The present invention relates to systems for controlling service stations, and more specifically to a system for managing and controlling the operation of a manipulator used for performing automated tasks on vehicles in a service station, such as a charging, cleaning, maintenance or diagnostic task.
A system for controlling a service station provided with resources comprising a manipulator, one or more service components for performing an operational task, and one or more service zones where services are performed on a vehicle, the system comprising one or more processors coupled with a memory, the one or more processors configured to: • obtain a service request comprising one or more services to be performed on the vehicle selected from a charging service, a cleaning service, a maintenance service, and a diagnostic service; • retrieve, in response to the service request, operational data related to the service station resources; • generate, based on the service request and the operational data, an execution plan of operational tasks for fulfilling the service request; • control the manipulator to manipulate the one or more service components for executing the operational tasks in accordance with the execution plan; and • wherein the execution plan is automatically generated such that a service parameter is realized.
Device for connecting a connector of an electric vehicle charger to an electric vehicle socket, comprising a stationary member that forms part of a fixed world and/or the vehicle charger and/or an actuated mechanism, a non-stationary member for carrying a connector, that is displaceable with respect to the stationary member along respective lines substantially parallel to each other by means of both an actuated displacement from a default position to an actuated position and a superimposed compliant displacement from the actuated position to an actual position, at least one controllable actuator for accomplishing the actuated displacement, a compliance assembly for accomplishing the compliant displacement, a controller assembly, for controlling the controllable actuator, determining the actual position, and/or determining the compliant displacement of the non-stationary member and for taking an intervening action when the compliant displacement exceeds a first threshold which first threshold is a non-constant function of the actuated position.
The present invention relates to a system, and related devices and methods for autonomously manipulating a charging connector assembly for charging an electric vehicle (EV). The system comprises a robotic manipulator with a coupling assembly configured to releasably couple to the connector assembly, a detection device configured to generate position information, and a control unit configured to control coupling/uncoupling of the connector assembly to the robotic manipulator and mating/unmating of the connector assembly to and from an EV charging inlet based on the position information.
The present invention relates to a method for determining the position and/or orientation of a socket of an electric car for the purpose of automatically plugging in a connector, comprising providing a digital camera image of a region in which the presence of a socket is expected by means of a camera with settable parameters, recognizing the location of fiducial features within the digital camera image, using a feature recognition algorithm and determining the position and/or orientation of the socket based on the fiducial features in the digital camera image, characterised by setting at least one camera parameter for providing the digital camera image, such that the fiducial features are recognizable for the feature recognition algorithm, wherein the fiducial features are part of the connecting functionality of the socket.
The present invention relates to a system, and related devices and methods for autonomously manipulating a charging connector assembly for charging an electric vehicle (EV). The system comprises a robotic manipulator with a coupling assembly configured to releasably couple to the connector assembly, a detection device configured to generate position information, and a control unit configured to control coupling/uncoupling of the connector assembly to the robotic manipulator and mating/unmating of the connector assembly to and from an EV charging inlet based on the position information.
B60L 53/37 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
A method for manipulating a charging-port cover of an electric vehicle by an autonomous charging device (ACD), the method comprising, by a control unit controlling an operation of the ACD: – obtaining at least one parameter of the charging-port cover; – executing a cover-manipulation strategy for manipulating the cover into an open state, the strategy being based at least on the obtained parameter of the charging-port cover, wherein the cover-manipulation strategy comprises: (i) performing, by a cover manipulator coupled to the ACD, at least one manipulation of the cover, wherein the cover manipulation strategy further comprises at least one step of: (ii) Obtaining sensor data for determining a position and/or orientation of the cover, or a feature thereof; or (iii) Verifying if the cover is in an open state.
09 - Scientific and electric apparatus and instruments
37 - Construction and mining; installation and repair services
42 - Scientific, technological and industrial services, research and design
Goods & Services
Robot-controlled systems for the charging of electric vehicles; Robot-controlled stations for the charging of electric vehicles; Computer software for the operation and management of electric energy supply equipment for robot-controlled systems for the charging of electric vehicles; Computer hardware and software for controlling and operating robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid use in the charging of electric vehicles; Computer hardware and software for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Computer software applications, downloadable for operating, managing, monitoring, maintaining and servicing robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Downloadable mobile software applications, downloadable for operating, managing, monitoring, maintaining and servicing robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Downloadable application programming interface (API) software for developing applications for robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Apparatus and instruments for collecting, conducting, switching, transforming, accumulating, regulating and controlling electricity for use in robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Electric energy supply equipment for robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles Installation, maintenance and repair of robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid use in the charging of electric vehicles; Installation, maintenance and repair of computer hardware; Providing information in the fields of robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid use in the charging of electric vehicles; Providing information regarding all of the foregoing; Consultancy services regarding all of the foregoing Design and development services of robot-controlled systems for the charging of electric vehicles; Design and development services of robot- controlled stations for the charging of electric vehicles; Design and development services of computer hardware and software applications for controlling and operating robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid use in the charging of electric vehicles; Design and development services of computer hardware and software for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Design and development services of mobile software applications for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Design and development of software as a service (Saas) for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Scientific and technological services and research regarding all of the foregoing; Industrial analysis and research services regarding all of the foregoing
09 - Scientific and electric apparatus and instruments
37 - Construction and mining; installation and repair services
42 - Scientific, technological and industrial services, research and design
Goods & Services
Robot-controlled systems for the charging of electric vehicles; Robot-controlled stations for the charging of electric vehicles; Computer software for the operation and management of electric energy supply equipment for robot-controlled systems for the charging of electric vehicles; Computer hardware and software for controlling and operating robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid use in the charging of electric vehicles; Computer hardware and software for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Computer software applications, downloadable for operating, managing, monitoring, maintaining and servicing robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Downloadable mobile software applications, downloadable for operating, managing, monitoring, maintaining and servicing robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Downloadable application programming interface (API) software for developing applications for robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Apparatus and instruments for collecting, conducting, switching, transforming, accumulating, regulating and controlling electricity for use in robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Electric energy supply equipment for robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles Installation, maintenance and repair of robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid use in the charging of electric vehicles; Installation, maintenance and repair of computer hardware; Providing information in the fields of robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid use in the charging of electric vehicles; Providing information regarding all of the foregoing; Consultancy services regarding all of the foregoing Design and development services of robot-controlled systems for the charging of electric vehicles; Design and development services of robot- controlled stations for the charging of electric vehicles; Design and development services of computer hardware and software applications for controlling and operating robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid use in the charging of electric vehicles; Design and development services of computer hardware and software for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Design and development services of mobile software applications for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Design and development of software as a service (Saas) for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Scientific and technological services and research regarding all of the foregoing; Industrial analysis and research services regarding all of the foregoing
09 - Scientific and electric apparatus and instruments
37 - Construction and mining; installation and repair services
42 - Scientific, technological and industrial services, research and design
Goods & Services
Robot-controlled systems for the charging of electric vehicles; Robot-controlled stations for the charging of electric vehicles; Computer software for the operation and management of electric energy supply equipment for robot-controlled systems for the charging of electric vehicles; Computer hardware and software for controlling and operating robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid use in the charging of electric vehicles; Computer hardware and software for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Computer software applications, downloadable for operating, managing, monitoring, maintaining and servicing robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Downloadable mobile software applications, downloadable for operating, managing, monitoring, maintaining and servicing robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Downloadable application programming interface (API) software for developing applications for robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Apparatus and instruments for collecting, conducting, switching, transforming, accumulating, regulating and controlling electricity for use in robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Electric energy supply equipment for robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles. Installation, maintenance and repair of robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid use in the charging of electric vehicles; Installation, maintenance and repair of computer hardware; Providing information in the fields of robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid use in the charging of electric vehicles; Providing information regarding all of the foregoing; Consultancy services regarding all of the foregoing. Design and development services of robot-controlled systems for the charging of electric vehicles; Design and development services of robot- controlled stations for the charging of electric vehicles; Design and development services of computer hardware and software applications for controlling and operating robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid use in the charging of electric vehicles; Design and development services of computer hardware and software for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Design and development services of mobile software applications for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Design and development of software as a service (Saas) for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Scientific and technological services and research regarding all of the foregoing; Industrial analysis and research services regarding all of the foregoing.
11.
METHOD FOR CONTROLLING OPERATION OF AN AUTONOMOUS CHARGING DEVICE BASED ON VEHICLE INLET FEATURES AND VEHICLE POSITIONING
A method for controlling an autonomous charging device (ACD), the ACD configured to manipulate a vehicle charging connector and determine a pose of a vehicle charging inlet, and based on such pose determination, mating the charging connector into the vehicle charging inlet, the method comprising, by a controller, the following steps: Receiving information about the vehicle, wherein said information comprises at least one of an inlet feature parameter and a vehicle positioning parameter; Acquiring at least one of a preset inlet pose determination strategy and a preset mating strategy by inputting the received vehicle information into a predetermined model; and Controlling the ACD based, at least partly, on the acquired preset inlet pose determination strategy and preset mating strategy wherein the information about the vehicle is received prior to a visual determination of the inlet pose.
B60L 53/37 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
B60L 53/66 - Data transfer between charging stations and vehicles
12.
METHOD AND SYSTEM FOR CONTROLLING THE MATING IN A SYSTEM FOR THE AUTONOMOUS CHARGING OF ELECTRIC VEHICLES
Method for controlling an autonomous charging device (ACD) configured to manipulate an electric vehicle charging connector for mating into a vehicle inlet, the vehicle charging connector and the vehicle inlet configured to transition between at least an unmated state, a partially mated state and a fully mated state, wherein the partially mated state comprises a partial insertion of the charging connector into a cavity of the vehicle inlet and wherein the fully mated state comprises a state wherein a transfer of energy is allowed, the method comprising, by a controller, at least the following steps: (a) Manipulating the charging connector towards the vehicle inlet and determining, whether the charging connector and the vehicle inlet have reached the partially mated state; and (b) If the determination indicates that the charging connector and the vehicle inlet are in the partially mated state, manipulating the charging connector to move to the fully mated state.
B60L 53/35 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
B60L 53/37 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
13.
METHOD FOR CONTROLLING OPERATION OF AN AUTONOMOUS CHARGING DEVICE BASED ON VEHICLE INLET FEATURES AND VEHICLE POSITIONING
A method for controlling an autonomous charging device (ACD), the ACD configured to manipulate a vehicle charging connector and determine a pose of a vehicle charging inlet, and based on such pose determination, mating the charging connector into the vehicle charging inlet. The method comprises receiving information about the vehicle, wherein said information comprises at least one of an inlet feature parameter and a vehicle positioning parameter, acquiring at least one of a preset inlet pose determination strategy and a preset mating strategy by inputting the received vehicle information into a predetermined model, and controlling the ACD based, at least partly, on the acquired preset inlet pose determination strategy and/or preset mating strategy. The vehicle information can be received prior to a visual determination of the inlet pose.
B60L 53/37 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
B60L 53/16 - Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
B60L 53/36 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
B60L 53/66 - Data transfer between charging stations and vehicles
G06T 7/70 - Determining position or orientation of objects or cameras
14.
METHOD AND SYSTEM FOR CONTROLLING THE MATING IN A SYSTEM FOR THE AUTONOMOUS CHARGING OF ELECTRIC VEHICLES
A method for controlling an autonomous charging device (ACD) configured to manipulate an electric vehicle charging connector for mating into a vehicle inlet, the vehicle charging connector and the vehicle inlet configured to transition between at least an unmated state, a partially mated state and a fully mated state. The partially mated state comprises a partial insertion of the charging connector into a cavity of the vehicle inlet and the fully mated state comprises a state wherein a transfer of energy is allowed. The method comprises, using a controller, (a) manipulating the charging connector towards the vehicle inlet and determining, whether the charging connector and the vehicle inlet have reached the partially mated state; and (b) if the determination indicates that the charging connector and the vehicle inlet are in the partially mated state, manipulating the charging connector to move to the fully mated state.
B60L 53/37 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
B60L 53/16 - Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
B60L 53/30 - Constructional details of charging stations
B60L 53/66 - Data transfer between charging stations and vehicles
15.
DEVICE FOR REDUCING THE FORCE NEEDED FOR AUTOMATICALLY INSERTING/EXTRACTING A CONNECTOR ATTACHED TO AN ELECTRIC VEHICLE CHARGER INTO AN ELECTRIC VEHICLE SOCKET
A device for connecting an EV charger connector to or disconnecting it from an EV socket with a supposed position and orientation. A connector handling mechanism comprises an actuated positioning mechanism, for moving the connector with at least 2 degrees of freedom with respect to a fixed world of at least one compliance assembly, compliantly moving the connector in at least two degrees of freedom with respect to the fixed world, wherein the at least one compliance assembly is connected kinematically in series with the positioning mechanism, between the fixed world and the connector; and has a compliance stroke defined as the effective displacement between an actual connector position and orientation, and a current/momentary virtual position and orientation of the connector. A first moment and/or force is applied to the connector in a movement direction. A second moment and/or force is superimposed on the first moment and/or force.
B60L 53/16 - Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
B60L 53/37 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
H01R 13/04 - Pins or blades for co-operation with sockets
H01R 13/10 - Sockets for co-operation with pins or blades
H01R 13/629 - Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure
16.
SYSTEM AND METHOD FOR SUPPORTING THE AUTONOMOUS CHARGING OF AN ELECTRIC VEHICLE
A system for supporting the autonomous connection of an EV charging connector into an EV inlet, the system comprising: - a controllable robot adapted to support the EV charging connector; - an imaging sensor in communication with the robot, the imaging sensor adapted to capture image data within a field of view; and - a controller including a processor and a non-transitory memory storing instructions executed by the processor to configure the controller, the controller configured to: - determining the presence of at least one target component within the field of view, the target component selected from at least one of the EV charging connector and a moveable component of the robot, - when the target component is found to be present, analysing an image received from the image sensor and determining a pose of the target component, utilizing at least the received image and a pose recognition algorithm, and - controlling the robot based on the determined pose.
09 - Scientific and electric apparatus and instruments
37 - Construction and mining; installation and repair services
42 - Scientific, technological and industrial services, research and design
Goods & Services
Robot-controlled systems for the charging of electric vehicles; Robot-controlled stations for the charging of electric vehicles; Downloadable computer software for the operation and management of electric energy supply equipment for robot-controlled systems for the charging of electric vehicles; Downloadable computer hardware and software for controlling, operating, and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Computer software applications, downloadable, for operating, managing, monitoring, maintaining and servicing robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Downloadable mobile software applications for operating, managing, monitoring, maintaining and servicing robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Downloadable application programming interface (API) software for developing applications for robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Apparatus and instruments for collecting, conducting, switching, transforming, accumulating, regulating and controlling electricity for use in robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Electric energy supply equipment for robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles Installation, maintenance and repair of robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Installation, maintenance and repair of computer hardware; Providing information in the fields of robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Providing information regarding all of the foregoing; Consultancy services in the fields of robot-controlled systems, robot-controlled stations, and fleets of robot-controlled systems, all the aforesaid for use in the charging of electric vehicles Design and development services of robot-controlled systems for the charging of electric vehicles; Design and development services of robot- controlled stations for the charging of electric vehicles; Design and development services of computer hardware and software applications for controlling and operating robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Design and development services of computer hardware and software for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Design and development services of mobile software applications for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Design and development of software as a service (Saas) for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Scientific and technological services, namely, research regarding all of the foregoing; Industrial analysis and research services regarding all of the foregoing
18.
CHARGING INFRASTRUCTURE WITH A HEXAPOD CHARGING STATION FOR A VEHICLE
The invention relates to a charging infrastructure comprising a charging station (1) for charging a vehicle (10) having a vehicle-side charging interface (20), wherein the charging station (1) comprises a robot (50) that carries a robot-side charging interface (100) for establishing a charging connection with the vehicle-side charging interface (20), wherein the robot comprises a base frame (51), a movable carrier (60) carrying the robot-side charging interface, and at least three displacement assemblies (71-76) between the base frame and the movable carrier that form a mechanism to move the movable carrier with at least three degrees of freedom with respect to the base frame, wherein the displacement assemblies comprise an actuator (80) and a compliance assembly (90) in series with an actuator and the robot-side charging interface for resiliently absorbing or releasing a displacement between the actuator and the robot-side charging interface over a compliance stroke or angle.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
B60L 53/35 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
B60L 53/36 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
B60L 53/37 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
B60L 53/68 - Off-site monitoring or control, e.g. remote control
H02J 7/00 - Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
19.
METHOD FOR CONTROLING A SYSTEM FOR THE AUTONOMOUS CHARGING OF AN ELECTRIC VEHICLE
B60L 53/35 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
B60L 53/37 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
20.
METHOD FOR CONTROLING A SYSTEM FOR THE AUTONOMOUS CHARGING OF AN ELECTRIC VEHICLE
The present invention relates to a method for controlling a system for the autonomous charging of an electric vehicle. The invention is also related to a system for the autonomous charging of an electric vehicle. The method generally comprises guiding a connector assembly towards a vehicle charging port by actuation of a robotic arm; allowing the robotic arm to transition from an unlocked state to a locked state; effecting the mating of the connector with the charging port by moving the connector assembly while monitoring and analysing operational and/or sensor data; and initiating a corrective action if analysis of the operational and/or sensor data indicates that corrective action is needed to allow the system to complete the mating of the connector with the charging port.
B60L 53/35 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
B60L 53/37 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
21.
METHOD AND SYSTEMS FOR COMPENSATING FOR A DEVIATION IN A PLURALITY OF WORKING POSES OF A MANIPULATOR OF AN AUTONOMOUS CHARGING DEVICE
A method for minimizing deviations between a target and an actual pose of an autonomous charging device manipulator, adapted to connect a charging connector to an electric vehicle socket, comprising: obtaining a compensation function covering at least a part of a workspace of the manipulator, the compensation function utilizing a relationship between at least one motion command and a corresponding actual pose, and operating the manipulator based on the obtained compensation function such that the resulting actual pose minimally deviates from the target pose, wherein the relationship between at least one motion command and a corresponding actual pose is obtained by a method comprising an image acquisition device attached to a moving part of the manipulator to acquire an image containing a visible fiducial marker placed at a referential pose; instructing the manipulator to move to acquire an image of the fiducial marker; using the image to determine the relative pose of the fiducial marker with respect to the image acquisition device; computing the actual pose of the moving part of the manipulator using the referential pose and the determined relative pose of the fiducial marker with respect to the image acquisition device; and fitting a template function that relates the at least one motion command to the computed actual pose.
B60L 53/37 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
22.
METHOD AND SYSTEMS FOR COMPENSATING FOR A DEVIATION IN A PLURALITY OF WORKING POSES OF A MANIPULATOR OF AN AUTONOMOUS CHARGING DEVICE
B60L 53/37 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
09 - Scientific and electric apparatus and instruments
37 - Construction and mining; installation and repair services
42 - Scientific, technological and industrial services, research and design
Goods & Services
Robot-controlled systems for the charging of electric vehicles; Robot- controlled stations for the charging of electric vehicles; Downloadable computer software for the operation and management of electric energy supply equipment for robot-controlled systems for the charging of electric vehicles; Downloadable computer hardware and software for controlling, and operating, and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Recorded computer hardware and software for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Computer software applications, downloadable, for operating, managing, monitoring, maintaining and servicing robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Downloadable mobile software applications, downloadable for operating, managing, monitoring, maintaining and servicing robot-controlled systems, robot- controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Downloadable application programming interface (API) software for developing applications for robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Apparatus and instruments for collecting, conducting, switching, transforming, accumulating, regulating and controlling electricity for use in robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Electric energy supply equipment for robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles Installation, maintenance and repair of robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Installation, maintenance and repair of computer hardware; Providing information in the fields of robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Providing information regarding all of the foregoing; Consultancy services in the fields of robot- controlled systems, robot-controlled stations, and fleets of robot-controlled systems, all the aforesaid for use in the charging of electric vehicle regarding all of the foregoing Design and development services of robot-controlled systems for the charging of electric vehicles; Design and development services of robot- controlled stations for the charging of electric vehicles; Design and development services of computer hardware and software applications for controlling and operating robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Design and development services of computer hardware and software for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot- controlled systems all the aforesaid for use in the charging of electric vehicles; Design and development services of mobile software applications for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Design and development of software as a service (Saas) for controlling, operating and monitoring robot-controlled systems, robot- controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Scientific and technological services, namely, research regarding all of the foregoing; Industrial analysis and research services regarding all of the foregoing
09 - Scientific and electric apparatus and instruments
37 - Construction and mining; installation and repair services
42 - Scientific, technological and industrial services, research and design
Goods & Services
Robot-controlled systems for the charging of electric
vehicles; robot-controlled stations for the charging of
electric vehicles; computer software for the operation and
management of electric energy supply equipment for
robot-controlled systems for the charging of electric
vehicles; computer hardware and software for controlling and
operating robot-controlled systems, robot-controlled
stations and fleets of robot-controlled systems all the
aforesaid use in the charging of electric vehicles; computer
hardware and software for controlling, operating and
monitoring robot-controlled systems, robot-controlled
stations and fleets of robot-controlled systems all the
aforesaid for use in the charging of electric vehicles;
computer software applications, downloadable for operating,
managing, monitoring, maintaining and servicing
robot-controlled systems, robot-controlled stations and
fleets of robot-controlled systems all the aforesaid for use
in the charging of electric vehicles; downloadable mobile
software applications, downloadable for operating, managing,
monitoring, maintaining and servicing robot-controlled
systems, robot-controlled stations and fleets of
robot-controlled systems all the aforesaid for use in the
charging of electric vehicles; downloadable application
programming interface (API) software for developing
applications for robot-controlled systems, robot-controlled
stations and fleets of robot-controlled systems all the
aforesaid for use in the charging of electric vehicles;
apparatus and instruments for collecting, conducting,
switching, transforming, accumulating, regulating and
controlling electricity for use in robot-controlled systems,
robot-controlled stations and fleets of robot-controlled
systems all the aforesaid for use in the charging of
electric vehicles; electric energy supply equipment for
robot-controlled systems, robot-controlled stations and
fleets of robot-controlled systems all the aforesaid for use
in the charging of electric vehicles. Installation, maintenance and repair of robot-controlled
systems, robot-controlled stations and fleets of
robot-controlled systems all the aforesaid for use in the
charging of electric vehicles; installation, maintenance and
repair of computer hardware; providing information on
installation, maintenance and repair of robot-controlled
systems, robot-controlled stations and fleets of
robot-controlled systems all the aforesaid for use in the
charging of electric vehicles; providing information
regarding all of the foregoing; consultancy services
regarding all of the foregoing. Design and development services of robot-controlled systems
for the charging of electric vehicles; design and
development services of robot- controlled stations for the
charging of electric vehicles; design and development
services of computer hardware and software applications for
controlling and operating robot-controlled systems,
robot-controlled stations and fleets of robot-controlled
systems all the aforesaid use in the charging of electric
vehicles; design and development services of computer
hardware and software for controlling, operating and
monitoring robot-controlled systems, robot-controlled
stations and fleets of robot-controlled systems all the
aforesaid for use in the charging of electric vehicles;
design and development services of mobile software
applications for controlling, operating and monitoring
robot-controlled systems, robot-controlled stations and
fleets of robot-controlled systems all the aforesaid for use
in the charging of electric vehicles; design and development
of software as a service (SaaS) for controlling, operating
and monitoring robot-controlled systems, robot-controlled
stations and fleets of robot-controlled systems all the
aforesaid for use in the charging of electric vehicles;
scientific and technological services and research regarding
all of the foregoing; industrial analysis and research
services regarding all of the foregoing.
25.
METHOD AND SYSTEM FOR CALIBRATING AN AUTONOMOUS CHARGING DEVICE (ACD)
The present invention relates to a method for calibrating one or more autonomous charging devices (ACD) and/or components thereof, the ACD comprising an end effector for supporting and moving a vehicle charging connector, a motion control unit, and a computer vision unit for socket-pose estimation, the computer vision comprising at least a baseline neural network, the motion control unit being configured to control the motion of the effector for plugging the connector into a vehicle socket using a pose estimation from the computer vision unit.
B60L 53/37 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
26.
METHOD AND SYSTEM FOR CALIBRATING AN AUTONOMOUS CHARGING DEVICE (ACD)
B60L 53/37 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
09 - Scientific and electric apparatus and instruments
37 - Construction and mining; installation and repair services
42 - Scientific, technological and industrial services, research and design
Goods & Services
Robot-controlled systems composed of battery chargers and rechargers for the charging of electric vehicles; Robot-controlled stations for the charging of electric vehicles; Downloadable computer software for the operation and management of electric energy supply equipment for robot-controlled systems for the charging of electric vehicles; Computer hardware and downloadable software for controlling and operating robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Computer hardware and downloadable software for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Downloadable computer software applications for operating, managing, monitoring, maintaining and servicing robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Downloadable mobile software applications for operating, managing, monitoring, maintaining and servicing robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Downloadable application programming interface (API) software for developing applications for robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Apparatus and instruments for collecting, conducting, switching, transforming, accumulating, regulating and controlling electricity for use in robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles. Electric energy supply devices for robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles. Installation, maintenance and repair of robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Installation, maintenance and repair of computer hardware; providing information on the installation, maintenance and repair of robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Providing installation, maintenance and repair information regarding all of the foregoing; Installation, maintenance and repair consultancy services regarding all of the foregoing. Design and development services of robot-controlled systems for the charging of electric vehicles; Design and development services of robot- controlled stations for the charging of electric vehicles; Design and development services of computer hardware and software applications for controlling and operating robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Design and development services of computer hardware and software for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Design and development services of mobile software applications for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Design and development of software as a service (Saas) for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Scientific and technological services, namely, research regarding all of the foregoing; Industrial analysis and research services regarding all of the foregoing.
28.
METHOD AND DEVICE FOR DETERMINING A POSITION AND ORIENTATION OF A SOCKET OF AN ELECTRIC VEHICLE
Determining a position and orientation of a socket of an electric vehicle, the socket adapted for plugging in a charging connector in one unique plug-in position with one unique plug-in orientation and in one unique plug-in direction, as well as a front plane and/or a fiducial marker having an optical gravity point, includes providing a 2D camera with a view on a vehicle's charging location having a camera view comprising view lines for providing a 2D image of a focal plane perpendicular to said central view line, bringing the socket within said camera view, defining a view line going through the optical gravity point on the socket as the line of sight, viewing the socket with the camera, obtaining a 2D image, and analyzing the 2D image, wherein the vehicle and the camera are mutually positioned such that the line of sight is under an angle with the plug-in direction.
B60L 53/35 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
B60L 53/37 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
30.
SYSTEMS AND METHOD FOR THE AUTONOMOUS CHARGING OF ELECTRIC VEHICLES
Autonomous charging device comprising a controllable actuated mechanism for supporting an electric vehicle charging connector and for moving the charging connector towards a vehicle's charging port; a camera, positioned on or associated with the autonomous charging device for acquiring images of the charging port wherein a computer vision module determines, based on the images, a pose of the vehicle charging port; the pose including a position and orientation of the vehicle charging port socket and/or socket pins relative to the camera, a motion module, a data communication module for communicating the images and operational data of the autonomous charging device to and from a common data-storage-and-processing module, the computer vision module comprising a neural network subject to training by a training module. A system for supporting the connection of an electric vehicle connector into an electric vehicle charging port by an autonomous charging device. Training module for training a neural network of a computer vision system for an autonomous charging device
B60L 53/37 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
09 - Scientific and electric apparatus and instruments
37 - Construction and mining; installation and repair services
42 - Scientific, technological and industrial services, research and design
Goods & Services
Robot-controlled systems for the charging of electric vehicles; Robot-controlled stations for the charging of electric vehicles; Computer software for the operation and management of electric energy supply equipment for robot-controlled systems for the charging of electric vehicles; Computer hardware and software for controlling and operating robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid use in the charging of electric vehicles; Computer hardware and software for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Computer software applications, downloadable for operating, managing, monitoring, maintaining and servicing robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Downloadable mobile software applications, downloadable for operating, managing, monitoring, maintaining and servicing robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Downloadable application programming interface (API) software for developing applications for robot-controlled systems, robot-controlled stations and fleets of robotcontrolled systems all the aforesaid for use in the charging of electric vehicles; Apparatus and instruments for collecting, conducting, switching, transforming, accumulating, regulating and controlling electricity for use in robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles. Electric energy supply equipment for robot- controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles.. Installation, maintenance and repair of robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid use in the charging of electric vehicles; Installation, maintenance and repair of computer hardware; Providing information in the fields of robot-controlled systems, robot-controlled stations and fleets of robotcontrolled systems all the aforesaid use in the charging of electric vehicles; Providing information regarding all of the foregoing; Consultancy services regarding all of the foregoing.. Design and development services of robot-controlled systems for the charging of electric vehicles; Design and development services of robot- controlled stations for the charging of electric vehicles; Design and development services of computer hardware and software applications for controlling and operating robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid use in the charging of electric vehicles; Design and development services of computer hardware and software for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Design and development services of mobile software applications for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Design and development of software as a service (Saas) for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Scientific and technological services and research regarding all of the foregoing; Industrial analysis and research services regarding all of the foregoing..
09 - Scientific and electric apparatus and instruments
37 - Construction and mining; installation and repair services
42 - Scientific, technological and industrial services, research and design
Goods & Services
Robot-controlled systems for the charging of electric vehicles; Robot-controlled stations for the charging of electric vehicles; Computer software for the operation and management of electric energy supply equipment for robot-controlled systems for the charging of electric vehicles; Computer hardware and software for controlling and operating robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid use in the charging of electric vehicles; Computer hardware and software for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Computer software applications, downloadable for operating, managing, monitoring, maintaining and servicing robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Downloadable mobile software applications, downloadable for operating, managing, monitoring, maintaining and servicing robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Downloadable application programming interface (API) software for developing applications for robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Apparatus and instruments for collecting, conducting, switching, transforming, accumulating, regulating and controlling electricity for use in robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Electric energy supply equipment for robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles. Installation, maintenance and repair of robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid use in the charging of electric vehicles; Installation, maintenance and repair of computer hardware; Providing information in the fields of robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid use in the charging of electric vehicles; Providing information regarding all of the foregoing; Consultancy services regarding all of the foregoing. Design and development services of robot-controlled systems for the charging of electric vehicles; Design and development services of robot- controlled stations for the charging of electric vehicles; Design and development services of computer hardware and software applications for controlling and operating robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid use in the charging of electric vehicles; Design and development services of computer hardware and software for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Design and development services of mobile software applications for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Design and development of software as a service (Saas) for controlling, operating and monitoring robot-controlled systems, robot-controlled stations and fleets of robot-controlled systems all the aforesaid for use in the charging of electric vehicles; Scientific and technological services and research regarding all of the foregoing; Industrial analysis and research services regarding all of the foregoing.
33.
METHOD AND DEVICE FOR CONNECTING A CONNECTOR OF AN ELECTRIC VEHICLE CHARGER TO A SOCKET OF AN ELECTRIC VEHICLE
Device for connecting a connector of an electric vehicle charger to a socket of an electric vehicle, comprising a stationary member that forms part of a fixed world and/or the vehicle charger and/or an actuated mechanism, a non-stationary member for carrying a connector, that is displaceable with respect to the stationary member along respective lines substantially parallel to each other by means of both an actuated displacement from a default position to an actuated position and a superimposed compliant displacement from the actuated position to an actual position, at least one controllable actuator for accomplishing the actuated displacement, a compliance assembly for accomplishing the compliant displacement, a controller assembly, for controlling the controllable actuator, determining the actual position, and/or determining the compliant displacement of the non-stationary member and for taking an intervening action when the compliant displacement exceeds a first threshold which first threshold is a non-constant function of the actuated position.
Device (1) for moving a connector (3) of an electric vehicle charger, comprising: an actuated mechanism, for moving an actuator attachment point (2) for the suspension of the connector (3), a connector attachment point (27), for the connector (3), the connector (3) provided with one end (4) adapted for electrical and mechanical connection with a socket of an electric vehicle, by movement in a plug-in direction (D); a suspension, coupled to the actuator attachment point (2), and carrying the connector attachment point (27), wherein the suspension carries the connector attachment point (27) in a preferred orientation, from which the connector (3) is movable, in particular compliantly movable relative to the actuator attachment point (2) under application of a force exerted on the connector attachment point (27), wherein the connector attachment point (27) is at least rotatable about an axis of rotation at an angle not parallel and preferably perpendicular to the plug-in direction wherein the axis of rotation intersects an imaginary axis through the connector attachment point (27) in the plug-in direction (D) at a position located in a direction from the suspension at a distance beyond the connector attachment point (27), which distance is less than 5 metres, more preferably less than 4 metres and most preferably less than 3 metres.
B60L 53/35 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
B60L 53/16 - Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
35.
DEVICE FOR REDUCING THE FORCE NEEDED FOR AUTOMATICALLY INSERTING/EXTRACTING A CONNECTOR ATTACHED TO AN ELECTRIC VEHICLE CHARGER INTO AN ELECTRIC VEHICLE SOCKET
The invention relates to a device for disconnecting a connector of an electric vehicle charger from a socket on an electric vehicle with a supposed position and orientation, comprising a connector handling mechanism, comprising an actuated positioning mechanism, for moving a connector with at least 2 degrees of freedom with respect to a fixed world at least one compliance assembly, configured to allow compliantly moving the connector in at least two degrees of freedom with respect to the fixed world wherein the at least one compliance assembly is connected kinematically in series with the positioning mechanism, between the fixed world and the connector; and has a compliance stroke defined as the effective displacement between the actual connector position and orientation, and the current/momentary virtual position and orientation of the connector; wherein, for disconnecting the connector, the connector handling mechanism is configured for- applying on the connector: a first moment and/or force in the direction of the movement for moving the connector in the direction of the movement; and at least a second moment and/or force, superimposed on the first moment and/or force, with a directional component or a direction unequal to the direction of the unique movement, wherein the second moment and/or force is directed towards the unconstrained position and orientation of the connector.
B60L 53/35 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
36.
DEVICE FOR REDUCING THE FORCE NEEDED FOR AUTOMATICALLY INSERTING/EXTRACTING A CONNECTOR ATTACHED TO AN ELECTRIC VEHICLE CHARGER INTO AN ELECTRIC VEHICLE SOCKET
The invention relates to a device for disconnecting a connector of an electric vehicle charger from a socket on an electric vehicle with a supposed position and orientation, comprising a connector handling mechanism, comprising an actuated positioning mechanism, for moving a connector with at least 2 degrees of freedom with respect to a fixed world at least one compliance assembly, configured to allow compliantly moving the connector in at least two degrees of freedom with respect to the fixed world wherein the at least one compliance assembly is connected kinematically in series with the positioning mechanism, between the fixed world and the connector; and has a compliance stroke defined as the effective displacement between the actual connector position and orientation, and the current/momentary virtual position and orientation of the connector; wherein, for disconnecting the connector, the connector handling mechanism is configured for- applying on the connector: a first moment and/or force in the direction of the movement for moving the connector in the direction of the movement; and at least a second moment and/or force, superimposed on the first moment and/or force, with a directional component or a direction unequal to the direction of the unique movement, wherein the second moment and/or force is directed towards the unconstrained position and orientation of the connector.
Method and device for connecting a connector of an electric vehicle charger to a socket on an electric vehicle, comprising the steps of: A. determining the supposed position and orientation of the socket; B. moving the connector in the direction of the supposed position of the socket; C. positioning the connector adjacent to the supposed socket position of the connector, with at least one angular rotation about an axis not parallel to the direction of the unique movement with respect to the mutual orientation of the connector and socket wherein the respective centre lines of the pins and holes of at least two pin-and-hole connection pairs coincide; D. taking away the angular difference between the supposed and the actual position and orientation; E. connecting the connector and socket by performing the unique movement directed towards each other.
B60L 53/37 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
B60L 53/16 - Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
B60L 53/66 - Data transfer between charging stations and vehicles
H01R 13/631 - Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure for engagement only
H01R 27/02 - Coupling parts adapted for co-operation with two or more dissimilar counterparts for simultaneous co-operation with two or more counterparts
H01R 43/26 - Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for engaging or disengaging the two parts of a coupling device
The present invention relates to a device for positioning a charger connector, in particular relative to a vehicle contra connector, comprising a suspension for a charging cable assembly, connected at one end to the charger connector, the suspension comprising a first suspension point, for clamping, at a point remote from the one end, the charging cable assembly in a predetermined orientation and position, which orientation and position together with the rigidity of the cable assembly and the gravity acting on the cable assembly define a preferred position and/or a preferred orientation of the one end; and a second suspension point, for engaging the charging cable assembly at the one end of the charger connector; Wherein the second suspension point comprises a manipulator for manipulating the position and/or the orientation of the charger connector relative to the fixed world, in a range around the preferred position and/or the preferred orientation of the one end of the cable assembly.
H02J 7/00 - Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
B60L 53/16 - Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
B60L 53/18 - Cables specially adapted for charging electric vehicles
B60L 53/37 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
H02J 7/14 - Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle
39.
METHOD FOR DETERMINING THE POSITION AND/OR ORIENTATION OF A SOCKET OF AN ELECTRIC CAR FOR THE PURPOSE OF AUTOMATICALLY PLUGGING IN A CONNECTOR
The present invention relates to a method for determining the position and/or orientation of a socket of an electric car for the purpose of automatically plugging in a connector, comprising providing a digital camera image of a region in which the presence of a socket is expected by means of a camera with settable parameters, recognizing the location of fiducial features within the digital camera image, using a feature recognition algorithm and determining the position and/or orientation of the socket based on the fiducial features in the digital camera image, characterised by setting at least one camera parameter for providing the digital camera image, such that the fiducial features are recognizable for the feature recognition algorithm, wherein the fiducial features are part of the connecting functionality of the socket.
The present invention relates to a method for determining the position and/or orientation of a socket of an electric car for the purpose of automatically plugging in a connector, comprising providing a digital camera image of a region in which the presence of a socket is expected by means of a camera with settable parameters, recognizing the location of fiducial features within the digital camera image, using a feature recognition algorithm and determining the position and/or orientation of the socket based on the fiducial features in the digital camera image, characterised by setting at least one camera parameter for providing the digital camera image, such that the fiducial features are recognizable for the feature recognition algorithm, wherein the fiducial features are part of the connecting functionality of the socket.
The invention relates to a method for controlling a charging infrastructure comprising a charging station for charging a vehicle having a vehicle-side charging interface, wherein the charging station comprises a robot that carries a robot-side charging interface for establishing a charging connection with the vehicle-side charging interface, wherein the robot comprises a main base and a compliance assembly that is arranged kinematically between the main base and the robot-side charging interface for providing a compliance, wherein the method comprises in series a positioning phase in which the robot-side charging interface is moved to an initial connecting position, and a connecting phase in which the robot-side charging interface establishes a charging connection with the vehicle-side charging interface, wherein in the positioning phase a compliance value is compared with a positioning intervention value and a positioning instruction is changed when the compliance value exceeds a positioning intervention value, and in the connecting phase the compliance value is compared with a connecting intervention value and a connecting instruction is changed when the compliance value exceeds the connecting intervention value, wherein the positioning intervention value differs from the connecting intervention value.
B60L 53/37 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
Method and device for determining a position and orientation of a socket of an electric vehicle, the socket adapted for plugging in a charging connector in one unique plug-in position with one unique plug-in orientation and in one unique plug- in direction, as well as a front plane and/or a fiducial marker having an optical gravity point; the method comprising the steps of providing a 2D camera with a view on a charging location for an electric vehicle; said 2D camera, having a camera view comprising view lines, each extending around a central view line originating from a camera pinhole within a maximum angle deviation around said central view line, adapted for providing a 2D image of a focal plane perpendicular to said central view line, bringing the socket for plugging in a charging connector of the electric vehicle within said camera view, defining a view line going through the optical gravity point on the socket as the line of sight, viewing the socket with the camera and obtaining a 2D image, analysing the 2D image with a 3D pose estimation algorithm for obtaining a position and/or orientation of the socket with respect to the camera pinhole, wherein the vehicle and the camera are mutually positioned such that the line of sight is under an angle with the plug-in direction.
Method and device for determining a position and orientation of a socket of an electric vehicle, the socket adapted for plugging in a charging connector in one unique plug-in position with one unique plug-in orientation and in one unique plug- in direction, as well as a front plane and/or a fiducial marker having an optical gravity point; the method comprising the steps of providing a 2D camera with a view on a charging location for an electric vehicle; said 2D camera, having a camera view comprising view lines, each extending around a central view line originating from a camera pinhole within a maximum angle deviation around said central view line, adapted for providing a 2D image of a focal plane perpendicular to said central view line, bringing the socket for plugging in a charging connector of the electric vehicle within said camera view, defining a view line going through the optical gravity point on the socket as the line of sight, viewing the socket with the camera and obtaining a 2D image, analysing the 2D image with a 3D pose estimation algorithm for obtaining a position and/or orientation of the socket with respect to the camera pinhole, wherein the vehicle and the camera are mutually positioned such that the line of sight is under an angle with the plug-in direction.
A charging infrastructure including a charging station (1) for charging a vehicle (10) having a vehicle-side charging interface (20). The charging station (1) includes a robot (50) that carries a robot-side charging interface (100) for establishing a charging connection with the vehicle-side charging interface (20). The robot (50) includes a base frame (51), a movable carrier (60) carrying the robot-side charging interface (100), and at least three displacement assemblies (71-76) between the base frame (51) and the movable carrier (60) that form a mechanism to move the movable carrier (60) with at least three degrees of freedom with respect to the base frame (51). The displacement assemblies (71-76) include an actuator (80) and a compliance assembly (90) in series with the actuator (80) and the robot-side charging interface for resiliently absorbing or releasing a displacement between the actuator and the robot-side charging interface over a compliance stroke or displacement angle.
B60L 53/35 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
B60L 53/36 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
B60L 53/37 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
B60L 53/68 - Off-site monitoring or control, e.g. remote control
H02J 7/00 - Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
45.
DEVICE AND METHOD FOR MOVING A CONNECTOR OF AN ELECTRIC VEHICLE CHARGER
Device (1) for moving a connector (3) of an electric vehicle charger, comprising: an actuated mechanism, for moving an actuator attachment point (2) for the suspension of the connector (3), a connector attachment point (27), for the connector (3), the connector (3) provided with one end (4) adapted for electrical and mechanical connection with a socket of an electric vehicle, by movement in a plug-in direction (D); a suspension, coupled to the actuator attachment point (2), and carrying the connector attachment point (27), wherein the suspension carries the connector attachment point (27) in a preferred orientation, from which the connector (3) is movable, in particular compliantly movable relative to the actuator attachment point (2) under application of a force exerted on the connector attachment point (27), wherein the connector attachment point (27) is at least rotatable about an axis of rotation at an angle not parallel and preferably perpendicular to the plug-in direction wherein the axis of rotation intersects an imaginary axis through the connector attachment point (27) in the plug-in direction (D) at a position located in a direction from the suspension at a distance beyond the connector attachment point (27), which distance is less than 5 metres, more preferably less than 4 metres and most preferably less than 3 metres.
Device (1) for moving a connector (3) of an electric vehicle charger, comprising: an actuated mechanism, for moving an actuator attachment point (2) for the suspension of the connector (3), a connector attachment point (27), for the connector (3), the connector (3) provided with one end (4) adapted for electrical and mechanical connection with a socket of an electric vehicle, by movement in a plug-in direction (D); a suspension, coupled to the actuator attachment point (2), and carrying the connector attachment point (27), wherein the suspension carries the connector attachment point (27) in a preferred orientation, from which the connector (3) is movable, in particular compliantly movable relative to the actuator attachment point (2) under application of a force exerted on the connector attachment point (27), wherein the connector attachment point (27) is at least rotatable about an axis of rotation at an angle not parallel and preferably perpendicular to the plug-in direction wherein the axis of rotation intersects an imaginary axis through the connector attachment point (27) in the plug-in direction (D) at a position located in a direction from the suspension at a distance beyond the connector attachment point (27), which distance is less than 5 metres, more preferably less than 4 metres and most preferably less than 3 metres.
Method and device for connecting a connector of an electric vehicle charger to a socket on an electric vehicle, comprising the steps of: A. determining the supposed position and orientation of the socket; B. moving the connector in the direction of the supposed position of the socket; C. positioning the connector adjacent to the supposed socket position of the connector, with at least one angular rotation about an axis not parallel to the direction of the unique movement with respect to the mutual orientation of the connector and socket wherein the respective centre lines of the pins and holes of at least two pin-and-hole connection pairs coincide; D. taking away the angular difference between the supposed and the actual position and orientation; E. connecting the connector and socket by performing the unique movement directed towards each other.
B60L 53/16 - Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
B60L 53/31 - Charging columns specially adapted for electric vehicles
B60L 53/37 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
H01R 13/629 - Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure
48.
METHOD AND DEVICE FOR CONNECTING A CONNECTOR OF AN ELECTRIC VEHICLE CHARGER TO A SOCKET ON AN ELECTRIC VEHICLE
Method and device for connecting a connector of an electric vehicle charger to a socket on an electric vehicle, comprising the steps of: A. determining the supposed position and orientation of the socket; B. moving the connector in the direction of the supposed position of the socket; C. positioning the connector adjacent to the supposed socket position of the connector, with at least one angular rotation about an axis not parallel to the direction of the unique movement with respect to the mutual orientation of the connector and socket wherein the respective centre lines of the pins and holes of at least two pin-and-hole connection pairs coincide; D. taking away the angular difference between the supposed and the actual position and orientation; E. connecting the connector and socket by performing the unique movement directed towards each other.
B60L 53/31 - Charging columns specially adapted for electric vehicles
B60L 53/37 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
H01R 13/629 - Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure
09 - Scientific and electric apparatus and instruments
37 - Construction and mining; installation and repair services
42 - Scientific, technological and industrial services, research and design
Goods & Services
Robot-controlled chargers for electric vehicles; chargers
for electric vehicles and charging stations for electric
vehicles; software for the automation of the infrastructure
for charging electric vehicles; software for
robot-controlled electric charging and for fleet management;
parking sensors for vehicles; safety apparatus, security
apparatus, monitoring instruments and signalling devices,
all the aforesaid goods for use in the following fields:
electric vehicle charging; apparatus and instruments for
collecting, conducting, switching, transforming,
accumulating, regulating and controlling electricity;
electric control devices for energy management. Charging of electric vehicles; installation services,
maintenance and repair services, in relation to the
following goods: charging systems and chargers for electric
vehicles and parts thereof; consultancy services in relation
to the aforesaid services; marking of roads. Design and development services in connection with the
following goods: robot controlled chargers and charging
apparatus for electric vehicles and charging stations for
electric vehicles; design and development services in
connection with the following goods: software for the
automation of the infrastructure for charging electric
vehicles, software as a service [saas] for robot-controlled
electric charging and software for fleet management; design
and development services in connection with the following
goods: parking sensors for vehicles; design and development
services in connection with the following goods: safety
apparatus, signalling devices, security and surveillance
apparatus, all the aforesaid for the purpose of charging
electric vehicles; design and development services in
connection with the following goods: apparatus and
instruments for collecting, conducting, switching,
transforming, accumulating, regulating or controlling
electricity and electrical control apparatus for energy
management; scientific and technological services and
research; industrial analysis and research services.
The present invention relates to a device for positioning a charger connector, in particular relative to a vehicle contra connector, comprising a suspension for a charging cable assembly, connected at one end to the charger connector, the suspension comprising a first suspension point, for clamping, at a point remote from the one end, the charging cable assembly in a predetermined orientation and position, which orientation and position together with the rigidity of the cable assembly and the gravity acting on the cable assembly define a preferred position and/or a preferred orientation of the one end; and a second suspension point, for engaging the charging cable assembly at the one end of the charger connector; Wherein the second suspension point comprises a manipulator for manipulating the position and/or the orientation of the charger connector relative to the fixed world, in a range around the preferred position and/or the preferred orientation of the one end of the cable assembly.
B60L 53/35 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
B60L 53/37 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
The present invention relates to a device for positioning a charger connector, in particular relative to a vehicle contra connector, comprising a suspension for a charging cable assembly, connected at one end to the charger connector, the suspension comprising a first suspension point, for clamping, at a point remote from the one end, the charging cable assembly in a predetermined orientation and position, which orientation and position together with the rigidity of the cable assembly and the gravity acting on the cable assembly define a preferred position and/or a preferred orientation of the one end; and a second suspension point, for engaging the charging cable assembly at the one end of the charger connector; Wherein the second suspension point comprises a manipulator for manipulating the position and/or the orientation of the charger connector relative to the fixed world, in a range around the preferred position and/or the preferred orientation of the one end of the cable assembly.
B60L 53/35 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
B60L 53/37 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
09 - Scientific and electric apparatus and instruments
37 - Construction and mining; installation and repair services
42 - Scientific, technological and industrial services, research and design
Goods & Services
Robot-controlled battery chargers and rechargers for electric vehicles; battery chargers and rechargers for electric vehicles and battery charging stations for electric vehicles; downloadable software for the automation of the infrastructure for charging electric vehicles batteries; downloadable software for robot-controlled electric charging and for fleet management; parking sensors for vehicles; safety apparatus, security apparatus, monitoring instruments and signalling devices, namely, data processors, electrical controllers, electric sensors, electronic proximity sensors, electric resistors, motion sensors, optical sensors for detecting images, sensors for determination of distance, proximity sensors, cameras for recording and transmitting images, all the aforesaid goods for use in the fields of electric vehicle battery charging and recharging; apparatus and instruments for collecting, conducting, switching, transforming, accumulating, regulating and controlling electricity, namely, electric cables, cables assemblies consisting primarily of electric cables, motor and servo electric cables, robot electric cables, control electric cables, electronic cables, temperature-resistant electronic cables, actuator sensor cables in the nature of power cables,flexible sheaths for electric cables and protective sheaths for fiber optical cables, cabling elements in the nature of protective sheaths for electrical cables, relay plaques and frames consisting primarily of electric relays for plates with electric connections; electric control devices for energy management, namely, charging stations for charging electric vehicles Charging and recharging of electric vehicles batteries; installation, maintenance and repair of battery charging systems and battery chargers for electric vehicles and parts thereof; consultancy services in relation to the aforesaid services; marking of roads Design and development of robot-controlled battery chargers and charging apparatus for electric vehicles batteries and charging stations for electric vehicles batteries; design and development services of online non-downloadable software for the automation of the infrastructure for charging electric vehicles, software as a service (SAAS) for robot-controlled electric battery charging, and software for fleet management; design and development of parking sensors for vehicles; design and development of safety apparatus, signalling devices, security and surveillance apparatus, all for the purpose of charging electric vehicles batteries; design and development of apparatus and instruments for collecting, conducting, switching, transforming, accumulating, regulating or controlling electricity and electrical control apparatus for energy management; scientific and technological research in the field of robot controlled chargers and charging apparatus for electric vehicles batteries and charging stations for electric vehicles batteries; scientific and technological services, namely, research and design in the field of robot controlled chargers and charging apparatus for electric vehicles batteries and charging stations for electric vehicles batteries; industrial research services in the field of robot controlled chargers and charging apparatus for electric vehicles batteries and charging stations for electric vehicles batteries
The invention relates to a method for controlling a charging infrastructure comprising a charging station for charging a vehicle having a vehicle-side charging interface, wherein the charging station comprises a robot that carries a robot-side charging interface for establishing a charging connection with the vehicle-side charging interface, wherein the robot comprises a main base and a compliance assembly that is arranged kinematically between the main base and the robot-side charging interface for providing a compliance, wherein the method comprises in series a positioning phase in which the robot-side charging interface is moved to an initial connecting position, and a connecting phase in which the robot-side charging interface establishes a charging connection with the vehicle-side charging interface, wherein in the positioning phase a compliance value is compared with a positioning intervention value and a positioning instruction is changed when the compliance value exceeds a positioning intervention value, and in the connecting phase the compliance value is compared with a connecting intervention value and a connecting instruction is changed when the compliance value exceeds the connecting intervention value, wherein the positioning intervention value differs from the connecting intervention value.
B60L 53/35 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
B60L 53/37 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
H01R 43/26 - Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for engaging or disengaging the two parts of a coupling device
The invention relates to a method for controlling a charging infrastructure comprising a charging station for charging a vehicle having a vehicle-side charging interface, wherein the charging station comprises a robot that carries a robot-side charging interface for establishing a charging connection with the vehicle-side charging interface, wherein the robot comprises a main base and a compliance assembly that is arranged kinematically between the main base and the robot-side charging interface for providing a compliance, wherein the method comprises in series a positioning phase in which the robot-side charging interface is moved to an initial connecting position, and a connecting phase in which the robot-side charging interface establishes a charging connection with the vehicle-side charging interface, wherein in the positioning phase a compliance value is compared with a positioning intervention value and a positioning instruction is changed when the compliance value exceeds a positioning intervention value, and in the connecting phase the compliance value is compared with a connecting intervention value and a connecting instruction is changed when the compliance value exceeds the connecting intervention value, wherein the positioning intervention value differs from the connecting intervention value.
B60L 53/35 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
B60L 53/37 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
H01R 43/26 - Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for engaging or disengaging the two parts of a coupling device
09 - Scientific and electric apparatus and instruments
37 - Construction and mining; installation and repair services
42 - Scientific, technological and industrial services, research and design
Goods & Services
Robot-controlled chargers for electric vehicles; Chargers for electric vehicles and Charging stations for electric vehicles; Software for the automation of the infrastructure for charging electric vehicles; Software for robot-controlled electric charging and for fleet management; Parking sensors for vehicles; Safety apparatus, Security apparatus, Monitoring instruments and Signalling devices, All the aforesaid goods for use in the following fields: Electric vehicle charging; Apparatus and instruments for collecting, conducting, switching, transforming, accumulating, regulating and controlling electricity; Electric control devices for energy management. Charging of electric vehicles; Installation services, maintenance and repair services, in relation to the following goods: charging systems and chargers for electric vehicles and parts thereof; Consultancy services in relation to the aforesaid services; Marking of roads. Design and development services in connection with the following goods: robot controlled chargers and charging apparatus for electric vehicles and charging stations for electric vehicles; design and development services in connection with the following goods: software for the automation of the infrastructure for charging electric vehicles, software as a service [saas] for robot-controlled electric charging and software for fleet management; design and development services in connection with the following goods: parking sensors for vehicles; design and development services in connection with the following goods: safety apparatus, signaling devices, security and surveillance apparatus, all the aforesaid for the purpose of charging electric vehicles; design and development services in connection with the following goods: apparatus and instruments for collecting, conducting, switching, transforming, accumulating, regulating or controlling electricity and electrical control apparatus for energy management; Scientific and technological services and research; Industrial analysis and research services.
56.
CHARGING INFRASTRUCTURE WITH A HEXAPOD CHARGING STATION FOR A VEHICLE
The invention relates to a charging infrastructure comprising a charging station (1) for charging a vehicle (10) having a vehicle-side charging interface (20), wherein the charging station (1) comprises a robot (50) that carries a robot-side charging interface (100) for establishing a charging connection with the vehicle-side charging interface (20), wherein the robot comprises a base frame (51), a movable carrier (60) carrying the robot-side charging interface, and at least three displacement assemblies (71-76) between the base frame and the movable carrier that form a mechanism to move the movable carrier with at least three degrees of freedom with respect to the base frame, wherein the displacement assemblies comprise an actuator (80) and a compliance assembly (90) in series with an actuator and the robot-side charging interface for resiliently absorbing or releasing a displacement between the actuator and the robot-side charging interface over a compliance stroke or angle.
H02J 7/00 - Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
B60L 53/35 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
B60L 53/37 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
The invention relates to a charging infrastructure comprising a charging station (1) for charging a vehicle (10) having a vehicle-side charging interface (20), wherein the charging station (1) comprises a robot (50) that carries a robot-side charging interface (100) for establishing a charging connection with the vehicle-side charging interface (20), wherein the robot comprises a base frame (51), a movable carrier (60) carrying the robot-side charging interface, and at least three displacement assemblies (71-76) between the base frame and the movable carrier that form a mechanism to move the movable carrier with at least three degrees of freedom with respect to the base frame, wherein the displacement assemblies comprise an actuator (80) and a compliance assembly (90) in series with an actuator and the robot-side charging interface for resiliently absorbing or releasing a displacement between the actuator and the robot-side charging interface over a compliance stroke or angle.
B60L 53/35 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
B60L 53/37 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
H02J 7/00 - Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
