A robotic system for fueling or charging a vehicle having a vehicle connector, the robotic system including a robotic arm having a plurality of sequentially arranged articulated links and at least one group of operating cables extending from a proximal end of the arm to terminate at a control link, for controlling the position of that link, the cables each having a path comprising a passage in each successive more proximal link for closely receiving the cable, a flexible conduit operably connected with the robotic arm for delivering a fluid or an electrical current, respectively, to a vehicle, the conduit being connected to a source at a first end and a delivery connector at a second end, and a control system for operating the robotic arm and the hose or cable, wherein the control system directs the robotic arm to engage the vehicle connector with the delivery connector and, upon engagement of the vehicle connector and delivery connector, the control system relaxes the robotic arm to an under-constrained condition.

A method for positioning a vehicle, having an inductive charging coil, at a stationary inductive charging station. The method includes: recognizing an operating state of the vehicle, and/or a state of the environment of the vehicle, based on an acquired first camera image; ascertaining a suitable illumination signal for at least one illumination device of a reference element of the inductive charging station based on the recognized operating state or environmental state; emitting a control signal to the inductive charging station based on the ascertained suitable illumination signal; recognizing the reference element based on an acquired second camera image and of the ascertained suitable illumination signal; determining a relative position and/or an orientation of the vehicle based on the recognized reference element in the second camera image; and controlling the vehicle based on the determined relative position and/or of the orientation.

A method for positioning a vehicle, having an inductive charging coil, at a stationary inductive charging station. The method includes: recognizing an operating state of the vehicle, and/or a state of the environment of the vehicle, based on an acquired first camera image; ascertaining a suitable illumination signal for at least one illumination device of a reference element of the inductive charging station based on the recognized operating state or environmental state; emitting a control signal to the inductive charging station based on the ascertained suitable illumination signal; recognizing the reference element based on an acquired second camera image and of the ascertained suitable illumination signal; determining a relative position and/or an orientation of the vehicle based on the recognized reference element in the second camera image; and controlling the vehicle based on the determined relative position and/or of the orientation.

A plug connection system that autonomously charges an electric vehicle (EV) is provided. The method includes: obtaining a trained machine learning (ML) model from a back-end server; capturing an image using an image capturing device of the charging system, wherein a portion of the image comprises the EV charging portal; inputting the image into the trained ML model to determine one or more regions of interest associated with the EV charging portal within the image; determining a location of the EV charging portal based on the one or more determined regions of interest and one or more image processing techniques; and providing information to maneuver the robotic arm of the charging system to a physical position based on the determined location of the EV charging portal.

A plug connection system that autonomously charges an electric vehicle (EV) is provided. The method includes: obtaining a trained machine learning (ML) model from a back-end server; capturing an image using an image capturing device of the charging system, wherein a portion of the image comprises the EV charging portal; inputting the image into the trained ML model to determine one or more regions of interest associated with the EV charging portal within the image; determining a location of the EV charging portal based on the one or more determined regions of interest and one or more image processing techniques; and providing information to maneuver the robotic arm of the charging system to a physical position based on the determined location of the EV charging portal.

A power supply device includes a moving unit that moves a power supply fitting body in an insertion-extraction direction, an up-down direction, and a lateral direction that is orthogonal to the insertion-extraction direction and the up-down direction, and a controller that controls the movement of the power supply fitting body by the moving unit. A position detection device moves in linkage with the movement of the power supply fitting body by the moving unit. A power reception fitting body includes first structures extending along the lateral direction and second structures related to a central position of the power reception fitting body in the lateral direction. The first structure and the second structure are formed protruding to one side of the up-down direction with respect to a ceiling surface. The distances between the second structures and the first structures in the insertion-extraction direction are set in advance.

A power supply device includes a moving unit that moves a power supply fitting body in an insertion-extraction direction, an up-down direction, and a lateral direction that is orthogonal to the insertion-extraction direction and the up-down direction, and a controller that controls the movement of the power supply fitting body by the moving unit. A position detection device moves in linkage with the movement of the power supply fitting body by the moving unit. A power reception fitting body includes first structures extending along the lateral direction and second structures related to a central position of the power reception fitting body in the lateral direction. The first structure and the second structure are formed protruding to one side of the up-down direction with respect to a ceiling surface. The distances between the second structures and the first structures in the insertion-extraction direction are set in advance.

An electric vehicle charging method includes obtaining charging information about a wireless charging station including at least one charging pad for wirelessly transmitting power to at least one charge receiving pad of the electric vehicle; establishing a charging position between the at least one charging pad and the at least one charge receiving pad; and displaying on a display screen the at least one charging pad overlapped by a virtual charge receiving pad representing the at least one charge receiving pad. The method also includes determining whether the charging position is desired to start a wireless charging session between the charging station and the electric vehicle; prompting a readiness for charging on the display screen after determining that the charging position is desired to start the wireless charging session; and starting the wireless charging session between the electric vehicle and the wireless charging station.

An electric vehicle charging method includes obtaining charging information about a wireless charging station including at least one charging pad for wirelessly transmitting power to at least one charge receiving pad of the electric vehicle; establishing a charging position between the at least one charging pad and the at least one charge receiving pad; and displaying on a display screen the at least one charging pad overlapped by a virtual charge receiving pad representing the at least one charge receiving pad. The method also includes determining whether the charging position is desired to start a wireless charging session between the charging station and the electric vehicle; prompting a readiness for charging on the display screen after determining that the charging position is desired to start the wireless charging session; and starting the wireless charging session between the electric vehicle and the wireless charging station.

The present disclosure provides is a method and device for accurately estimating a pose of a charging socket of an electric vehicle regardless of a shape of the charging socket, so that an electric vehicle charging robot may precisely move a charging connector toward the charging socket of the electric vehicle and couple the charging connector to the charging socket. According to an aspect of an exemplary embodiment, a method of estimating the pose of the charging socket of an electric vehicle includes: acquiring an RGB image and a depth map of the charging socket; detecting a keypoint of the charging socket based on the RGB image; deriving a first estimated pose of the charging socket based on the depth map; and deriving a second estimated pose of the charging socket based on the keypoint of the charging socket and the first estimated pose.