CN110588421B - Automatic charging robot of slide rail formula new energy automobile - Google Patents
Automatic charging robot of slide rail formula new energy automobile Download PDFInfo
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- CN110588421B CN110588421B CN201910769539.6A CN201910769539A CN110588421B CN 110588421 B CN110588421 B CN 110588421B CN 201910769539 A CN201910769539 A CN 201910769539A CN 110588421 B CN110588421 B CN 110588421B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a slide rail type automatic charging robot for a new energy automobile, which comprises a linear driving mechanism, a base, a first joint, a second joint, a third joint, a fourth joint, a charging plug, a binocular camera and a controller, wherein the linear driving mechanism is arranged on the base; the base is connected with a linear driving mechanism, and the linear driving mechanism drives the base to linearly run; the lower end of the first joint is rotatably connected with the base; the second joint is connected with the first joint and can linearly move up and down along the first joint; the third joint is rotationally connected with the tail end of the second joint; the fourth joint is rotationally connected with the tail end of the third joint; the charging plug is connected to the tail end of the fourth joint through a rotating motor; the rotating motor is used for driving the end face of the charging plug to be parallel to the plane of the charging port; the binocular camera is fixed on the fourth joint and used for acquiring the type of the automobile and the position of the charging port; the controller is used for controlling the movement of each joint and the work of the binocular camera. The invention can charge the automobiles with the charging ports positioned in different directions.
Description
Technical Field
The invention belongs to the field of automatic charging of electric automobiles, and particularly relates to a sliding rail type automatic charging robot for a new energy automobile.
Background
Along with the development of new energy automobile at home and abroad, new energy automobile also more and more needs to fill electric pile, fills electric pile all needs manual operation on the market at present, and the process is loaded down with trivial details, still has certain danger. The automatic charging of new energy automobile can bring better experience for people's trip.
Chinese patent publication No. CN 108790872 a discloses an electric vehicle charging method based on a mobile robot, the mobile robot and a background, wherein the mobile robot can automatically guide a transport vehicle to an electric vehicle designated to be charged to charge the vehicle. But the unfixed nature of whole process charging robot, equipment such as rifle that need carry charge have brought the inconvenience for charging. Chinese patent publication No. CN 108859799 a discloses an automatic charging system and method for electric vehicles, which can automatically complete the actions of taking, inserting and pulling guns. However, at present, some charging ports of automobiles are positioned right in front of automobiles, and some charging ports are positioned on the side of automobiles. The system can only charge the side automobile and cannot meet the requirement of automatic charging universality.
Disclosure of Invention
The invention aims to provide a slide rail type automatic charging robot for a new energy automobile, which is used for charging automobiles with charging ports located in different directions.
The technical solution for realizing the purpose of the invention is as follows:
a sliding rail type automatic charging robot for a new energy automobile comprises a linear driving mechanism, a base, a first joint, a second joint, a third joint, a fourth joint, a charging plug, a binocular camera and a controller;
the base is connected with a linear driving mechanism, and the linear driving mechanism is used for driving the base to linearly run; the lower end of the first joint is rotatably connected with the base, and the rotating direction is vertical to the moving direction of the linear driving mechanism; the second joint is connected with the first joint and can linearly move up and down along the first joint; the third joint is rotationally connected with the tail end of the second joint, and the rotation direction is parallel to the rotation direction of the first joint and is reverse; the fourth joint is rotationally connected with the tail end of the third joint, and the rotation direction is parallel to the rotation direction of the first joint and is reverse; the charging plug is connected to the tail end of the fourth joint through a rotating motor; the rotating motor is used for driving the end face of the charging plug to be parallel to the plane of the charging port; the binocular camera is fixed on the fourth joint and used for acquiring the type of the automobile and the position of the charging port; the controller is used for controlling the movement of each joint and the work of the binocular camera.
Compared with the prior art, the invention has the following remarkable advantages:
(1) the electric automobile charging device is provided with the sliding guide rail and the mechanical arm which can be moved, and can be used for charging an electric automobile with a charging port located on the side and also can be used for charging an electric automobile with a charging port located in the front or the rear.
(2) The automobile charging gun can automatically identify the automobile charging port and automatically plug and pull the automobile charging gun for charging.
Drawings
Fig. 1 is a schematic diagram of charging with a charging port located right in front or right behind.
Fig. 2 is a schematic diagram of the charging port located at the side for charging.
Fig. 3 is an internal structure view of the base screw mechanism.
Fig. 4 is a view showing an internal structure of the first joint.
Fig. 5 is a view showing an internal structure of the second joint.
Fig. 6 is a connection diagram of the fourth joint and the charging plug.
Detailed Description
The invention is further described with reference to the following figures and embodiments.
With reference to fig. 1 and 2, the automatic charging robot for the slide rail type new energy automobile comprises a linear driving mechanism 1, a base 2, a first joint 3, a second joint 6, a third joint 7, a fourth joint 11, a charging plug 9, a binocular camera 10 and a controller;
the base 2 is connected with the linear driving mechanism 1, and the linear driving mechanism 1 is used for driving the base 2 to linearly run; the lower end of the first joint 3 is rotatably connected with the base 2, and the rotating direction is vertical to the moving direction of the linear driving mechanism 1; the second joint 6 is connected with the first joint 3 and can linearly move up and down along the first joint 3; the third joint 8 is rotationally connected with the tail end of the second joint 6, and the rotation direction is parallel to the rotation direction of the first joint 3 and is reverse; the fourth joint 11 is rotatably connected with the tail end of the third joint 3, and the rotation direction is parallel to the rotation direction of the first joint 3 and is opposite; the charging plug 9 is connected to the tail end of the fourth joint 11 through a rotating motor; the rotating motor is used for driving the end face of the charging plug 9 to be parallel to the plane of the charging port; the binocular camera 10 is fixed on the fourth joint 11 and used for acquiring the type of the automobile and the position of a charging port; the controller is used to control the movement of the joints and the operation of the binocular camera 10.
Further, referring to fig. 3, the linear driving mechanism 1 includes a lead screw motor 101, a base 102, a bearing seat 103, a limiting mechanism 104, a first lead screw 105, a first slider 106, and a coupler 107;
the first lead screw 105 is arranged in the base 102, and two ends of the first lead screw 105 are respectively supported by the bearing blocks 103; the screw motor 101 is fixed at one end of the base 102, and an output shaft of the screw motor 101 is connected with a first screw 105 through a coupler 107; the base 2 is connected with a nut of a first lead screw 105; and two ends of the first lead screw 105 are provided with limiting mechanisms 104 for limiting the running stroke of the base 2.
Further, the limit mechanism 104 is a travel switch.
Further, referring to fig. 4, the first joint 3 includes a first housing 301, a second lead screw 302, a second slider 303, a second bearing seat 304, and a first motor 4;
the second lead screw 302 is arranged in the first shell 301, and the upper end and the lower end of the second lead screw 302 are respectively supported by a second bearing block 304; the first motor 4 is fixed at the upper end of the first shell 301, and an output shaft of the first motor 4 is connected with the second lead screw 302 through a coupler; the second sliding block 303 is in threaded fit with the second lead screw 302; the first housing 301 is provided with a guide groove along the height direction; the second joint 6 penetrates through the guide groove to be fixedly connected with the second sliding block 303, the guide groove not only plays a role in guiding the second joint 6 to move up and down, but also avoids the second joint 6 from swinging, and meanwhile, the rotation of the second sliding block 303 can be limited.
Further, referring to fig. 5, the second joint includes a second housing 606, a driving pulley 602, a belt 603, a driven pulley 605, and a second motor 5;
the driving pulley 602, the belt 603 and the driven pulley 605 are all arranged in a second shell 606; the second motor 5 is fixed with the second housing 606, and the output shaft of the second motor 5 is connected with the driving pulley 602; the driving pulley 602 is connected with a driven pulley 605 through a belt 603; the driving pulley 602 and the driven pulley 605 are axially parallel to the second lead screw 302; the output shaft of the driven pulley 605 is connected to the third joint 7.
Further, a tensioning mechanism 604 is further arranged in the second housing 606, the tensioning mechanism 604 is composed of a tensioning wheel and a mounting seat, the mounting seat is fixed at a position, close to the driven pulley 605, of the second housing 606, an adjusting groove is formed in the upper end of the mounting seat, one shaft end of the tensioning wheel is connected with the adjusting groove in the upper end of the mounting seat through an adjusting nut, the tensioning wheel can translate along the direction of the groove in the upper end of the mounting seat, the tensioning wheel is used for tensioning the belt 603 from the inner side of the belt 603, and the tensioning of the pulley is adjusted by adjusting the position of the tensioning wheel relative to the groove in the upper end of the mounting seat.
Further, the third joint 7 and the second joint 6 have the same structure and are also driven by a belt pulley, and a driven belt pulley of the third joint 7 is connected with the fourth joint 11 and is used for driving the fourth joint to rotate in a shutdown manner.
Further, referring to fig. 6, the binocular camera 10 is fixed on the outer circumferential surface of the fourth joint 11 and is located below the third joint 8. The charging plug 9 is rotatably connected with the tail end of the fourth joint 11 through a swing rod 901; a rotating motor is fixed at the tail end of the fourth joint 11, and an output shaft of the rotating motor is connected with the oscillating bar 901 and used for driving the charging plug 9 to rotate so as to realize the position of the charging plug 9 and enable the end face of the charging plug 9 to be parallel to the plane where the charging port is located.
When an automobile enters a charging area, namely is near the device, the binocular camera 10 acquires an image of the automobile, the image is transmitted to the controller, and the controller identifies the automobile type of the automobile and judges the direction of the automobile where the charging port is located through an existing image identification algorithm.
If the charging port is located on the side of the automobile, the controller sends out an instruction, each joint of the robot adjusts the posture, the binocular camera 10 is enabled to be over against the side face of the automobile, then the base 2 moves along the axis of the first lead screw 105 of the linear driving mechanism 1 until the charging port of the automobile is within the sight line of the binocular camera 10, all the joints stop moving, the image of the charging port of the automobile is shot, and the image shot by the binocular camera 10 is transmitted to the controller.
If the automobile charging port is located right in front of or right behind the automobile, the controller sends out a command, and the base 2 moves to the head or the tail of the linear driving mechanism 1, as shown in fig. 1. Make binocular camera 10 face the dead ahead of car or dead behind, under the circumstances that the car upper shed that charges had been opened, the position of binocular camera 10 of robot adjustment for the mouth that charges is located the sight of binocular camera 10. Images of the charging port of the automobile are shot, and the images shot by the binocular camera 10 are transmitted to the controller.
Then, the controller respectively performs graying processing on the left image and the right image acquired by the binocular camera 10 to convert the images into grayscale images, performs binarization threshold segmentation on the images, and performs morphological operation on the segmented binarization images; then filtering the image contour to remove the contour with the length-width ratio larger than 1.1 and smaller than 0.9; fitting a circle to find a central coordinate of the charging port; matching feature points of the left image and the right image to calculate binocular parallax; according to the camera parameters obtained by calibrating the binocular camera, three-dimensional coordinates X, Y and Z of the center of the automobile charging port are deduced by applying a parallel binocular vision theory, and then three-dimensional coordinates under a camera coordinate system can be obtained. Then, coordinate transformation between a camera coordinate system and a world coordinate system is carried out, so that the three-dimensional coordinate of the charging port in the world coordinate system can be obtained, after the three-dimensional coordinate is obtained, the included angle formed by the plane of the charging port and the horizontal plane is also required to be obtained, the included angle beta formed by the plane of the charging port and the horizontal plane is obtained through the existing image processing technology, and the rotating motor rotates by a corresponding angle, so that the plane of the charging plug 9 is parallel to the plane of the charging port.
After the three-dimensional coordinates and the included angle beta of the automobile charging port are obtained, the controller plans a motion track for the robot through a track planning and motion planning algorithm, so that the charging port moves according to the planned track to finish the action of automatic charging, and after the charging is finished, the automatic charging robot pulls out the charging plug 9 and returns to the initial position. The entire charging process is completed.
Claims (8)
1. The automatic charging robot for the slide rail type new energy automobile is characterized by comprising a linear driving mechanism (1), a base (2), a first joint (3), a second joint (6), a third joint (7), a fourth joint (11), a charging plug (9), a binocular camera (10) and a controller;
the base (2) is connected with the linear driving mechanism (1), and the linear driving mechanism (1) is used for driving the base (2) to linearly move; the lower end of the first joint (3) is rotatably connected with the base (2), and the rotating direction is vertical to the moving direction of the linear driving mechanism (1); the second joint (6) is connected with the first joint (3) and can linearly move up and down along the first joint (3); the third joint (7) is rotationally connected with the tail end of the second joint (6), and the rotation direction is parallel to the rotation direction of the first joint (3) and is reverse; the fourth joint (11) is rotationally connected with the tail end of the third joint (7), and the rotation direction is parallel to the rotation direction of the first joint (3) and is reverse; the charging plug (9) is connected to the tail end of the fourth joint (11) through a rotating motor; the rotating motor is used for driving the end face of the charging plug (9) to be parallel to the plane where the charging port is located; the binocular camera (10) is fixed on a fourth joint (11) and used for acquiring the type of the automobile and the position of a charging port; the controller is used for controlling the movement of each joint and the work of the binocular camera (10);
if the charging port is positioned on the side of the automobile, the controller sends out an instruction, each joint of the robot adjusts the posture, so that the binocular camera (10) is opposite to the side of the automobile, then the base (2) moves along the axis of the first lead screw (105) of the linear driving mechanism (1) until the charging port of the automobile appears in the sight line of the binocular camera (10),
if the automobile charging port is positioned right in front of or right behind the automobile, the controller sends an instruction, and the base (2) moves to the head or the tail of the linear driving mechanism (1); enabling the binocular camera (10) to face the front or the back of the automobile, and adjusting the position of the binocular camera (10) by the robot to enable the charging port to be located in the sight of the binocular camera (10);
the binocular camera (10) shoots an image of the charging port of the automobile, the image shot by the binocular camera (10) is transmitted to the controller, the three-dimensional coordinate of the charging port in a world coordinate system and the included angle formed by the plane of the charging port and the horizontal plane are solved, and the rotating motor rotates by a corresponding angle, so that the plane of the charging plug (9) is parallel to the plane where the charging port is located.
2. The automatic charging robot for the slide rail type new energy automobile is characterized in that the linear driving mechanism (1) comprises a base (102), a first lead screw (105), a lead screw motor (101), a first sliding block (106), a limiting mechanism (104), a coupler (107) and a bearing seat (103);
the first lead screw (105) is arranged in the base (102), and two ends of the first lead screw (105) are respectively supported by the bearing block (103); the screw rod motor (101) is fixed at one end of the base (102), and an output shaft of the screw rod motor (101) is connected with the first screw rod (105) through a coupler (107); the base (2) is connected with a nut of the first lead screw (105); and two ends of the first lead screw (105) are provided with limiting mechanisms (104) for limiting the running stroke of the base (2).
3. The automatic charging robot for the slide rail type new energy automobile is characterized in that the limiting mechanism (104) is a travel switch.
4. The automatic charging robot for the slide rail type new energy automobile is characterized in that the first joint (3) comprises a first shell (301), a second lead screw (302), a second sliding block (303), a second bearing seat (304) and a first motor (4); the second lead screw (302) is arranged in the first shell (301), and the upper end and the lower end of the second lead screw (302) are respectively supported by a second bearing seat (304); the first motor (4) is fixed at the upper end of the first shell (301), and an output shaft of the first motor (4) is connected with the second lead screw (302) through a coupler; the second sliding block (303) is in threaded fit with the second lead screw (302); the first shell (301) is provided with a guide groove along the height direction; the second joint (6) penetrates through a guide groove to be fixedly connected with the second sliding block (303), the guide groove not only plays a role in guiding the second joint (6) to move up and down, the second joint (6) is prevented from swinging, but also can limit the rotation of the second sliding block (303);
the second joint comprises a second shell (606), a driving belt wheel (602), a belt (603), a driven belt wheel (605) and a second motor (5); the driving belt wheel (602), the belt (603) and the driven belt wheel (605) are all arranged in a second shell (606); the second motor (5) is fixed with the second shell (606), and an output shaft of the second motor (5) is connected with the driving belt wheel (602); the driving belt wheel (602) is connected with the driven belt wheel (605) through a belt (603); the driving belt wheel (602) and the driven belt wheel (605) are axially parallel to the axial direction of the second lead screw (302); the output shaft of the driven belt wheel (605) is connected with a third joint (7).
5. The automatic charging robot for the slide rail type new energy automobile is characterized in that a tensioning mechanism (604) is further arranged in the second shell (606), and the tensioning mechanism (604) is arranged between the driving pulley (602) and the driven pulley (605) and used for tensioning the belt (603).
6. The automatic charging robot for the slide rail type new energy automobile is characterized in that the tensioning mechanism (604) comprises a tensioning wheel, a mounting seat and an adjusting nut; the mounting seat is fixed on the second shell (606), an adjusting groove is formed in the upper end of the mounting seat, one shaft end of the tensioning wheel is connected with the adjusting groove in the upper end of the mounting seat through an adjusting nut, the tensioning wheel can translate along the direction of the groove in the upper end of the mounting seat, and the tensioning wheel is used for tensioning the belt (603) from the inner side of the belt (603).
7. The sliding rail type automatic charging robot for the new energy automobile as claimed in claim 1, wherein the third joint (7) and the second joint (6) are identical in structure.
8. The automatic charging robot for the slide rail type new energy automobile is characterized in that the charging plug (9) is rotatably connected with the tail end of a fourth joint (11) through a swing rod (901); and a rotating motor is fixed at the tail end of the fourth joint (11), and an output shaft of the rotating motor is connected with the oscillating bar (901) and used for driving the charging plug (9) to rotate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910769539.6A CN110588421B (en) | 2019-08-20 | 2019-08-20 | Automatic charging robot of slide rail formula new energy automobile |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910769539.6A CN110588421B (en) | 2019-08-20 | 2019-08-20 | Automatic charging robot of slide rail formula new energy automobile |
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| CN110588421A CN110588421A (en) | 2019-12-20 |
| CN110588421B true CN110588421B (en) | 2022-08-09 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111731138B (en) * | 2020-06-02 | 2021-08-06 | 南京航空航天大学 | Automatic charging device and method for multiple vehicle types |
| CN112248835B (en) * | 2020-10-21 | 2022-02-08 | 北京理工大学 | Charging mechanical arm control method and system |
| CN117416236B (en) * | 2023-10-31 | 2024-04-09 | 利嘉新能源有限公司 | Automobile charging device |
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| JP2000092615A (en) * | 1998-09-09 | 2000-03-31 | Harness Syst Tech Res Ltd | Method and device for position detection of charging coupler in electric vehicle charging system |
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| CN104795868A (en) * | 2015-05-11 | 2015-07-22 | 武汉工程大学 | Automatic charging system for electric automobile |
| DE102017205594A1 (en) * | 2017-04-03 | 2018-10-04 | Audi Ag | A robotic device for establishing a charging connection between a charging device and an energy storage unit of a motor vehicle |
| CN109895645A (en) * | 2019-03-29 | 2019-06-18 | 南京理工大学 | A kind of new-energy automobile automatic charging system |
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2019
- 2019-08-20 CN CN201910769539.6A patent/CN110588421B/en active Active
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| JP2000092615A (en) * | 1998-09-09 | 2000-03-31 | Harness Syst Tech Res Ltd | Method and device for position detection of charging coupler in electric vehicle charging system |
| CN104218635A (en) * | 2013-05-31 | 2014-12-17 | 通用汽车环球科技运作有限责任公司 | Electric vehicle charging station |
| CN104795868A (en) * | 2015-05-11 | 2015-07-22 | 武汉工程大学 | Automatic charging system for electric automobile |
| DE102017205594A1 (en) * | 2017-04-03 | 2018-10-04 | Audi Ag | A robotic device for establishing a charging connection between a charging device and an energy storage unit of a motor vehicle |
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