Method for autonomously charging or fueling vehicle, autonomously charged or fueled vehicle and charging or fueling station

Abstract

The invention relates to a method for autonomously charging or fueling a vehicle, comprising the following steps:-(S1) identifying an autonomously charged or fueled vehicle at a charging or fueling location at a charging or fueling station,-(S2) exchanging data between the vehicle and the charging or fueling station and converting the data into a control command for the charging or fueling station, the method comprises the following steps:-(S3) establishing a connection between the charging or fueling station and the vehicle, said connection enabling energy or medium transfer,-(S4) carrying out a charging or fueling process,-(S5) cutting off the connection between the charging or fueling station and the vehicle, said connection enabling energy or medium transfer. The invention also relates to an autonomously charged or fueled vehicle, and to a charging or fueling station for such a vehicle.

Description

Technical Field

[0001] The invention relates to a method for autonomously charging or refueling a vehicle. The vehicle is in particular an autonomously driving vehicle which can independently drive to a charging or refueling station when required. The invention also relates to an autonomously charging or refueling vehicle and a charging or refueling station for an autonomously charging or refueling vehicle. Background Art

[0002] Autonomous or at least partially autonomous vehicles are known. They are currently the focus of developments in freight and passenger transport. Autonomous vehicles are usually driven electrically, with the required electrical energy being provided by batteries and / or generated on board, in particular by means of fuel cells. Alternatively, oil or fuel can be used as energy source, which is then burned in an internal combustion engine.

[0003] Therefore, regardless of the driving mode, the vehicle must be charged or refueled at certain time intervals, wherein not only the oil or fuel must be refueled, but also auxiliary substances such as reducing agents for exhaust gas aftertreatment. Therefore, the vehicle must repeatedly drive to suitable charging or refueling stations. In particular, in the case of autonomous and thus unmanned vehicles, it is desirable that the vehicle can independently perform the charging or refueling process. Summary of the invention

[0004] The present invention is concerned with this task. In particular, a method for autonomous charging or refueling, an autonomously charging or refueling vehicle and a charging or refueling station for such a vehicle are to be provided.

[0005] To achieve this object, a method is proposed having the features of claim 1, a vehicle having the features of claim 6, and a charging or refueling station having the features of claim 8. Advantageous developments of the invention can be found in the corresponding dependent claims.

[0006] The proposed method for autonomous charging or refueling of a vehicle comprises the following steps:

[0007] - (S1) identifying an autonomous charging or refueling vehicle in a charging or refueling position at a charging or refueling station,

[0008] - (S2) exchanging data between the vehicle and the charging or refueling station and converting the data into control instructions for the charging or refueling station,

[0009] (S3) establishing a connection between the charging or refueling station and the vehicle, said connection enabling energy or medium transmission,

[0010] - (S4) performing a charging or refueling process,

[0011] -(S5) disconnecting the connection between the charging or refueling station and the vehicle that enables energy or medium transmission.

[0012] Thus, the charging or refueling of the vehicle can be performed independently, in particular without human intervention. This means that the vehicle can be, in particular, an unmanned or autonomous vehicle. Furthermore, no service personnel, such as a fuel station attendant, is required for charging or refueling the vehicle, which saves on labor costs. The charging or refueling process can be carried out around the clock, i.e. 24 hours a day, 7 days a week, so that the investment costs should be amortized within a short time.

[0013] If the autonomously charging or refueling vehicle is controlled by a driver, this driver does not have to get out of the vehicle to charge or refuel, as the process takes place completely independently.

[0014] The implementation of the method requires a vehicle that is suitable for autonomous charging or refueling or a vehicle that is designed for this purpose. In this case, the vehicle preferably includes an identification unit, which is detected or recognized by the charging or refueling station when approaching the charging or refueling station. Instead of a separate identification unit, an electronic interface can also be used for the identification of the vehicle, via which the vehicle can communicate with the charging or refueling station. Via the electronic interface, other data required for the execution of the charging or refueling process can also be transmitted to the charging or refueling station, such as information on the type and quantity of fuel or fuel or information on a specific plug type. In addition, data for positioning the fuel tank nozzle or the plug receptacle can also be transmitted. Alternatively or in addition, alignment marks can also be used for positioning.

[0015] The implementation of the method also requires a charging or refueling station suitable for autonomous charging or refueling of the vehicle. Similar to the vehicle, the charging or refueling station must also have an electronic interface for communicating with the vehicle. In addition, the charging or refueling station also requires a standardized interface for energy or medium transmission from the charging or refueling station to the vehicle, for example in the form of a plug or a fuel gun (Zapfventil). Standardization of the interface should ensure compatibility with corresponding interfaces of the vehicle, for example in the form of a plug receptacle or a fuel tank nozzle. Such standardized interfaces are usually already present on the vehicle. However, it is also possible to propose a completely new interface, which here forms a standard for autonomous charging or refueling.

[0016] The electronic interface can be wireless, for example via WLAN, Bluetooth, a mobile radio standard or another standard, or by direct electrical contact, for example by means of a plug.

[0017] Data exchange via electronic interfaces is usually not sufficient. This is because the data must first be converted into corresponding control instructions for the charging or refueling station in order to start the actual charging or refueling process. In addition, a connection must be established between the charging or refueling station and the vehicle, which connection enables the transmission of energy or a medium from the charging or refueling station to the vehicle. Depending on the type of drive of the vehicle, electrical energy or a medium, in particular fuel or fuel, is then transmitted to the vehicle via the established connection. The connection can therefore be established in particular via plug contacts or a tank valve and a tank nozzle. If the connection is established, the vehicle, in particular the vehicle's energy storage device or fuel tank, can be charged or refueled. If the charging or refueling process is terminated, the connection is disconnected again.

[0018] In an extension of the invention, it is proposed that in at least one of steps S1 to S5 of the proposed method, an optical monitoring and / or control system comprising at least one camera and / or sensor is used. With the aid of the optical monitoring and / or control system, in particular the charging or refueling process can be monitored. In addition, the system can be used to identify autonomously charging or refueling vehicles and / or to identify and / or locate standardized interfaces of vehicles. When a connection is established between the charging or refueling station and the vehicle to enable energy or medium transmission, the process can be monitored and / or controlled with the aid of the monitoring and / or control system. If the monitoring and / or control system includes sensors, measurements can also be performed to check the position, for example with the aid of lidar or ultrasound.

[0019] Advantageously, the electronic guidance system can be used to find a suitable charging or refueling location for the vehicle. For example, the guidance system can be used to specify a suitable, preferably free, charging or refueling station for the vehicle, thereby avoiding waiting times. The guidance system can use the coordinate system and / or GPS data of the vehicle navigation system. The guidance system is preferably activated automatically when the autonomously charging or refueling vehicle approaches the charging or refueling station. The arrival of the specified charging or refueling location can in turn be monitored by means of an optical monitoring and / or control system.

[0020] If the vehicle is in the charging or refueling position designated for the vehicle, or at least in a suitable position, a connection between the charging or refueling station and the vehicle for energy or medium transmission is preferably established in a next step, preferably also with the aid of a robot, in particular a robot arm. The robot guides the plug to the plug receptacle or the tank valve to the tank nozzle, thereby replacing the refueler. Depending on the accessibility of the standardized interfaces required for establishing the connection, the protective cover, the closing plate and / or the tank lock can be opened in advance with the aid of a robot and then closed again with the aid of a robot after the charging or refueling process. Alternatively or in addition, the connection between the charging or refueling station and the vehicle can also be established with the aid of at least one mechanical component, such as a conveyor belt, a linear guide, a mechanical gripper, a suction cup or the like. If a robot is used, the robot can have one or more arms and / or operate one or more charging or refueling stations.

[0021] The opening and closing of the protective cover, the closing plate and / or the fuel tank lock can also be performed by the vehicle itself. Preferably, a signal is received here that the vehicle has reached a charging or refueling position. The advantage of autonomous opening and closing by the vehicle is that external manipulation, which could damage the vehicle or steal fuel, becomes difficult.

[0022] If the vehicle opens the protective cover, the closing plate and / or the tank lock autonomously, only the standardized interface of the vehicle for the energy or medium transfer from the charging or refueling station must be positioned. This can be achieved, for example, by means of alignment marks or alignment structures arranged in the area of ​​the interface. Suitable alignment structures can be pins or angles, for example. Their position can be detected by means of an optical monitoring and / or control system, which preferably includes at least one camera.

[0023] As mentioned above, the connection for energy or medium transmission does not have to be established through an already standardized interface. New interfaces and therefore new standards can also be proposed for autonomous charging or refueling. For example, the interface for refueling an aircraft in the air is already standardized. This means that the vehicle can also have a movable interface, such as a removable interface, for connecting to the interface of the charging or refueling station. This retraction can be achieved telescopically or with the help of a movable arm. Alternatively or in addition, the interface of the charging or refueling station can also be arranged on a retractable and / or movable arm to establish the required connection.

[0024] Payment is preferably made after charging or refueling has been performed. For payment, data are preferably exchanged via an electronic interface between the charging or refueling station and the vehicle. For example, the data may be bank connection data, a credit card number or data of an online payment service. It is also possible to create a separate payment system for this process.

[0025] Preferably, a payment request is issued before payment is made. At the same time, the vehicle can be prevented from leaving by maintaining the connection for energy or medium transmission until the payment process is completed.

[0026] Furthermore, an autonomously charging or refueling vehicle is proposed for carrying out the method according to the invention. The vehicle has:

[0027] - energy storage, such as batteries or fuel tanks,

[0028] a standardized interface for connection to the energy storage device via a line, for example in the form of a plug receptacle or a tank nozzle, which is preferably accessible from the outside and / or can be positioned by means of alignment marks and / or structures,

[0029] -Electronic interface for communication between the vehicle and the charging or refueling station.

[0030] The main feature of an autonomous charging or refueling vehicle is an electronic interface for communicating with a charging or refueling station. The vehicle can identify itself as an autonomous charging or refueling vehicle via the electronic interface. The vehicle can also transmit information about the required energy or the type and / or amount of the required medium to the charging or refueling station. This information can then be converted into control instructions that cause the charging or refueling station to initiate the charging or refueling process.

[0031] Charging or refueling requires a connection between the charging or refueling station and the vehicle in order to enable energy or medium transfer. For this purpose, the vehicle has a standardized interface, for example in the form of a plug receptacle or a fuel tank nozzle. However, it is also possible for a new interface to be presented as a new standard for autonomous charging or refueling. Advantageously, the interface can be accessed from the outside so that the required connection with the charging or refueling station is established. In addition, the interface must be locatable or findable, wherein alignment marks and / or structures arranged at the interface can help. The charging or refueling station then has corresponding methods for identifying the alignment marks and / or structures.

[0032] According to a preferred embodiment of the invention, the vehicle has an identification part, which identifies the vehicle to the charging or refueling station as an autonomous charging or refueling vehicle. For example, the identification part can be stored in an RFID transponder, which the charging or refueling station can read.

[0033] Furthermore, a charging or refueling station is proposed for autonomously charging or refueling vehicles, ie for carrying out the method according to the invention. The charging or refueling station has:

[0034] - a standardized interface for energy or medium transmission from a charging or refueling station to the vehicle, for example in the form of a plug or a fuel gun,

[0035] - Electronic interface for communication between the charging or refueling station and the vehicle.

[0036] The connection to the vehicle required for energy or medium transmission can be established via the standardized interface. This does not have to be an established standard, but can also be a completely new standard specifically for autonomous charging or refueling. The required data exchange with the vehicle takes place via the electronic interface. In particular, information about the vehicle, the drive type, the required energy or the required medium can be received via the electronic interface.

[0037] According to a preferred embodiment of the invention, the standardized interface is arranged on a movable robot arm, in particular a robot arm. In order to establish a connection between the charging or refueling station and the vehicle for energy or medium transmission, the interface can be connected to a corresponding interface of the vehicle. For example, if the standardized interface is a plug, it can be inserted into a corresponding plug receiving part of the vehicle. The charging or refueling station can also have a plurality of movable arms in order to charge or refuel a plurality of vehicles at the same time.

[0038] Furthermore, the charging or refueling station preferably has an optical monitoring and / or control system, which includes at least one camera and / or sensor. With the aid of the optical monitoring and / or control system, the entire charging or refueling process can be monitored. In particular, it can be checked whether the vehicle is in a suitable charging or refueling position and / or whether the connections required for energy or medium transmission have been correctly established. The monitoring and / or control system can also be used to locate the vehicle and / or standardized interfaces of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The invention and its advantages will be explained in more detail below with reference to the accompanying drawings, which illustrate a preferred sequence of the method according to the invention.

[0040] Only the basic steps of the method according to the present invention are described based on the figures, including steps S1 to S5. In addition, other steps may be provided. DETAILED DESCRIPTION

[0041] In order to carry out a charging or refueling process, it must first be recognized in step S1 that the autonomously charging or refueling vehicle is in the charging or refueling position at the charging or refueling station. If the vehicle is not in the correct charging or refueling position, it must be guided to such a correct charging or refueling position if necessary. For this purpose, a guidance system is provided, which is automatically activated when the autonomously charging or refueling vehicle approaches the charging or refueling station.

[0042] In step S2, the vehicle and the charging or refueling station exchange data, which may contain information about the required energy or the required medium and / or a standardized interface. If this information is required to specify a specific charging or refueling station and / or a specific charging or refueling location, step S2 can also be performed before activating the guidance system. The data transmitted from the vehicle to the charging or refueling station are then converted into control commands for the charging or refueling station, which control commands are introduced into the actual charging or refueling process.

[0043] For this purpose, a connection is first established between the charging or refueling station and the vehicle, which connection enables energy or medium transmission. For example, the connection can be established by means of a plug and a plug receptacle or a tank valve and a tank nozzle. The establishment of a correct connection can be monitored by means of an optical monitoring and / or control system.

[0044] If the connection is established, a charging or refueling process can be performed in step S4. For example, in charging, the battery of the vehicle is supplied with electrical energy. In refueling, the fuel tank of the vehicle is filled with a medium, wherein the medium is in particular fuel oil or fuel. However, the medium can also be an auxiliary substance, such as a reducing agent for exhaust gas aftertreatment.

[0045] The end of the charging or refueling process can be determined arbitrarily. It does not necessarily have to be the time when the battery is fully charged or the fuel tank is completely filled. The charging or refueling process can also be limited in time and / or quantity. In this case, the charging or refueling station preferably sends a signal to the vehicle indicating the end of the charging or refueling process. In addition, the charging or refueling station can also require the vehicle to pay.

[0046] After the charging or refueling process is completed, preferably after payment, the connection between the charging or refueling station and the vehicle for energy or medium transmission is disconnected again in step S5. The vehicle can then continue to drive.

Claims

1. A method for autonomous charging or refueling of a vehicle comprising the following steps: - (S1) identifying an autonomous charging or refueling vehicle in a charging or refueling position at a charging or refueling station, - (S2) exchanging data between the vehicle and the charging or refueling station and converting the data into control instructions for the charging or refueling station, - (S3) establishing a connection between the charging or refueling station and the vehicle, the connection enabling energy or medium transmission, - (S4) performing a charging or refueling process, -(S5) disconnecting the connection between the charging or refueling station and the vehicle for transferring the energy or medium.

2. The method according to claim 1, It is characterized in that In at least one of steps (S1) to (S5), an optical monitoring and / or control system is used, which includes at least one camera and / or sensor, and in particular the optical monitoring and / or control system is used to identify the vehicle and / or to establish the connection between the charging or refueling station and the vehicle to achieve the energy or medium transmission.

3. The method according to claim 1 or 2, It is characterized in that A suitable charging or refueling location for the vehicle is found with the aid of an electronic guidance system, which is preferably automatically activated when the autonomously charging or refueling vehicle approaches the charging or refueling station.

4. The method according to any one of the preceding claims, It is characterized in that The connection between the charging or refueling station and the vehicle, which enables the energy or medium transmission, is established by means of a robot, in particular a robot arm.

5. The method according to any one of the preceding claims, It is characterized in that After carrying out the charging or refueling process, a payment process is carried out, wherein data are preferably exchanged between the charging or refueling station and the vehicle via an electronic interface.

6. An autonomous charging or refueling vehicle having: - energy storage, for example in the form of batteries or fuel tanks, a standardized interface which is connected to the energy storage device via a line, for example in the form of a plug receptacle or a tank nozzle, which is preferably accessible from the outside and / or can be positioned by means of alignment marks and / or structures, - an electronic interface for communication between said vehicle and a charging or refueling station.

7. The vehicle according to claim 6, It is characterized in that The vehicle has an identification portion which indicates to the charging or refueling station that the vehicle is an autonomous charging or refueling vehicle.

8. A charging or refueling station for autonomously charging or refueling vehicles, comprising: a standardized interface for energy or medium transmission from the charging or refueling station to the vehicle, for example in the form of a plug or a fuel gun, - an electronic interface for communication between said charging or refueling station and said vehicle.

9. The charging or refueling station according to claim 8, It is characterized in that The standardized interface is arranged on a movable arm, in particular a robot arm.

10. A charging or refueling station according to claim 8 or 9, It is characterized in that An optical monitoring and / or control system is provided which comprises at least one camera and / or sensor.

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