Charging port alignment methods and apparatus for robotic car chargers

An apparatus for interconnecting a vehicle charging connector with a charging port of a vehicle, the apparatus comprising:

• a latch arm moveable toward and away from the charging port, the latch arm being so positioned and having a length selected such that the latch arm is extendable into an interior of an opening of the charging port;
• a tip portion positioned on the latch arm so as to be insertable downwardly into a cavity formed in the interior of the opening of the charging port so as to enable the charging port and the vehicle charging connector to be pulled together to establish electrical interconnection between them;
• a camera mounting member having a tube portion and being slidably mounted in the vehicle charging connector, a rear end of the tube portion and a rear end of the latch arm being attached to a movable plate;
• and
• a linear actuator configured to drive the movable plate along with the attached latch arm and the camera mounting member towards and away from the charging port.

An apparatus for interconnecting a vehicle charging connector with a charging port of a vehicle, the apparatus comprising:

• a latch arm moveable toward and away from the charging port, the latch arm being so positioned and having a length selected such that the latch arm is extendable into an interior of an opening of the charging port;
• a tip portion positioned on the latch arm so as to be insertable downwardly into a cavity formed in the interior of the opening of the charging port so as to enable the charging port and the vehicle charging connector to be pulled together to establish electrical interconnection between them, wherein the vehicle charging connector comprises an array of receptacles configured to receive and establish electrical connection with respective mating pins of the charging port;
• a camera located within the array of receptacles, the camera defining an X-Y plane, the camera being positioned to generate an electronic image of the charging port and a plurality of mating pins thereof;
• one or more processors, at least one processor being supplied with the electronic image;
• and
• a non-transitory computer readable medium or a plurality of non-transitory computer readable media storing executable instructions, which, when executed by the one or more processors, cause performance of the following operations:
• establish a plurality of boundary boxes which locate and identify the charging port and a plurality of interconnection ports located within the charging port;
• and
• calculate an offset distance selected to correct for misalignment of the vehicle charging connector with respect to the charging port.