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.

An apparatus, system and method of operating an autonomous mobile robot having a height of at least one meter. The apparatus, system and method may include a robot body; at least two three-dimensional depth camera sensors affixed to the robot body proximate to the height, wherein the at least two three-dimensional depth camera sensors are both directed toward a major floor surface from the affixation and, in combination, comprise an at least substantially 360 degree field of view of the major floor surface around the robot body; and a processing system for receiving of data within the field of view from the at least one three-dimensional depth camera sensor, detecting the presence of a plurality of AR tags on the upper surface of the charging base, calculating a virtual alignment point associated with the center of the robot docking connector, calculating a virtual alignment point associated with the center of the charging base docking connector, and outputting a path of travel between the center of the charging base docking connector and the center of the robot docking connector, whereby a physical connection is made.

A computer-implemented method when executed by data processing hardware of a legged robot causes the data processing hardware to perform operations including receiving sensor data corresponding to an area including at least a portion of a docking station. The operations include determining an estimated pose for the docking station based on an initial pose of the legged robot relative to the docking station. The operations include identifying one or more docking station features from the received sensor data. The operations include matching the one or more identified docking station features to one or more known docking station features. The operations include adjusting the estimated pose for the docking station to a corrected pose for the docking station based on an orientation of the one or more identified docking station features that match the one or more known docking station features.

In some examples, a method for docking an autonomous mobile robot includes: determining a first effective region, wherein the first effective region is defined by a boundary, and wherein the autonomous mobile robot is located in the first effective region; determining an optimal point from a plurality of candidate points on the boundary of the first effective region, wherein each candidate point defines a respective second effective region centering on the candidate point and overlapping with the first effective region to form a respective overlapping region, wherein the respective overlapping region associated with the optimal point is smallest among the respective overlapping regions associated with the plurality of candidate points; controlling the autonomous mobile robot to move to the optimal point; and repeating the above steps in one or more iterations until the autonomous mobile robot is within a preset distance from a charging station.

In a multi-part refueling device for refueling an electric drive battery or a fluid tank of a movable vehicle, simplified, reproducible refueling is to be achieved. The object is achieved in that the vehicle-side coupling device carried on the vehicle has connecting means designed as at least one charging coil, charging contacts or as a loading nozzle and also has a manipulator arm for descending, displacing and lowering the contact plate in a center of the stationary ground coupling device, wherein the manipulator arm comprises an upper arm segment pivotally and rotatably mounted on the vehicle side, a joint, a lower arm segment and a further joint for mounting the contact plate and is automatically controlled by the computer and control unit.

In a multi-part refueling device for refueling an electric drive battery or a fluid tank of a movable vehicle, simplified, reproducible refueling is to be achieved. The object is achieved in that the vehicle-side coupling device carried on the vehicle has connecting means designed as at least one charging coil, charging contacts or as a loading nozzle and also has a manipulator arm for descending, displacing and lowering the contact plate in a center of the stationary ground coupling device, wherein the manipulator arm comprises an upper arm segment pivotally and rotatably mounted on the vehicle side, a joint, a lower arm segment and a further joint for mounting the contact plate and is automatically controlled by the computer and control unit.

A charging station can automatically and intelligently connect to and charge an electric vehicle's battery or otherwise provide power to a component of a vehicle. A charging station can be configured to detect the position of an onboard unit on a vehicle and automatically maneuver a receiver underneath the onboard unit. The charging station can then cause the onboard unit to extend and plug into the receiver. The charging station can then deliver power via the receiver and onboard unit.

A charging station can automatically and intelligently connect to and charge an electric vehicle's battery or otherwise provide power to a component of a vehicle. A charging station can be configured to detect the position of an onboard unit on a vehicle and automatically maneuver a receiver underneath the onboard unit. The charging station can then cause the onboard unit to extend and plug into the receiver. The charging station can then deliver power via the receiver and onboard unit.

Provided is a moving robot system including a moving robot and a charging station. The charging station includes a camera formed to capture the moving robot, a communication unit configured to communicate with the moving robot, a charging contact unit configured to charge the moving robot, and a control unit configured to control the camera to receive a preview image obtained by capturing the moving robot on the basis that the moving robot having been in contact with the charging contact unit is separated from the charging contact unit. The control unit performs different types of control on the basis of whether information indicating that the moving robot is being separated from the charging contact unit is received before the moving robot is separated from the charging contact unit.

An electric vehicle charging robot configured for absorbing an external disturbance to prevent a damage of the electric vehicle charging robot and an electric vehicle, includes a charging connector engageable to a charging inlet of an electric vehicle to supply electric power to the electric vehicle. The electric vehicle charging robot apparatus includes: a body frame extending in a vertical direction and including a vertical support of which an upper end portion is movable upward and downward; a multi-joint link unit of a SCARA type coupled to an upper side of the body frame and including a plurality of link arms each of which is movable and rotatable in a horizontal direction; and a flexible joint unit disposed between an end portion of the multi-joint link unit and the charging connector.