Method for controlling charging infrastructure with a robotic charging interface

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, a displacement mechanism between the main base and the robot-side charging interface for moving the robot-side charging interface with at least three degrees of freedom with respect to the main base, wherein the displacement mechanism comprises at least one actuator that is configured for imposing a displacement between the main base and the robot-side charging interface over a displacement stroke when the actuator is actuated, wherein the robot comprises a compliance assembly that is arranged kinematically in series with an actuator between the main base and the robot-side charging interface, wherein the compliance assembly is configured for providing a compliance by resiliently absorbing or releasing a displacement between the base frame and the robot-side charging interface over a compliance stroke, wherein the method comprises in series a positioning phase in which the robot-side charging interface is moved from a retracted position in which the vehicle can enter or exit the charging station, to an initial connecting position in which the robot-side charging interface is in front of and aligned with the vehicle-side charging interface, a connecting phase in which the robot-side charging interface establishes a charging connection with the vehicle-side charging interface from the initial connection position, a charging phase in which the vehicle is charged by a charging current through the robot-side charging interface, and a disconnecting phase in which the robot-side charging interface disengages from the vehicle-side charging interface and is retracted towards the retracted position, wherein in the charging phase the actuator is powered according to a charging instruction and the compliance is monitored, wherein the charging instruction defines that the compliance value is brought between a first charging intervention value and a lower second charging intervention value, and

• wherein in the positioning phase, in the connecting phase and in the charging phase the actuator is powered according to an intervention instruction and the compliance value is monitored, wherein the compliance value is compared with a warning intervention value, wherein, when the warning intervention value is exceeded, the intervention instruction is started that is selected from the group comprising:
• interruption of a charging current through the robot-side charging interface;
• triggering an audio alarm;
• triggering a visual alarm;
• communicating an alarm state to the vehicle or to a higher level management system;
• triggering a mechanical breakout release;
• and retraction of the robot-side charging interface from the vehicle-side charging interface.