fuel or a liquid fuel. The energy storage unit2of the motor vehicle can be a tank for a gaseous fuel or a liquid fuel or a battery. In the presently described exemplary embodiment, the energy storage unit2is a battery and the energy carrier is current.

InFIG.2, the robot apparatus1is shown in greater detail in a schematic side view. As can be seen inFIG.2, the robot apparatus1comprises a receptacle device9, a detection unit10, and a movement unit11. The movement unit11comprises a chassis12, which comprises multiple wheels13and a base plate14in the present case. By means of the chassis12, the robot apparatus1can be moved freely in a horizontal plane. In this way, the robot apparatus1can move toward both the motor vehicle3and also the charging device4. The movement unit11additionally comprises two adjustment units in the present case, wherein the receptacle device9is adjustable along the direction16by means of a height adjustment unit15. The second adjustment element is an angle adjustment element17, by means of which the receptacle device9is adjustable in its angle of attack around the adjustment axis18along the direction19.

The detection unit10is designed in the present case as a marking detection unit, by means of which a position of the coupling element8marked by means of a transponder20is detectable. In this case, the detection unit10comprises a transmitting element (not shown) and a receiving element (not shown), by means of which the detection unit10can communicate with the transponder20to ascertain the position of the coupling element8. In the present case, the robot apparatus1comprises a processing unit21, which controls or regulates a movement of the robot apparatus1by means of the movement unit11in dependence on the position of the coupling element8ascertained by means of the detection unit10. The receptacle device9is rotatable on the movement unit11around an axis of rotation22along the direction23. In this case, the axis of rotation22extends in particular perpendicularly in relation to the adjustment axis18. If the charging element5is received on the receptacle device9, the charging element5is thus also rotatable by means of the receptacle device9around the axis of rotation22along the direction23.

The robot apparatus1additionally comprises a support device28, by means of which the robot apparatus1is connectable to the motor vehicle3and a force is transmittable from the robot apparatus1to the motor vehicle3. The robot apparatus1can support high forces, which can result during the coupling and decoupling of the charging element5to or from the coupling element8or during the plugging and unplugging of the plug element24into and out of the receptacle openings25, respectively, on a vehicle part of the motor vehicle3. In the present case, the robot apparatus1supports the force on a vehicle part of the motor vehicle3which is not sensitive to damage. The support on the motor vehicle3can take place on a wheel29, on a tire, on wheel bolts, on a rim, on a receptacle for a car jack, or alternatively on a door handle. In the present case, the robot apparatus1is connected by means of the support device28to the wheel29of the motor vehicle3. The wheel29is particularly suitable for this purpose, because it is clamped from two sides, clung to by pressure from one side, or can be used as a support by a form fit with the tire profile without a risk of damage existing.

Because of the support device28, the robot apparatus1can be constructed particularly lightly and particularly cost-effectively. In addition, the robot apparatus1is a particularly simple robot, also called a low-tech robot. For the power supply, the robot apparatus1is supplied with energy by means of a network cable (not shown). A large energy accumulator is thus not necessary for the robot apparatus1, whereby the weight of the robot apparatus1can be kept particularly low. Overall, the robot apparatus1is thus a simple, light, and cost-effective low-tech robot.

The receptacle device9having the charging element5and the coupling element8is shown inFIG.3in a schematic side view. As can be seen inFIG.3, the charging element5comprises a plug element24, which is plugged into corresponding receptacle openings25of the coupling element8during a coupling of the charging element5to the coupling element8. A connection can be provided in this way in the present case, via which current can be transferred from the energy accumulator7by way of the energy storage unit2.

FIG.4shows the charging element5in a schematic perspective view. It can be seen inFIG.4that the charging element5comprises a receptacle element26, by means of which the charging element5can be received by the receptacle device9. In this case, the receptacle element26comprises a magnetic element27in the present case, which can be engaged with a magnet of a magnet unit (not shown) of the receptacle device9. In this way, a particularly reliable reversible connection can be enabled between the receptacle device9and the charging element5.

Presently, charging elements5for the conductive charging of a motor vehicle3, which is electrically operable in the present case, have to be coupled by a driver or a service employee to the coupling element8. The plugging and unplugging of the charging element5greatly restricts a comfort during a usage of the electrically operable motor vehicle3. Furthermore, only one motor vehicle3per charging device4, in particular a charging column or wall box, can be charged without activity. The charging element5of the charging device4, in particular the charging column or wall box, can be plugged and unplugged on all commercially available electrically operable motor vehicles3by the robot apparatus1. This has the result that the driver of the motor vehicle3does not have to connect the charging element5to the motor vehicle3themselves. The connection of the charging device4to the motor vehicle3via the charging element5and the coupling element8takes place by means of the robot apparatus1. It is thus possible to charge multiple vehicles3sequentially by means of the same charging device4, by the robot apparatus1coupling the charging element5and thus the charging device4to a second motor vehicle3after completion of a charging procedure of a first motor vehicle3. After a charging procedure of the second motor vehicle3, the robot apparatus1can couple the charging device4to a third motor vehicle3. Therefore, without human action, multiple motor vehicles3can be charged with energy, for example, overnight, by means of the charging device4, which can be in particular a fast charging point.

To establish the charging connection, the robot apparatus1having the receptacle device9receives the charging element5of the charging device4. Subsequently, the robot apparatus1moves toward the motor vehicle3. By means of the detection unit10, the robot apparatus1detects the position of the coupling element8via the position of the transponder20, in particular an RFID chip. Subsequently, the robot apparatus1opens a closure unit30of the coupling element8by means of an opening device (not shown). By means of the receptacle device9, the robot apparatus1effectuates a coupling between the charging element5and the coupling element8and subsequently releases the charging element. After completion of the charging procedure of the energy storage unit2, the receptacle device9of the robot apparatus1receives the charging element5, decouples it from the coupling element8, closes the closure unit of the coupling element8, and moves the charging element5away from the motor vehicle3.