System and method for controlling electric vehicle charging apparatus

Abstract

A charging system includes a mobile charging device having a charging plug configured to be connected to a charging port of a vehicle for charging a battery in the vehicle, and a control module in communication with the mobile charging device. The control module is configured to receive a charging request signal from a vehicle control module or a user device of the vehicle, determine a location of the charging port of the vehicle in response to receiving the charging request signal, and controlling the mobile charging device to move to the vicinity of the charging port of the vehicle based on the determined position of the charging port. Other exemplary charging systems and methods of controlling a mobile charging device are also disclosed.

Description

[0001] introduction

[0002] The information provided in this section is for the purpose of generally presenting the background of the present disclosure. To the extent described in this section, the work of the presently named inventors and aspects of the description that may not constitute prior art at the time of filing are neither explicitly nor implicitly admitted to be prior art to the present disclosure. Technical Field

[0003] The present disclosure relates to a control system and method of an electric vehicle charging device, and more particularly to controlling the movement of the electric vehicle charging device to align a charging plug with a charging port of an electric vehicle. Background Art

[0004] The charging device is used to charge the battery in the electric vehicle. The charging device generally includes a cable electrically connected to a power source and a plug electrically connected to the cable. The plug can be inserted into the charging port of the electric vehicle. After insertion, the power source provides power to the charging port via the cable to charge the battery in the electric vehicle. Summary of the invention

[0005] A charging system includes a mobile charging device and a control module in communication with the mobile charging device, wherein the mobile charging device has a charging plug configured to be connected to a charging port of a vehicle for charging a battery in the vehicle. The control module is configured to: receive a charging request signal from a vehicle control module or a user device of the vehicle, determine a position of the charging port of the vehicle in response to receiving the charging request signal, and control the mobile charging device to move to the vicinity of the charging port of the vehicle based on the determined position of the charging port.

[0006] In other features, the mobile charging device includes a movable arm connected to the charging plug, the movable arm includes at least one actuator, and the control module is configured to control the at least one actuator to align the charging plug with the charging port of the vehicle.

[0007] In other features, the movable arm includes a sensor positioned adjacent to the charging plug, the sensor configured to detect a user input applied to the charging plug when the user moves the charging plug, and the control module is configured to receive a signal indicative of the user input from the sensor and control the at least one actuator to move the charging plug based on the received signal.

[0008] In other features, the user input includes at least one of a torque and a force applied to the charging plug.

[0009] In other features, the control module is configured to receive vehicle data from a vehicle control module or a user device and determine a location of a charging port of the vehicle based on the vehicle data.

[0010] In other features, the charging system further includes at least one sensor in communication with the control module. The at least one sensor is configured to detect a location of a charging port of the vehicle. The control module is configured to receive a signal indicating the detected location from the at least one sensor and determine the location of the charging port of the vehicle based on the received signal.

[0011] In other features, the control module is configured to transmit a confirmation request signal including the determined position of the charging port to a vehicle control module or a user device, thereby prompting a user to confirm the determined position of the charging port.

[0012] In other features, the control module is configured to receive a battery charge status signal from a vehicle control module when the charging plug is connected to a charging port of the vehicle, and to send a disconnect request signal to the vehicle control module or a user device in response to the received battery charge status signal, thereby prompting a user to disconnect the charging plug from the charging port of the vehicle.

[0013] In other features, the control module is configured to receive a confirmation disconnect signal from a vehicle control module or a user device based on a user input, and to control the mobile charging device to move away from the vehicle in response to the confirmation disconnect signal.

[0014] In other features, the control module is configured to receive a battery charge status signal from a vehicle control module when the charging plug is connected to a charging port of the vehicle, and to control the mobile charging device to disconnect the charging plug from the charging port in response to the received battery charge status signal.

[0015] In other features, the control module is configured to control movement of the mobile charging device based on user input received from a vehicle control module or a user device.

[0016] A method for controlling a mobile charging device is disclosed. The mobile charging device includes a charging plug configured to be connected to a charging port of a vehicle for charging a battery in the vehicle. The method includes: receiving a charging request signal from a vehicle control module or a user device of the vehicle, determining a location of the charging port of the vehicle in response to receiving the charging request signal, and controlling the mobile charging device to move to the vicinity of the charging port of the vehicle based on the determined location of the charging port.

[0017] In other features, the mobile charging device includes a movable arm connected to the charging plug, the movable arm includes at least one actuator, and the method further includes controlling the at least one actuator to align the charging plug with the charging port of the vehicle.

[0018] In other features, the method further includes receiving a signal from a sensor positioned proximate the charging plug indicating a user input applied to the charging plug when the user moves the charging plug, and controlling at least one actuator to move the charging plug based on the received signal.

[0019] In other features, determining the location of the charging port of the vehicle includes receiving vehicle data from a vehicle control module or a user device and determining the location of the charging port based on the vehicle data.

[0020] In other features, determining the location of a charging port of the vehicle includes receiving a signal from at least one sensor indicative of a detected location of the charging port and determining the location of the charging port based on the received signal.

[0021] In other features, the method further includes receiving a confirmation disconnect signal from a vehicle control module or a user device based on a user input, and controlling the mobile charging device to move away from the vehicle in response to the confirmation disconnect signal.

[0022] In other features, the method further includes receiving a battery charge status signal from a vehicle control module of the vehicle when the charge plug is connected to a charge port of the vehicle, and controlling the mobile charging device to disconnect the charge plug from the charge port in response to the received battery charge status signal.

[0023] A charging system includes a mobile charging device and a control module in communication with the mobile charging device. The mobile charging device includes a movable arm and a charging plug connected to the movable arm. The movable arm includes at least one actuator. The charging plug is configured to be connected to a charging port of a vehicle for charging a battery in the vehicle. The control module is configured to: receive vehicle data from a vehicle control module of the vehicle, determine a location of a charging port of the vehicle based on the vehicle data, control the mobile charging device to move to the vicinity of the charging port of the vehicle based on the determined location of the charging port, and control at least one actuator to align the charging plug with the charging port of the vehicle.

[0024] In other features, the movable arm includes a sensor positioned adjacent to the charging plug, the sensor configured to detect a user input applied to the charging plug when the user moves the charging plug, and the control module is configured to receive a signal indicative of the user input from the sensor and control the at least one actuator to move the charging plug based on the received signal.

[0025] The present invention also includes the following scheme:

[0026] Solution 1. A charging system comprising:

[0027] A mobile charging device, comprising: a charging plug configured to be connected to a charging port of a vehicle for charging a battery in the vehicle; and

[0028] A control module in communication with the mobile charging device, wherein the control module is configured to:

[0029] receiving a charge request signal from a vehicle control module or a user device of the vehicle;

[0030] In response to receiving the charge request signal, determining a location of the charge port of the vehicle; and

[0031] The mobile charging device is controlled to move into proximity with the charging port of the vehicle based on the determined position of the charging port.

[0032] Option 2. A charging system according to Option 1, wherein:

[0033] The mobile charging device includes a movable arm connected to the charging plug;

[0034] The movable arm includes at least one actuator; and

[0035] The control module is configured to control the at least one actuator to align the charging plug with a charging port of the vehicle.

[0036] Option 3. A charging system according to Option 2, wherein:

[0037] the movable arm comprising a sensor positioned adjacent the charging plug;

[0038] The sensor is configured to detect a user input applied to the charging plug when the user moves the charging plug; and

[0039] The control module is configured to receive a signal indicative of a user input from the sensor and control the at least one actuator to move the charging plug based on the received signal.

[0040] Option 4. The charging system of Option 3, wherein the user input comprises at least one of a torque and a force applied to the charging plug.

[0041] Solution 5. The charging system according to Solution 1, wherein the control module is configured as follows:

[0042] receiving vehicle data from the vehicle control module or the user device; and

[0043] A location of the charging port of the vehicle is determined based on the vehicle data.

[0044] Option 6. The charging system according to Option 1 further includes at least one sensor in communication with the control module, wherein the at least one sensor is configured to detect a position of the charging port of the vehicle.

[0045] Wherein the control module is configured to receive a signal indicative of the detected position from the at least one sensor and determine the position of the charging port of the vehicle based on the received signal.

[0046] Option 7. A charging system according to Option 1, wherein the control module is configured to transmit a confirmation request signal including the determined position of the charging port to the vehicle control module or the user device, thereby prompting a user to confirm the determined position of the charging port.

[0047] Solution 8. The charging system according to Solution 1, wherein the control module is configured to:

[0048] receiving a battery charge status signal from the vehicle control module when the charging plug is connected to the charging port of the vehicle; and

[0049] In response to the received battery charging status signal, a disconnection request signal is sent to the vehicle control module or the user device, thereby prompting a user to disconnect the charging plug from the charging port of the vehicle.

[0050] Solution 9. The charging system according to Solution 8, wherein the control module is configured to:

[0051] receiving a confirmation disconnect signal from the vehicle control module or the user device based on user input; and

[0052] In response to the confirmed disconnect signal, the mobile charging device is controlled to move away from the vehicle.

[0053] Solution 10. The charging system according to Solution 1, wherein the control module is configured to:

[0054] receiving a battery charge status signal from the vehicle control module when the charging plug is connected to the charging port of the vehicle; and

[0055] In response to the received battery charging status signal, the mobile charging device is controlled to disconnect the charging plug from the charging port.

[0056] Embodiment 11. The charging system of embodiment 1, wherein the control module is configured to control the movement of the mobile charging device based on user input received from the vehicle control module or the user device.

[0057] Solution 12. A method for controlling a mobile charging device, the mobile charging device comprising a charging plug, the charging plug being configured to be connected to a charging port of a vehicle for charging a battery in the vehicle, the method comprising:

[0058] receiving a charge request signal from a vehicle control module of the vehicle or a user device;

[0059] In response to receiving the charge request signal, determining a location of the charge port of the vehicle; and

[0060] Based on the determined position of the charging port, the mobile charging device is controlled to move into proximity with the charging port of the vehicle.

[0061] Scheme 13. The method according to Scheme 12, wherein:

[0062] The mobile charging device includes a movable arm connected to the charging plug;

[0063] The movable arm includes at least one actuator; and

[0064] The method also includes controlling the at least one actuator to align the charging plug with a charging port of the vehicle.

[0065] Solution 14. The method according to Solution 13 further includes:

[0066] receiving a signal from a sensor positioned adjacent to the charging plug, the signal indicating a user input applied to the charging plug when the user moves the charging plug; and

[0067] The at least one actuator is controlled based on the received signal to move the charging plug.

[0068] Option 15. The method according to Option 12, wherein determining the location of the charging port of the vehicle includes: receiving vehicle data from the vehicle control module or the user device, and determining the location of the charging port based on the vehicle data.

[0069] Option 16. A method according to Option 12, wherein determining the position of the charging port of the vehicle includes: receiving a signal indicating a detected position of the charging port from at least one sensor, and determining the position of the charging port based on the received signal.

[0070] Solution 17. The method according to Solution 12 further includes:

[0071] receiving a confirmation disconnect signal from a vehicle control module or a user device based on user input; and

[0072] In response to the confirmed disconnect signal, the mobile charging device is controlled to move away from the vehicle.

[0073] Solution 18. The method according to Solution 12 further includes:

[0074] receiving a battery charge status signal from the vehicle control module of the vehicle when the charging plug is connected to the charging port of the vehicle; and

[0075] In response to the received battery charging status signal, the mobile charging device is controlled to disconnect the charging plug from the charging port.

[0076] Solution 19. A charging system comprising:

[0077] a mobile charging device comprising a movable arm including at least one actuator and a charging plug connected to the movable arm, the movable arm comprising at least one actuator, the charging plug being configured to be connected to a charging port of a vehicle for charging a battery in the vehicle; and

[0078] A control module in communication with the mobile charging device, wherein the control module is configured to:

[0079] receiving vehicle data from a vehicle control module of the vehicle;

[0080] determining a location of the charging port of the vehicle based on the vehicle data;

[0081] controlling the mobile charging device to move proximate to the charging port of the vehicle based on the determined position of the charging port; and

[0082] The at least one actuator is controlled to align the charging plug with the charging port of the vehicle.

[0083] Embodiment 20. A charging system according to embodiment 19, wherein:

[0084] the movable arm comprising a sensor positioned adjacent the charging plug;

[0085] The sensor is configured to detect a user input applied to the charging plug when the user moves the charging plug; and

[0086] The control module is configured to receive a signal indicative of a user input from a sensor and control the at least one actuator to move the charging plug based on the received signal.

[0087] Further areas of applicability of the present disclosure will become apparent from the detailed description, claims and drawings.The detailed description and specific examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0088] The present disclosure will be more fully understood from the detailed description and accompanying drawings, in which:

[0089] Figure 1 is a functional block diagram of an exemplary vehicle charging system including a mobile charging device according to the present disclosure;

[0090] Figure 2 is an isometric view of an exemplary vehicle charging system including a charging device movable on tracks according to the present disclosure;

[0091] Figure 3 According to the present disclosure Figure 2 A side view of a vehicle charging system;

[0092] Figure 4 is a side view of an exemplary vehicle charging system including a mobile charging device according to the present disclosure;

[0093] Figure 5 According to the present disclosure Figure 4 A top view of a vehicle charging system;

[0094] Figure 6 According to the present disclosure Figure 4 A side view of a vehicle charging system, wherein the charging device is moved adjacent to the vehicle;

[0095] Figure 7 is a functional block diagram of an exemplary movable arm for assisting a user in moving a charging plug according to the present disclosure; and

[0096] Figure 8 is a flow chart of an exemplary control process for controlling a mobile charging device according to the present disclosure.

[0097] Among the drawings, reference numerals may be repeated to identify similar and / or identical elements. DETAILED DESCRIPTION

[0098] Electric vehicle charging equipment typically includes a plug that is electrically connected to a power source via a cable. The individual's task is to insert the plug into the charging port of the electric vehicle. This is achieved by physical actions taken by the individual, such as grabbing the cable and pulling the cable toward the electric vehicle, aligning the plug with the charging port, and then forcing the plug into the charging port. This physical action is often difficult, especially for people with disabilities. For example, some individuals, such as individuals with dexterity issues and / or individuals using assistive mobility devices (such as wheelchairs, walkers, canes, etc.), may have difficulty moving the cable and / or difficulty reaching the cable due to the weight of the cable.

[0099] Systems and methods according to the present disclosure include solutions for controlling the movement of a mobile charging device and / or components of the device. For example, a charging system may include a mobile charging device having a charging plug for connecting to a charging port of a vehicle and a control module. In such an example, the control module may receive a charging request signal from a vehicle control module or a user device of the vehicle, determine the location of the charging port of the vehicle, and then control the mobile charging device to move near the charging port of the vehicle based on the determined location of the charging port. In this way, the charging plug of the mobile charging device can be located near and aligned with the charging port of the electric vehicle, with little (and sometimes no) physical action required by the individual. In this way, individuals (e.g., individuals with disabilities that affect their mobility, their ability to reach and handle heavy cables, etc.) can be helped to charge electric vehicles through the controlled movement of the mobile charging device and / or components of the device.

[0100] Reference now Figure 1 , presents a functional block diagram of an example charging system 100. The charging system 100 may be used in any suitable electric vehicle, such as a pure electric vehicle, a plug-in hybrid electric vehicle, or the like.

[0101] like Figure 1 As shown in FIG. 1 , the charging system 100 generally includes a charging device control module 102 and a mobile charging device 104 that communicates with the control module 102. Figure 1 In the example of FIG. 1 , the mobile charging device 104 includes a charging plug 106 and a cable 108 that electrically connects the charging plug 106 to a power source. In various embodiments, the power source may be located within the charging device 104 and / or externally connected to the charging device 104.

[0102] like Figure 1As shown in , the charging system 100 may also include one or more charging device sensors 124 that communicate with the charging device control module 102. For example, data may be shared between the sensor 124 and the control module 102 via one or more signals. In such an example, the charging device sensor 124 may include one or more cameras (e.g., motion-activated cameras), radar sensors, RFID readers, registered license plate readers, and / or any other suitable detection modules. For example, the sensor 124 may detect the presence of the vehicle 110 and / or another vehicle located in a charging spot associated with the charging system 100. In addition, the sensor 124 may detect the location of the charging port 112 on the vehicle 110.

[0103] The charging plug 106 is connected to a charging port of the vehicle for charging the battery in the vehicle. The charging port is, for example, Figure 1 The charging port 112 of the vehicle 110 is shown. For example, the vehicle 110 may include a removable cover positioned adjacent the charging port 112. Once the cover is moved open, the charging port 112 of the vehicle 110 may be accessed for receiving the charging plug 106.

[0104] The cover can be moved in various ways. For example, the cover can be manually manipulated to move the cover away from the charging port (e.g., pivot, slide, etc.). For example, a user (e.g., a driver, etc.) can push the cover to release the cover from a mechanical fastener. In other examples, the user can release the cover by selecting a user input in the vehicle to move the cover away from the charging port. In yet other embodiments, the cover can be controlled to move to an open position. For example, the vehicle control module 114 in the vehicle 110 can detect the position of the cover (e.g., open) and / or the control module 102 can detect the position of the cover (e.g., open) via the sensor 124. In such an example, any control module can notify the user via the display module 116 in the vehicle 110 and / or the user interface of the user device 118. In other examples, the vehicle control module 114 can automatically open the cover and / or the charging device 104 can be controlled (e.g., via user input, etc.) to open the cover in response to any control module detecting that the cover is closed.

[0105] In various embodiments, the charging device control module 102 can communicate with various other modules. Figure 1As shown in , the control module 102 can communicate with the user device 118 and / or the vehicle control module 114 of the vehicle 110. In such an example, the user device 118 can be any suitable device, such as a phone, a tablet, etc. Such communication between the control module 102 and the user device 118 and / or the vehicle control module 114 can be established via a wireless connection and / or a wired connection. For example, the vehicle 110 can be equipped with an air communication system, such as a vehicle communication system, an infotainment system, etc. Regardless of the type of connection, data can be shared between the control module 102 and the user device 118 via one or more signals 120, and shared between the control module 102 and the vehicle control module 114 via one or more signals 122.

[0106] exist Figure 1 In an example of , the vehicle 110 may be located at a charging point associated with the charging system 100. In such an example, the vehicle 110 may be driven (e.g., manually, autonomously, etc., by a driver) into the charging point. Once the vehicle 110 is sufficiently close to the charging system 100 and / or in the charging point, the vehicle control module 114 may communicate with the charging device control module 102. For example, the vehicle control module 114 may be a component in a vehicle system that controls other sensors and / or modules in the vehicle 110, communicates with other sensors and / or modules in the vehicle 110, shares parameters, etc., via a network such as a controller area network (CAN). In such an example, the vehicle sensors may include, for example, position sensors (e.g., RFID sensors, cameras, etc., positioned near the charging port 112). Various parameters may be provided by a given module (e.g., the vehicle control module 114, etc.) to other modules, such as a display module 116 in the vehicle 110, via a network.

[0107] For example, the vehicle control module 114 may provide data to the display module 116 and receive data (e.g., user input) from the display module 116. In such an example, the display module 116 may include a user interface display that shows camera views, user selectable options, etc. based on the data received from the vehicle control module 114. Such data may be received from one or more sensors (e.g., cameras, etc.) of the vehicle 110 and / or one or more sensors 124. The display module 116 may also transmit data to the vehicle control module 114 based on the user input provided via the user interface display. Such received user input data may then be passed to the charging device control module 102, as further explained below.

[0108] Continue to refer Figure 1, the charging device control module 102 can control the mobile charging device 104 to move the device 104 near the charging port 112 on the vehicle and / or align the charging plug 106 with the charging port 112. For example, once the vehicle 110 or the user device 118 is sufficiently close to the charging system 100 and / or in the charging point, the vehicle control module 114 or the device 118 can establish a data transmission connection with the control module 102 through conventional pairing and / or connection procedures. This effectively synchronizes the vehicle control module 114 and / or the user device 118 with the control module 102.

[0109] Once synchronized, the control module 102 may optionally receive vehicle data from the vehicle control module 114 and / or the user device 118. For example, the control module 102 may receive vehicle make, vehicle model, vehicle year, battery charge status, vehicle settings, vehicle location, charging port location, etc. In some examples, the control module 102 may receive verification indicating that the vehicle 110 is parked and turned off, the starting mechanism is disabled, etc. In other examples, the control module 102 may send a disable signal (e.g., one of the signals 122) to the vehicle control module 114 to disable the vehicle starting mechanism, the gear shifting (e.g., from park to drive or reverse, etc.) mechanism, etc.

[0110] In addition, the control module 102 can receive a charge request signal from the vehicle control module 114 and / or the user device 118. In such an example, the control module 102 can receive the charge request signal at the same time, before, or after receiving the optional vehicle data. In various embodiments, the vehicle control module 114 and / or the user device 118 can generate and transmit the charge request signal to the control module 102 based on the user selection input on the display module 116, in the vehicle 110, on the user device 118, etc.

[0111] The control module 102 may then determine the location of the charging port 112 of the vehicle 110 in response to receiving the charge request signal. For example, the control module 102 may determine the charging port location based on the received vehicle data. For example, the vehicle data may include the charging port location (e.g., rear driver side, front passenger side, rear end, etc.). In other examples, the vehicle data may include a vehicle model or a specific vehicle identification number (VIN). In such an example, the control module 102 may determine the charging port location based on the vehicle model, VIN, etc.

[0112] Additionally and / or alternatively, the control module 102 may determine the location of the charge port 112 based on sensor data from one or more charging device sensors 124. For example, and as described above, a camera or another suitable detection module may detect the location of the charge port 112 on the vehicle 110 and then transmit a signal to the control module 102. The control module 102 may then determine the charge port location based on the received signal.

[0113] In various embodiments, the control module 102 may optionally generate and transmit a confirmation request signal to the vehicle control module 114 and / or the user device 118 to verify the determined location of the charging port 112. For example, the confirmation request signal may include the determined location of the charging port 112. Once received, the user may be prompted to confirm the determined location through, for example, a user interface on the display module 116 and / or the user device 118. In other examples, the determined location may be incorrect. In such an example, the user may use the user interface on the display module 116 and / or the user device 118 to specify the setting location of the charging port 112. The vehicle control module 114 and / or the user device 118 may then send the setting location to the control module 102.

[0114] Continue to refer Figure 1 , the control module 102 can then control the mobile charging device 104 to move to the vicinity of the charging port 112 of the vehicle 110 based on the determined location of the charging port 112. For example, the control module 102 can convert the charging port location into GPS coordinates and then control the charging device 104 to move toward the charging port 112 (e.g., to a target location that is a defined distance from the charging port 112). In such an example, the charging device 104 can move along one or more tracks positioned on or above the ground (e.g., above the vehicle 110, etc.). In some examples, the charging device 104 can include wheels and a motor to drive the charging device 104 toward the charging port 112.

[0115] Additionally and / or alternatively, the movement of the charging device 104 can be controlled based in part on user input received from the vehicle control module 114 and / or the user device 118. For example, the user interface on the display module 116 and / or the user device 118 can include one or more controls (e.g., a joystick, arrows, etc.). When selected by the user, the vehicle control module 114 and / or the user device 118 can send a signal to the control module 102 for controlling the movement of the charging device 104. Such controls can be used to initially move the charging device 104, to fine-tune the placement of the charging device 104 near the charging port 112, etc.

[0116] In some examples, vehicle sensors and / or sensors 124 may provide visual representations to assist a user in controlling the movement of charging device 104. For example, display module 116 may present a view of a camera (or another suitable sensor) located near charging port 112 (e.g., oriented toward charging device 104) and / or a camera located near charging device 104 (e.g., oriented toward vehicle 110).

[0117] Once charging device 104 is positioned proximate charging port 112 of vehicle 110, charging plug 106 may be connected to charging port 112. At this point, charging device 104 may begin charging a battery in vehicle 110 via a power source.

[0118] The charging plug 106 can be connected to the charging port 112 in a variety of different ways. For example, after the charging port cover is removed from the charging port 112 (as described above), the user can manually grasp the charging plug 106 and / or the cable 108 and insert the charging plug 106 into the charging port 112. This movement of the charging plug 106 can be based on user manipulation or with assistance. For example, the control module 102 can receive feedback signals indicating user input (e.g., torque, force, etc. applied to the charging plug 106) from one or more sensors positioned on the charging plug 106, and then control one or more actuators to assist in moving the charging plug 106. In other examples, the charging plug 106 can be controlled by the control module 102 in a similar manner to the charging device 104, such as based on the determined position of the charging port 112, user input received from the vehicle control module 114 and / or the user device 118, etc.

[0119] In various embodiments, when the charging plug 106 is connected to the charging port 112 of the vehicle 110, the control module 102 may optionally receive a battery charge status signal from the vehicle control module 114. For example, the battery charge status signal may indicate whether the battery in the vehicle 110 is charged to a desired level set by a user (e.g., fully charged, a defined percentage, etc.).

[0120] Then, once the battery is charged to the desired level, the control module 102 may initiate steps to stop charging the battery and / or move the mobile charging device 104 away from the vehicle 110. For example, the control module 102 may send a disconnect request signal to the vehicle control module 114 and / or the user device 118 in response to the received battery charge status signal. In such an example, the user may then be prompted, via a user interface on the display module 116 and / or the user device 118, for example, to manually disconnect the charging plug 106 from the charging port 112.

[0121] In addition, the control module 102 may receive a confirmation disconnect signal from the vehicle control module 114 and / or the user device 118 based on the user input, and then control the mobile charging device 104 to move away from the vehicle 110 in response to the confirmation disconnect signal. For example, once the charging plug 106 is disconnected from the charging port 112, the user may select an input on the display module 116 and / or the user device 118. In response, a confirmation disconnect signal may be generated and provided to the control module 102. Once received, the control module 102 may control the mobile charging device 104 to move away from the vehicle 110 and possibly return to a default position. In various embodiments, the control module 102 may control the movement of the charging device 104 based on user input received from the vehicle control module 114 and / or the user device 118 (e.g., as described above), based on a defined location (e.g., default GPS coordinates), etc.

[0122] In other examples, the control module 102 may control the mobile charging device 104 to disconnect the charging plug 106 from the charging port 112 in response to the received battery charging status signal. For example, the control module 102 may control the charging device 104 and / or the cable 108 (e.g., via one or more actuators) to be pulled away from the vehicle 110, thereby disconnecting the charging plug 106 from the charging port 112. In such an example, the charging device 104 may be controlled to return to a default position as described above.

[0123] In various embodiments, after the charging plug 106 is disconnected from the charging port 112, the cover can be moved to hide the charging port 112 of the vehicle 110. For example, the cover can be manually manipulated by a user and / or controlled to move after the charging plug 106 is disconnected. In such an example, the cover can be controlled based on a user input provided by a user. For example, the vehicle control module 114 can detect the position of the cover (e.g., open) and / or the control module 102 can detect the position of the cover (e.g., open) via the sensor 124. In such an example, either control module can notify the user via the display module 116 and / or the user interface of the user device 118. In other examples, the vehicle control module 114 can automatically close the cover in response to either control module detecting that the cover is open and / or the charging device 104 can be controlled (e.g., via user input, etc.) to close the cover.

[0124] Additionally, in some examples, control module 102 may be disconnected from vehicle control module 114 once charging device 104 has moved away from vehicle 110. In such examples, a vehicle starting mechanism, a gear shifting mechanism (e.g., from park to drive or reverse, etc.), etc. may be re-enabled by, for example, vehicle control module 114, thereby allowing the driver to move vehicle 110 as desired.

[0125] As described above, charging device 104 can be moved between different locations. In such examples, charging device 104 can include wheels that travel along one or more tracks positioned on the ground, in the air (e.g., coupled to a canopy, etc.). In other examples, wheels can move charging device 104 without a track system. Figure 2-Figure 6 Various embodiments of vehicle charging systems 200 , 400 are depicted in which a charging device is movable between different locations (eg, toward a vehicle, away from a vehicle, etc.), as explained herein.

[0126] For example, Figure 2-Figure 3 The vehicle charging system 200 includes a charging device 204 having a charging plug 206 connected to a power source 226. In such an example, the charging device 204 and the charging plug 206 can function similarly to the charging device 104 and the charging plug 106 described above. Figure 2-Figure 3 In an example of , the charging device 204 can be controlled to move to the vicinity of the charging port of the vehicle 110 located at a nearby parking spot. In such an example, the charging device 204 moves along the track system 228 connected to the canopy of the system 200.

[0127] In other examples, the charging device moves along the ground. Figure 4-Figure 6 The vehicle charging system 400 includes a charging device 404 including a charging plug 406 connected to a power source 426. In such an example, the charging device 404 and the charging plug 406 may function similarly to the charging device 104 and the charging plug 106 as explained above. Figure 4-Figure 6 In an example of FIG. 4 , charging device 404 may be controlled to move proximate to a charging port of vehicle 110. In such an example, charging device 404 moves along the ground.

[0128] although Figure 1-Figure 6 The vehicle charging systems 100, 200, 400 are described herein as including one charging device, but it should be understood that any of the vehicle charging systems 100, 200, 400 may include multiple mobile charging devices, each of which functions in a similar manner to the charging device 104 described herein.

[0129] In various embodiments, any of the charging systems herein may include a movable robotic arm for assisting a user in moving and aligning the charging plug with the charging port of the vehicle. By employing a movable robotic arm, the amount of force required by a user to move the charging plug and / or cable may be reduced compared to manually moving the charging plug and / or cable.

[0130] For example, Figure 7A movable robotic arm 700 is depicted that may be used with any of the charging systems 100, 200, 400. The movable arm 700 generally includes a plurality of arm segments 728, 730, 732, 734, 736, a plurality of actuators (e.g., motors, etc.) 738, 740, 742, 744, and an optional sensor 754. Figure 7 In the example of FIG. 7 , each actuator 738, 740, 742, 744 is connected between two adjacent arm segments 728, 730, 732, 734, 736. In addition, arm segment 736 includes a charging plug 706, which functions in a similar manner to the charging plug 106 described above. The arm segment 728 is connected to a charging device such as Figure 1-Figure 6 A portion 752 (eg, a wall, etc.) of a charging device of one of the charging devices 104, 204, 404. Figure 7 The movable arm 700 is shown as including five arm segments 728, 730, 732, 734, 736 and four actuators 738, 740, 742, 744, but it should be understood that the movable arm 700 may include more or fewer arm segments and / or actuators as desired.

[0131] exist Figure 7 In the example of FIG. 7 , actuators 738, 740, 742, 744 can be controlled to move charging plug 706 as desired. For example, actuators 738, 740, 742, 744 can be used as controllable joints to move their associated arm segments 728, 730, 732, 734, 736, thereby causing movement of charging plug 706 in three-dimensional space. Specifically, actuators 738, 740 can be controlled to cause movement of charging plug 706 in the XY plane (where the X axis is Figure 7 740, and the Y axis is shown by arrow 746), and the actuators 742, 744 can be controlled to cause movement of the charging plug 706 along the Z axis (shown by arrow 748) and the pitch angle of the plug 706. In various embodiments, the actuators 742, 744 can cause the movement of the plug 706 in the XY plane to change (e.g., slightly change, etc.) as a dependent motion. In this way, any one or combination of the actuators 738, 740, 742, 744 can be controlled to align the charging plug 706 with the charging port of the vehicle.

[0132] In various embodiments, the control module 702 may be employed to control the actuators 738, 740, 742, 744. In such an example, the control module 702 may be a charging device control module (e.g., Figure 1102 ), which controls the charging device and actuators 738 , 740 , 742 , 744 . Alternatively, the control module 702 can communicate with the charging device control module. In such an example, the actuators 738 , 740 , 742 , 744 can be controlled in a similar manner to the charging device, such as based on the determined position of the charging port, user input received from the vehicle control module and / or the user device 118 , etc., as described above.

[0133] Additionally and / or alternatively, the control module 702 may control the actuators 738, 740, 742, 744 based on a sensor 754 positioned adjacent to the charging plug 706. For example, the sensor 754 may detect a user input applied to the charging plug 706 when the user moves the charging plug 706. For example, when the user grasps and pulls the charging plug 706, the sensor 754 may detect the user's intent by measuring the user input (e.g., force and / or torque) applied to the charging plug 706 and transmitting a signal indicating the user input to the control module 702. In this manner, the sensor 754 may detect and measure the force and / or torque applied when the user pulls and / or twists the charging plug 706.

[0134] The control module 702 may then receive the signal and process the data therein to determine the user's intent (e.g., to move the charging plug 706 downward, upward, rightward, leftward, etc.) based on the applied force and / or torque. The control module 702 may then control any one or more of the actuators 738, 740, 742, 744 based on the received signal to move the charging plug 706. For example, the control module 702 may transmit a signal to a servo system to drive the actuators 738, 740, 742, 744.

[0135] In various embodiments, the control module 702 can control the actuators 738, 740, 742, 744 based on feedback from any one or more of the actuators. For example, in some embodiments, encoders associated with the actuators 738, 740, 742, 744 can provide data to the control module 702 indicating the movements taken by the actuators 738, 740, 742, 744. The control module 702 can then control any one or more of the actuators based on the received data.

[0136] Figure 8 It shows that Figure 1 The exemplary control process 800 for controlling the mobile charging device 104 and / or the charging plug 106 is provided in accordance with the exemplary control process 800 of the control module 102. Figure 1 Although the control process 800 is described with reference to the charging system 100 of FIG. 1 , any suitable system may be used. Figure 8In the example of , control process 800 may be initiated when system 100 is powered on, when one or more sensors 124 detect the presence of a vehicle (eg, vehicle 110 ), and / or at another suitable time.

[0137] like Figure 8 As shown in , control begins at 802, where the control module 102 is synchronized with the vehicle. For example, once the vehicle is close enough to the charging system 100 and / or in the charging point, the control module 102 and the control module in the vehicle and / or the user device can establish a data transmission connection. This allows the control module 102 and the vehicle control module and / or the user device to transmit data to each other. For example, once synchronized, the control module 102 can confirm the vehicle state by receiving a verification indicating that the vehicle is parked and turned off, the starting mechanism is disabled, etc. In addition, in some examples, once the control module 102 is synchronized with the vehicle control module, the control module 102 disables the vehicle starting mechanism, the shifting mechanism (e.g., from parking to driving or reverse, etc.) and the like. In various embodiments, the synchronization of the control module 102 and the vehicle control module and / or the user device can be performed by conventional pairing and / or connection steps. Control then proceeds to 804.

[0138] At 804, the control module 102 determines whether a charge request signal is received. In such an example, the charge request signal may be received from a vehicle (e.g., the vehicle control module 114 of the vehicle 110) and / or a user device (e.g., the user device 118, etc.). If a charge request signal is received, control proceeds to 806. Otherwise, control may return to Figure 8 804 shown in . In other examples, if no charge request signal is received within a defined time period, control can disconnect or desynchronize the control module 102 from the vehicle control module and / or the user device, and then return to 802 or end if necessary.

[0139] At 806, the control module 102 optionally receives vehicle data from a vehicle control module and / or a sensor associated with the control module 102. For example, the control module 102 may receive vehicle make, vehicle model, vehicle year, vehicle settings, vehicle location, charging port location, etc. from the vehicle control module. Additionally and / or alternatively, the control module 102 may receive data indicating the charging port location of the vehicle from the charging device sensor 124. Control then proceeds to 808.

[0140] At 808, the control module 102 determines the location of the charging port of the vehicle. For example, the control module 102 may determine the charging port location based on the received vehicle data and / or sensor data. For example, the vehicle data may include the charging port location (e.g., rear driver side, front passenger side, rear end, etc.). In other examples, the control module 102 may determine the charging port location based on a vehicle model or a specific vehicle identification number (VIN) received from a vehicle control module. In yet other embodiments, the control module 102 may determine the charging port location based on data provided by a camera outside the vehicle (e.g., one of the charging device sensors 124). Control then proceeds to 810.

[0141] At 810, the control module 102 optionally transmits a location confirmation request signal to the vehicle control module and / or the user device to verify the determined location of the charging port. The user may then be prompted (e.g., on a user interface) to respond to the request by confirming the location or indicating that the location is incorrect. In response, the control module 102 may receive a response message from the vehicle control module and / or the user device. Control may then proceed to 812.

[0142] At 812, the control module 102 determines whether the determined charging port position is correct based on, for example, a response message from a vehicle control module and / or a user device. If the determined charging port position is correct (e.g., as confirmed by a user), control proceeds to 816. However, if the determined charging port position is incorrect (e.g., as indicated by a user), control proceeds to 814.

[0143] At 814, the control module 102 optionally transmits a request for a set position for the charging port. For example, the control module 102 may send the request to a vehicle control module and / or a user device. The user may then be prompted (e.g., on a user interface) to respond to the request by specifying a location for the charging port on the vehicle (e.g., rear driver side, front passenger side, rear end, etc.). In response, the control module 102 may receive a response message from the vehicle control module and / or the user device including the set position for the charging port. Control may then return to the control module 102 as described above. Figure 8 810 as shown, or may proceed to 816 if desired.

[0144] At 816, the control module 102 controls the mobile charging device 104 to move toward the charging port. For example, as described above, the control module 102 can control the charging device 104 to move to the vicinity of the charging port of the vehicle based on the determined location of the charging port. In such an example, the charging device 104 can be controlled to move to a target location that is a defined distance from the charging port. In some examples, the movement of the charging device 104 can be controlled based in part on user input received from a vehicle control module and / or a user device, as explained herein. Control then proceeds to 818.

[0145] At 818, the control module 102 connects the charging plug 106 to the charging port of the vehicle and / or assists in connecting the charging plug 106 to the charging port of the vehicle. For example, as explained herein, based on the determined position of the charging port and / or user input received from the vehicle control module and / or the user device, the charging plug 106 can be controlled by the control module 102 to move toward the charging plug 106 and be pushed into the charging port. In other examples, the user can manually grab the charging plug and insert it into the charging port. In such an example, the control module 102 can detect user input (e.g., force, torque, etc.) applied by the user to the charging port via one or more sensors on the charging plug, predict the user's intention based on the user input, and then control the movement of the charging plug to assist the user in aligning and connecting the charging plug 106 to the charging port of the vehicle, as explained herein. Control then proceeds to 820 and 822.

[0146] At 820, the control module 102 controls the power source to charge the battery in the vehicle. Then, at 822, the control module 102 determines whether the battery in the vehicle is charged to a desired level set by the user (e.g., fully charged, a defined percentage, etc.). In various embodiments, the desired charge level may be provided to the control module 102 when the control module 102 receives the vehicle data. If the battery in the vehicle is charged to the desired level, control proceeds to 824. Otherwise, control returns to 820.

[0147] At 824, the control module 102 disconnects and / or assists in disconnecting the charging plug 106 from the charging port of the vehicle. For example, as explained herein, based on the determined position of the charging port and / or user input received from the vehicle control module and / or user device, the charging plug 106 may be controlled by the control module 102 to move away from the charging plug 106. In other examples, the control module 102 may detect user input (e.g., force, torque, etc.) applied to the charging port by the user as described above, and then control movement of the charging plug to assist the user in disconnecting the charging plug 106 from the charging port of the vehicle, as explained herein. Control then proceeds to 826.

[0148] At 826, the control module 102 controls the mobile charging device 104 to move away from the charging port and the vehicle. For example, once the charging plug 106 is disconnected, the control module 102 can control the charging device 104 to return to a default position or location. Then the control can end.

[0149] The foregoing description is essentially only illustrative, and is in no way intended to limit the present disclosure, its application or use. The broad teachings of the present disclosure can be implemented in various forms. Therefore, although the present disclosure includes specific examples, the true scope of the present disclosure should not be so limited, because after studying the drawings, the specification and the appended claims, other modifications will become apparent. It should be understood that, without changing the principles of the present disclosure, one or more steps in the method can be performed in different orders (or simultaneously). In addition, although each of the embodiments is described above as having certain features, any one or more of those features described with respect to any embodiment of the present disclosure can be implemented in the features of any one of the other embodiments and / or combined with the features of any one of the other embodiments, even if the combination is not explicitly described. In other words, the described embodiments are not mutually exclusive, and the replacement of one or more embodiments with each other remains within the scope of the present disclosure.

[0150] Various terms are used to describe the spatial and functional relationships between elements (e.g., between modules, circuit elements, semiconductor layers, etc.), including "connected," "engaged," "coupled," "adjacent," "next to," "on top of," "above," "below," and "disposed." Unless explicitly described as "directly," when the relationship between a first and a second element is described in the above disclosure, the relationship may be a direct relationship in which no other intermediate elements exist between the first and second elements, but may also be an indirect relationship in which one or more intermediate elements exist (spatially or functionally) between the first and second elements. As used herein, the phrase at least one of A, B, and C should be interpreted to mean a logical (A or B or C) using a non-exclusive logical "or," and should not be interpreted to mean "at least one of A, at least one of B, and at least one of C."

[0151] In the drawings, the direction of the arrows, as indicated by the arrows, generally represents the flow of information (e.g., data or instructions) of interest to the illustration. For example, when element A and element B exchange various information, but the information sent from element A to element B is relevant to the illustration, the arrow may be directed from element A to element B. The unidirectional arrow does not imply that no other information is sent from element B to element A. In addition, for information sent from element A to element B, element B may send a request for the information or a confirmation of receipt of the information to element A.

[0152] In this application, including the definitions below, the term "module" or the term "controller" may be replaced with the term "circuit". The term "module" may refer to, be part of, or include: an application specific integrated circuit (ASIC); a digital, analog, or mixed analog / digital discrete circuit; a digital, analog, or mixed analog / digital integrated circuit; a combinational logic circuit; a field programmable gate array (FPGA); a processor circuit (shared, dedicated, or group) that executes code; a memory circuit (shared, dedicated, or group) that stores code executed by the processor circuit; other suitable hardware components that provide the functionality; or a combination of some or all of the above, such as in a system on a chip.

[0153] The module may include one or more interface circuits. In some examples, the interface circuit may include a wired or wireless interface connected to a local area network (LAN), the Internet, a wide area network (WAN), or a combination thereof. The functions of any given module of the present disclosure may be distributed in multiple modules connected via interface circuits. For example, multiple modules may allow load balancing. In a further example, a server (also referred to as a remote or cloud) module may perform some functions on behalf of a client module.

[0154] The term "code" as used above may include software, firmware and / or microcode, and may refer to a program, a routine, a function, a class, a data structure and / or an object. The term "shared processor circuit" includes a single processor circuit that executes some or all of the code from multiple modules. The term "group processor circuit" includes a processor circuit that executes some or all of the code from one or more modules in combination with an additional processor circuit. References to multi-processor circuits include multi-processor circuits on discrete dies, multi-processor circuits on a single die, multiple cores of a single processor circuit, multiple threads of a single processor circuit, or a combination of the above. The term "shared memory circuit" includes a single memory circuit that stores some or all of the code from multiple modules. The term "group memory circuit" includes a memory circuit that stores some or all of the code from one or more modules in combination with additional memory.

[0155] The term "memory circuit" is a subset of the term computer-readable medium. The term "computer-readable medium" as used herein does not include transient electrical or electromagnetic signals propagated through a medium (such as on a carrier wave); therefore, the term "computer-readable medium" may be considered to be both tangible and non-transitory. Non-limiting examples of non-transitory tangible computer-readable media are non-volatile memory circuits (such as flash memory circuits, erasable programmable read-only memory circuits, or mask read-only memory circuits), volatile memory circuits (such as static random access memory circuits or dynamic random access memory circuits), magnetic storage media (such as analog or digital magnetic tape or hard drives), and optical storage media (such as CDs, DVDs, or Blu-ray discs).

[0156] The apparatus and methods described in this application may be implemented in part or in whole by a special purpose computer created by configuring a general purpose computer to perform one or more specific functions implemented in a computer program. The above-mentioned function blocks, flow chart components and other elements are used as software specifications, which can be converted into computer programs by routine work of skilled technicians or programmers.

[0157] The computer program includes processor executable instructions stored on at least one non-transitory tangible computer readable medium. The computer program may also include or rely on stored data. The computer program may include a basic input / output system (BIOS) that interacts with the hardware of the special-purpose computer, device drivers that interact with specific devices of the special-purpose computer, one or more operating systems, user applications, background services, background applications, etc.

[0158] A computer program may include: (i) descriptive text to be parsed, such as HTML (Hypertext Markup Language), XML (Extensible Markup Language), or JSON (JavaScript Object Notation); (ii) assembly code; (iii) object code generated by a compiler from source code; (iv) source code executed by an interpreter; (v) source code compiled and executed by a just-in-time compiler, etc. By way of example only, a computer program may be used from languages ​​including C, C++, C#, Objective-C, Swift, Haskell, Go, SQL, R, Lisp, Fortran, Perl, Pascal, Curl, OCaml, HTML5 (Hypertext Markup Language, 5th Revision), Ada, ASP (Active Server Pages), PHP (PHP: Hypertext Preprocessor), Scala, Eiffel, Smalltalk, Erlang, Ruby, Visual Lua, MATLAB, SIMULINK, and The syntax of the language is used to write source code.

Claims

1. A charging system, comprising: A mobile charging device, comprising: a charging plug configured to be connected to a charging port of a vehicle for charging a battery in the vehicle; and A control module in communication with the mobile charging device, wherein the control module is configured to: receiving a charge request signal from a vehicle control module or a user device of the vehicle; In response to receiving the charge request signal, determining a location of the charge port of the vehicle; and The mobile charging device is controlled to move into proximity with the charging port of the vehicle based on the determined position of the charging port.

2. The charging system according to claim 1, wherein: The mobile charging device includes a movable arm connected to the charging plug; The movable arm includes at least one actuator; as well as The control module is configured to control the at least one actuator to align the charging plug with a charging port of the vehicle.

3. The charging system according to claim 2, wherein: the movable arm comprising a sensor positioned adjacent the charging plug; The sensor is configured to detect a user input applied to the charging plug when the user moves the charging plug; as well as The control module is configured to receive a signal indicative of a user input from the sensor and control the at least one actuator to move the charging plug based on the received signal.

4. The charging system according to claim 3, wherein: The user input includes at least one of a torque and a force applied to the charging plug.

5. The charging system according to claim 1, wherein: The control module is configured to: receiving vehicle data from the vehicle control module or the user device; and A location of the charging port of the vehicle is determined based on the vehicle data.

6. The charging system of claim 1 , further comprising at least one sensor in communication with the control module, the at least one sensor configured to detect a position of the charging port of the vehicle, in, The control module is configured to receive a signal indicative of the detected position from the at least one sensor and determine a position of the charging port of the vehicle based on the received signal.

7. The charging system according to claim 1, wherein: The control module is configured to transmit a confirmation request signal including the determined position of the charging port to the vehicle control module or the user device, thereby prompting a user to confirm the determined position of the charging port.

8. The charging system according to claim 1, wherein: The control module is configured to: receiving a battery charge status signal from the vehicle control module when the charging plug is connected to the charging port of the vehicle; and In response to the received battery charging status signal, a disconnect request signal is sent to the vehicle control module or the user device, thereby prompting a user to disconnect the charging plug from the charging port of the vehicle.

9. The charging system according to claim 8, wherein: The control module is configured to: receiving a confirmation disconnect signal from the vehicle control module or the user device based on user input; and In response to the confirmed disconnect signal, the mobile charging device is controlled to move away from the vehicle.

10. The charging system according to claim 1, wherein: The control module is configured to: receiving a battery charge status signal from the vehicle control module when the charging plug is connected to the charging port of the vehicle; and In response to the received battery charging status signal, the mobile charging device is controlled to disconnect the charging plug from the charging port.

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