Robotically operated vehicle charging station

摘要

A robotic charging station for charging a battery of an electric vehicle includes a base plate, a riser coupled with the base plate and extending substantially transverse to the base plate, and a robotic arm. The robotic arm extends from the riser and supports an end effector. The end effector includes a plurality of electrical contacts configured to couple with a receptacle disposed on the electric vehicle. The robotic arm is configured to move the end effector in three degrees of motion.

主权项

1. A robotic charging station for charging a battery of an electric vehicle, the charging station comprising:
a base plate; a riser coupled with the base plate and extending substantially transverse to the baseplate; a robotic arm extending from the riser and supporting an end effector, the robotic arm configured to move the end effector in three degrees of motion; a target tracking camera integrated into the end effector and configured to periodically output a captured image; a controller configured to:
receive the captured image from the target tracking camera;identify a pattern on the electric vehicle from the received captured image;determine a spatial relationship between the end effector and an electrical receptacle disposed on the electric vehicle from at least one of a size, a skew, or a position of the pattern within the captured image, wherein the end effector includes a plurality of electrical contacts configured to couple with the electrical receptacle; andcontrol the motion of the robotic arm using the determined spatial relationship to move the end effector into electrical contact with the electrical receptacle; the end effector includes a base plate configured to attach with the robotic arm, and a retractable guide surrounding the plurality of electrical contacts and configured to transition between an extended state and a collapsed state, the retractable guide configured to align the end effector with the receptacle when in an extended state; the end effector further includes a plurality of support legs extending between the retractable guide and the base plate, the plurality of support legs being pivotable between a first position and a second position, the support legs configured to maintain the retractable guide in the extended state when in the first position, and configured to allow the retractable guide to transition to the collapsed state when pivoted to the second position; wherein the electrical receptacle includes a mechanical guide encircling a plurality of electrical contacts; and wherein contact between the mechanical guide and the plurality of support legs is operative to pivot each of the plurality of support legs from the first position to the second position; the retractable guide includes an inward facing surface adjacent the plurality of electrical contacts; and wherein the retractable guide further includes a chamfer disposed on the inward facing surface and configured to align the end effector with the receptacle disposed on the vehicle; and a compliant mounting adaptor coupled with the base plate of the end effector, the compliant mounting adaptor configured to allow the base plate to move about an axis.