Charging system and method for electrically connecting working machine to charging station

Abstract

Coupling a work machine charging coupler with a charging unit for providing power to a work machine electrical system is provided. The charging coupler is attached to a working machine, such as a bulldozer, a front end loader, a skid steering engine, a tractor, and the like. The work machine and the attached charging coupler may autonomously move to the charging unit via an onboard vehicle automation and navigation system. A positioning and alignment system, including geopositioning, LIDAR / LADAR, and fiducial detection, may be used to facilitate precise mating of a charging coupler with a charging unit. After the charging coupler and the charging unit are mated, the charging station may transfer power to the work machine across an electrical interface formed when the charging coupler and the charging unit are mated.

Description

TECHNICAL FIELD

[0001] The present disclosure relates generally to electrical charging systems. More particularly, the present disclosure relates to a charging coupler for electrically coupling a work machine to a charging station. BACKGROUND

[0002] Modern machines, such as various types of vehicles and various types of equipment, include various electrical systems that require battery power. Different types of machines require different levels and frequencies of battery charging. For example, machines operated by combustion engines are typically capable of on-board battery charging, but can still require additional charging of one or more on-board systems that require more battery resources than the on-board battery charging system provides. Other machines that operate partially or entirely on battery power, such as hybrid machines that utilize both combustion and electrical power or all-electric machines, can require partial or full battery charging from an external charging source. In either of these cases, such machines are typically temporarily tethered to a charging system by attaching an external charging system to the machine via a charging cord or conduit that connects the external charging system to the machine by plugging or otherwise attaching the charging cord or conduit into or to the machine for a period of time required to charge the machine’s battery to a desired level.

[0003] In the case of large or large-scale equipment systems, such as material or earthmoving machines, it is often desirable to bring a remote charging station to a work site to charge the batteries of such equipment systems because the ability to charge the systems remotely from the work site is limited, too cumbersome, or expensive. Additionally, given the size and mass of such equipment systems, it can be difficult to maneuver them to a charging station and connect them to a remote charging system, and coupling the equipment systems to the charging station can often cause damage to the charging station.

[0004] An exemplary system for blocking movement of a commercial vehicle when the commercial vehicle is coupled to a building coupling portion is described in German Patent No. DE 102005038511 B3 to Arnold Verlade Systeme, entitled “Blocking Device for Commercial Vehicle” (hereinafter “the ‘511 filing”). Specifically, the ‘511 filing describes coupling a commercial vehicle trailer hitch permanently installed on a building loading ramp to a corresponding vehicle coupling portion to hold the vehicle during loading, unloading, and / or electrical charging.

[0005] While the system of the '511 document describes coupling a commercial vehicle to a building during loading, unloading, and / or charging, the '511 document does not describe coupling a work machine to a charging station so that power can be transmitted across an interface between the coupling between the work machine and the charging station. Additionally, the '511 document does not describe that the coupling of the work machine and the charging station can be automatically performed by the work machine automatically moving into position, and then automatically coupling the work machine charging coupler with a stationary or remote charging station. Furthermore, the system of the '511 document does not provide for automatically coupling the work machine with the charging station by aligning the work machine charging coupler with the charging unit via one or more automated positioning systems, such as a geo-positioning system, a distance-to-object system, and the like.

[0006] Examples of the present disclosure are directed to overcoming the above-mentioned deficiencies. SUMMARY

[0007] Systems and methods are provided for coupling a work machine charging coupler with a charging unit for providing power to a work machine electrical system, including for charging a work machine battery. The charging coupler is attached to the work machine, such as a bulldozer, front-end loader, skid steer, tractor, and the like. The charging coupler can serve as both a charging device and a coupler for attaching a work tool to the work machine. When the electrical system of the work machine (e.g., an on-board battery) needs to be charged, the work machine with the attached charging coupler can be moved toward a charging station that is fixed to a facility or remote (i.e., movable to various positions for charging purposes), where the charging coupler mates to a charging station charging unit (hereinafter "charging unit"). The work machine and attached charging coupler can autonomously move to the charging unit via on-board vehicle automation and navigation systems. Positioning and alignment systems, including geo-positioning, LIDAR / LADAR, and fiducial detection, can be used to facilitate precise mating of the charging coupler with the charging unit. After the charging coupler and charging unit are mated, the charging station can transmit power across an electrical interface formed when the charging coupler and charging unit are mated.

[0008] According to an example, a system is provided, the system comprising a work machine having a chargeable battery system and a charging coupler in electrical communication with the chargeable battery system. The work machine is configured to autonomously drive to a charging unit. The work machine is further configured to autonomously couple the charging coupler with the charging unit. The charging coupler is configured to receive a charge transmission from the charging unit. The chargeable battery system is configured to receive the charge transmission via the charging coupler.

[0009] The work machine is configured to autonomously drive to the charging unit based at least in part on the geolocation information. The work machine is also configured to autonomously drive to the charging unit based at least in part on the distance information to the object. The distance information to the object is received via a charging coupler light detection and ranging (LIDAR) emitter operable to determine a distance from the charging coupler to the charging unit.

[0010] According to another example, a method of charging a work machine is provided. The method includes attaching a charging coupler to the work machine, the charging coupler in electrical communication with a chargeable battery system of the work machine. The work machine is driven to a charging station. The charging station has a charging unit electrically tethered to the charging station. The charging coupler is coupled to the charging unit. An electrical interface between the charging coupler and the charging unit is established. Electrical charge is transferred from the charging unit to the chargeable battery system of the work machine via the electrical interface between the charging coupler and the charging unit.

[0011] According to another example, a system is provided that includes a charging station having a charging unit coupler operable to attach to a work machine to provide electrical charge to an electrical system of the work machine. The work machine has a charging coupler operable to mate with the charging unit coupler to establish an electrical interface between the charging unit coupler and the charging coupler. The work machine is configured to autonomously drive to the charging station. The work machine is also configured to autonomously mate the charging coupler with the charging unit coupler. The charging station is configured to transfer electrical charge to the electrical system of the work machine via the electrical interface when the charging coupler and the charging unit coupler are mated. BRIEF DESCRIPTION OF DRAWINGS

[0012] The detailed description is set forth with reference to the accompanying drawings. In the drawings, the (multiple) left-most digit(s) of a reference number identifies the figure in which the reference number first appears. The use of the same reference numbers in different figures indicates similar or identical items or features.

[0013] Figure 1 A right side elevation view of a work machine with an attached work tool is shown in accordance with examples of the present disclosure.

[0014] Figure 2 A right side elevation view of a work machine in accordance with examples of the present disclosure is shown Figure 1 with a work tool detached from a work tool coupler.

[0015] Figure 3 Two right side elevation views of a charging coupler partially coupled and then fully coupled with a work tool are shown in accordance with examples of the present disclosure.

[0016] Figure 4An example of a charging connector with attachment, moving toward a charging station according to this disclosure, is shown. Figure 1 A partial right-side elevation view of the operating machine, showing that the charging connector can be connected to the charging unit at this charging station.

[0017] Figure 5 Examples according to this disclosure are shown. Figure 4 The right elevation view of the machine shows the attached charging connector connected to the charging unit.

[0018] Figure 6 Examples according to this disclosure are shown. Figure 1 The front elevation view of the working machine shows the front elevation view of the working tools.

[0019] Figure 7 Examples according to this disclosure are shown. Figure 1 and Figure 6 The front elevation view of the operating machine shows the front elevation view of the charging connector.

[0020] Figure 8 Two right-side elevation views of a charging connector approaching a charging unit according to an example of this disclosure are shown.

[0021] Figure 9 A right elevation view of an alternative example of a charging connector according to the present disclosure, near an alternative example of a charging unit, is shown.

[0022] Figure 10 A flowchart illustrating an exemplary method for connecting a charging connector of a work machine to a charging unit for charging one or more electrical systems of the work machine, according to an example of this disclosure, is shown.

[0023] Figure 11 A computer architecture diagram is shown, illustrating an illustrative computer hardware architecture for implementing various aspects of the technologies according to this disclosure. Detailed Implementation

[0024] In all the accompanying drawings, the same reference numerals will be used as much as possible to denote the same or similar parts. In the drawings, the leftmost number of the reference numeral(s) indicates the figure in which the reference numeral(s) first appears.

[0025] Figure 1 A right-side elevation view of a working machine with attached working tools, according to an example of this disclosure, is shown. Figure 1As shown in FIG. 1, a work machine 100 is provided with which various types of work are performed, such as earth moving, material movement, etc. The work machine 100 is shown as a typical front end loader with which material such as dirt, rock, concrete, wood, steel, etc. can be moved from one location to another or can be loaded onto or unloaded from a transport such as a truck or trailer.

[0026] Figure 1 The work machine 100 shown in FIG. 1 is for purposes of example only and is not limiting of other types of work machines that can be used in accordance with examples of the present disclosure. For example, the work machine 100 can include a bulldozer, a skid steer, a tractor, a large earth mover, etc. Additionally, it should be appreciated that examples of the present disclosure can be used with other types of vehicles including, but not limited to, automobiles, trucks, trailers, etc.

[0027] Still referring to Figure 1 , the work machine 100 includes a cab 102 in which an operator controls the work machine 100. An engine compartment 104 includes space for a combustion engine, a hybrid combustion / electric motor combination, or an electric motor system for a fully electric work machine 100. A lower cab section 106 is provided in which various systems can be maintained, such as a transmission, a cab cooling system, etc. As will be described below, the lower cab section 106 can also include various control systems and battery systems that can be used in operation of the work machine 100.

[0028] A wheel and tire assembly 108 is provided for moving the work machine 100. It should be appreciated that other types of movement systems, such as a track system, can also be used to move the work machine 100.

[0029] Forward of the cab 102 are components required for movement and use of a work tool attached to the work machine 100. A push arm mount 110 is provided to which one or more push arms 112 are attached. According to examples, the push arms 112 can be articulated relative to the push arm mount to raise or lower an attached work tool as needed to pick up, dump, and / or push material. According to examples, the push arms 112 can be articulated relative to the push arm mount 110 via a suitable motion system, such as a hydraulic or pneumatic cylinder system. Reference is made below to Figure 4 Alternative systems for articulating the push arms 112 are shown and described.

[0030] At a forward end of the push arms 112, a work tool coupler 116 is provided for attaching a work tool 118 to the push arms 112. A control arm 114 is shown for articulating the work tool coupler 116 up and down to change an attack angle of the work tool 118. The control arm 114 can be moved by a suitable motion system, such as a hydraulic or pneumatic cylinder system.

[0031] According to examples, work tool 118 illustrates a variety of different work tools that can be attached to work machine 100 via work tool coupler 116. For example, Figure 1 Work tool 118 shown in FIG. 1 is a bucket with which material can be pushed, dug, lifted, dumped, etc. Other types of work tools 118 can include blades for pushing material, forks (e.g., pallet forks) for lifting material, etc. Different types of work tools 118 that can be used with work machine 100 are well known to those skilled in the art. It should be appreciated that, Figure 1 The configuration of the components of work machine 100 shown in FIG. 1 is for the purpose of illustrating examples only. That is, according to other types and sizes of work machines 100, the engine compartment can be forward of the cab, work tools can be attached to rear push arms or lift arms, etc.

[0032] Still referring to Figure 1 As noted above, work tool coupler 116 is provided for attaching work tool 118 to push arm 112. According to examples, work tool coupler 116 illustrates a number of different shaped and / or sized couplers that can be secured to the front end of push arm 112 for attaching different types and sizes of work tools 118. According to examples, in addition to providing a mechanical interface between push arm 112 and work tool 118, work tool coupler 116 provides quick attachment and detachment of work tool 118 to work machine 100. In some cases, work tool coupler 116 can be designed to fit a particular work tool 118. In this case, work tool coupler 116 must be removed and replaced with another work tool coupler 116 for attaching a different work tool 118 to work machine 100. In other cases, work tool coupler 116 can be designed as a universal coupler that can be used to attach a number of different types and sizes of work tools.

[0033] Figure 2 A work machine according to examples of the present disclosure is shown in Figure 1 FIG. 1, showing a work tool detached from the work tool coupler. As Figure 2As shown, the working tool 118 is detached from the working tool connector 116 to allow the working tool connector 116 to be attached to a different working tool 118. A side dashed view of the working tool connector rod 214 is shown with reference to the working tool connector 116. When the working tool connector 116 is attached to the working tool 118, the upper end of the working tool connector 116 rotates forward and downward. The working machine 100 moves forward toward the working tool 118 until the working tool connector 116 contacts the back of the working tool 118. The working tool connector 116 is then rotated upward until the working tool connector rod 214 engages below the working tool connector hook 216. The lower end of the working tool connector 116 is then rotated inward until the working tool connector 116 fully engages the back of the working tool 118, and the bottom of the working tool connector locks the working tool 118 or otherwise connects to it. It should be understood that the components of the work tool connector 116 shown and described herein, as well as the attachment of the work tool connector 116 to the work tool 118, are for illustrative purposes only and do not limit the use of many other configurations and connection mechanisms that may be used to attach the work tool connector 116 to the work tool 118.

[0034] Figure 3 Two right-side elevation views are shown of charging connectors partially and fully connected to a work tool according to an example of this disclosure. According to an example of this disclosure, the work tool connector 116 can be replaced by a charging connector 314, which can be used to attach the work tool 118 to the work machine 100 and / or to a charging unit for charging the electrical system of the work machine 100. That is, according to the example, the charging connector 314 can be used instead of the work tool connector 116 to attach the work tool 118 solely for the purpose of attaching the work tool 118 to the work machine 100, or the charging connector 314 can be used to connect to a charging unit for charging purposes. Alternatively, the charging connector can be used to attach the work tool 118 to the work machine 100 and to connect to a charging unit for charging the electrical system of the work machine 100.

[0035] exist Figure 3 In Figure 302 on the left, charging connector 314 is shown partially connected to work tool 118. According to this exemplary configuration, charging connector 314 is attached to work tool 118 for the purpose of moving materials using work tool 118. Referring to charging connector 314, the upper end of charging connector 314 is aligned with the above-described... Figure 2 The tool connector 116 shown is hooked below the tool connector hook 216 in the same manner.

[0036] exist Figure 3In Figure 304 on the right, after hooking the upper end of the charging connector 314 under the tool connector hook 216 by engaging the tool connector rod 214 under the tool connector hook 216, the bottom end of the charging connector 314 is rotated forward until it engages the rear surface of the tool 118. According to one example, the charging connector 314 is secured to the tool 118 by inserting a pin (not shown) (manually or automatically) through a pin hole 330 and a tool pin hole 332. The mechanism shown above for attaching the charging connector 314 to the tool 118, as described above with respect to the tool connector 116, is for illustrative purposes and does not limit the charging connector to other mechanisms by which it can be attached to the tool 118.

[0037] Still referencing Figure 3 As shown in Figure 302 on the left, the charging connector 314 may include a rotation mechanism 318 for rotating the charging connector 314 relative to the working tool 118 and relative to the charging unit into and out of the attachment position, as described below. Figure 4 and Figure 5 As described above. According to an example, the rotating mechanism 318 may include a hydraulic or pneumatic cylinder mechanism that moves the charging connector 314 for attachment, such as... Figure 3 , 4 As shown in Figure 5.

[0038] According to the example, charging connector 314 includes a charging adapter 320 that connects to a charging cable or conduit 326. As briefly described above and referenced below. Figure 8 and Figure 9 As shown and described, when the charging connector 314 is attached to the charging unit, the charging adapter 320 can be unfolded to cooperate with the corresponding charging adapter receiver in the charging unit for charging the electrical system of the work machine 100. However, when the charging connector 314 is attached to the work tool 118, as... Figure 3 As shown, the charging adapter can remain recessed inside the charging connector 314 to prevent contact with the rear surface of the work tool 118 and damage to the charging adapter 320.

[0039] Figure 4 An example of a charging connector with attachment, moving toward a charging station according to this disclosure, is shown. Figure 1 A partial right-side elevation view of the operating machine, showing that the charging connector at this charging station can be connected to the charging unit. (See attached image.) Figure 4As shown, the working machine 100 has an attached charging connector 314 and is approaching the charging station 410. Referring to the working machine 100, additional mechanical components for articulating the push arm 112 are shown. A push arm raising member 402 is provided to assist in lifting the push arm 112 onto the working tool 118. A push arm raising mechanism (e.g., a hydraulic or pneumatic system) 404 is shown for moving the push arm raising member 402. It should be understood that the combination of the push arm raising member 402 and the push arm raising mechanism 404 is particularly useful for lifting the push arm 112 and the working tool 118 under heavy load conditions.

[0040] Still referencing Figure 4 The charging adapter 320 is shown recessed within the charging connector 314. The charging cable or conduit 326, shown in dashed lines, extends from the charging connector 314 through the interior of the push arm 112, the push arm mount 110, and into the lower cab section 106, where it connects to the electrical control system, as described below. Figure 5 Described.

[0041] A battery indicator 422 with a battery charge availability indicator 424 is shown. According to the example, the battery indicator 422 can be displayed inside the cab 102 to alert the operator of the available battery charge and the potential need to charge the battery system of the work machine 100.

[0042] Still referencing Figure 4 Charging station 410 describes a charging station (fixed or remote) that can be used to charge the electrical system of the work machine 100 as described herein. Charging station 410 can be fixed to a building or other structure and can be used to charge the electrical system of the work machine 100 as needed. Charging station 410 can be transported to a work site or other location on a truck, trailer, or other transportation system to charge the electrical system of the work machine 100 at the work site or other location.

[0043] The power grid 426 describes power that can be connected to a charging station 410 for transmitting power to an electrical system, including charging the battery of the operating machine 100. In the case that the charging station 410 is remote, the power grid 426 can charge the onboard battery in the charging station 410, which can be used to transmit power to the electrical system of the operating machine 100 as described herein, including the battery charging system.

[0044] Referring again to charging station 410, a charging unit 412 is provided for cooperating with charging connector 314 of working machine 100. According to an example, charging unit 412 is electrically attached to charging station 410 to provide power from charging station 410 via charging unit 412, and ultimately to working machine 100 as described herein. Charging unit 412 includes charging unit coupling hook 414 for coupling with the aforementioned... Figure 3 The work tool connector rod 214 is engaged in the same manner as the work tool 118 described above, which is used to attach the charging connector 314 to the charging unit 412, and provides a recessed charging adapter receiver 418 for connection to the corresponding charging adapter 320 of the charging connector 314.

[0045] Still referencing Figure 4 The diagram illustrates a Global Positioning Satellite System (GPS) 428 used to provide geolocation information to the work machine 100, enabling the work machine 100 to move to and cooperate with a charging station as described herein. See below for reference. Figure 5 The device may provide multiple mechanisms for precisely maneuvering the working machine 100 to a position that engages with the charging unit 412.

[0046] Figure 5 Examples according to this disclosure are shown. Figure 4 The right-side elevation view of the machine shows the attached charging connector connected to the charging unit. (See diagram below.) Figure 5 As shown, the work machine 100 moves to the charging station 410, and the charging connector 314 engages with the charging unit 412, as described below. Figure 8 and Figure 9 In further detail, after the charging connector 314 engages with the charging unit 412, power can be transferred from the charging unit 412 to the rechargeable battery system 506 of the working machine 100 via wires or conduits 326. During charging, the battery charging indicator 502 of the battery indicator 422 can indicate to the operator of the working machine 100 that battery charging is in progress.

[0047] According to the example, after the charging connector 314 mates with the charging unit, if the charging station 410 is a remote charging station delivered to the work site, the working machine can lift the charging station and move it to another location around the work site, or the charging station can be placed on a transport vehicle (e.g., a truck or trailer). That is, according to the example, the mate between the charging connector and the charging unit allows the charging station 410 to be attached to the working machine just like another working tool (e.g., a bucket), and the charging station can be operated by the working machine as needed.

[0048] Still referencing Figure 5 The electrical control system 504 in the lower section 106 of the cab is shown in cross-sectional view. According to the example, the electrical control system may include multiple components required to operate the work machine 100, as described herein. For example, the rechargeable battery system 506 may include a circuit system for receiving power from a charging station and for distributing power to the onboard battery of the work machine 100 and other components requiring power for operation. According to the example, the rechargeable battery system 506 is in electrical communication with a charging connector 314, as shown and described herein. The computer system 510 may include computing functions, as referenced below. Figure 10 The computing function is used to guide the operation of all electrically enabled systems, including automated machine movement and battery charging, as described herein.

[0049] Still referencing Figure 5 The vehicle automation and navigation system 508 may include a circuitry for automating the movement of the work machine 100 without driver interaction. Autonomous driving systems are well-known and allow various types of vehicles, such as the work machine 100, to navigate to and autonomously drive to a desired location. As those skilled in the art will understand, autonomous driving systems (such as the vehicle automation and navigation system 508 of this disclosure) may utilize one or more positioning methods and systems that provide geolocation of the work machine 100 relative to other objects, such as charging station 410 and charging unit 412, for example, satellite-based geolocation from one or more Global Positioning Satellite (GPS) systems 428. In addition to such geolocation systems, additional navigation information may be received from an onboard navigation system (such as LIDAR), as referenced below. Figure 7 The description continues. Furthermore, further fine-tuning or refinement of the navigation of the working machine 100 toward the charging unit 412 of the charging station 410 can be achieved through benchmark detection, as described below. Figure 7 –9 describes it.

[0050] As those skilled in the art of autonomous driving systems will understand, vehicle automation and navigation system 508 can guide an electric control unit adapted for use with work machine 100, the electric control unit being used to control steering, throttle, and braking to autonomously drive work machine 100. According to an example of this disclosure, autonomously driving work machine 100 allows work machine 100 to autonomously drive to charging station 410, where charging connector 314 can cooperate with charging unit 412 as described herein. According to one example, in addition to autonomously driving work machine 100 to charging station 410, charging connector 314 can also autonomously connect to, attach to, or cooperate with charging unit 412, and then autonomously disconnect and / or detach charging connector 314 from charging unit 412. Autonomous connection and disconnection of charging connector 314 to and from charging unit 412 can be achieved in the same manner as autonomously driving work machine 100. In other words, based on the aforementioned navigation information, the work machine 100 can be automatically controlled by the vehicle automation and navigation system 508 to raise, lower, and otherwise manipulate the charging connector 314 to connect the charging connector 314 to the work tool 118 and / or the charging unit 412, as referenced. Figure 3 , 4 As shown and described in Figure 5.

[0051] Figure 6 Examples according to this disclosure are shown. Figure 1 The front elevation view of the working machine shows the front elevation view of the working tools. (See image below.) Figure 6 As shown, the work tool 118 is attached to, as Figure 1 The work machine 100 shown. Figure 7 Examples according to this disclosure are shown. Figure 1 and Figure 6 The front elevation view of the operating machine shows the front elevation view of the charging connector. (See image.) Figure 7 As shown, the work tool 118 has been removed, and the front of the charging connector 314 is exposed. Referring to the charging connector 314, a work tool connector rod 214 is provided for attaching the charging connector 314 to the work tool 118 or, as shown... Figure 5 The charging unit 412 is shown. The charging adapter 320 is recessed inside the recess 706 to prevent damage to the charging adapter 320 when the charging connector 314 is engaged with the charging unit 412, as described herein.

[0052] To precisely align the charging connector with the charging unit, in addition to the system described above for accurately navigating the charging connector to the charging unit, one or more references can be operatively fixed to the surface of the charging unit. As the advancing work machine approaches the charging unit, signaling from the charging unit references allows the charging connector to mate with the charging unit very precisely, enabling non-destructive electrical contact between the charging connector and the charging unit to ensure proper power delivery from the charging unit through the charging connector attached to the work machine.

[0053] According to the example, the charging connector 314 may also include a reference detector 712, which is used to read, for example... Figure 8 and Figure 9 One or more references 416 are shown on the surface of the charging unit 412. According to an example, the references 416 on the surface of the charging unit 412 can be detected by a reference detector 712 to precisely position the surface of the charging unit 412 for mating the charging connector 314 to the charging unit 412. As those skilled in the art will understand, the references may include small attachment, etched, or deposited means that can be positioned via the reference detector to precisely position an article or device including the reference. According to an example of this disclosure, the reference detector 712 may project an energy flow (e.g., light) onto the charging unit 412, and the reflection returning to the reference detector 712 allows for precise positioning of the reference and the article or device providing the reference (in this case, the charging unit 412). Signaling from the reference detector 712 can be transmitted via a power line or conduit 326 or wirelessly to the vehicle automation and navigation system 508 to notify the automated movement of the operating machine 100 for automatically mating the charging connector 314 to the charging unit 412.

[0054] Still referencing Figure 7A distance transmitter 704, such as a LiDAR or LADAR transmitter 704, is provided to measure the distance from the face of the charging connector 314 to the face of the charging unit 412. It should be understood that LiDAR (Light Detection and Ranging) and LADAR (Light Detection and Ranging) involve a pulsed laser stream from the transmitter to the object for measuring the distance between objects. The distance transmitter 704 can also measure the speed of the working machine 100 relative to the charging station. Signaling from the distance transmitter 704 can be transmitted via power line or conduit 326 or wirelessly to the vehicle automation and navigation system 508 to notify the automated movement of the working machine 100 for automatically engaging the charging connector 314 to the charging unit 412. According to one example, knowing the distance to the charging unit and the speed of the work machine 100 with the attached charging connector 314 as it approaches the charging unit 412 allows the vehicle automation and navigation system to slow down the movement of the work machine as it approaches the charging unit 412 to prevent damage caused by contact between the charging connector 314 and the charging unit 412.

[0055] Still referencing Figure 7 A computing unit 710 may be provided in the charging connector 314 for managing components of the charging connector 314, such as the reference detector 712 and the distance transmitter 704 to the object. Alternatively, component management may be provided by... Figure 4 The computing system 510 in the lower section 106 of the cab shown is executed.

[0056] Figure 8 Two right-side elevation views of a charging connector approaching a charging unit according to an example of this disclosure are shown. Figure 8 As shown in the top figure 802, the charging adapter 320 is recessed into the recess 706 of the charging connector 314 for connection to the charging adapter receiver 418 recessed in the charging unit 412. In this state, the charging connector 314 can cooperate with the charging unit 412, such as by combining... Figures 3-5 Described. After or during engagement of the charging connector 314 with the charging unit 412, the charging adapter 320 can be automatically removed from the recess 706 and electrically connected to the charging adapter receiver 418. In this way, the mechanical engagement process involving the movement and / or articulation (e.g., multi-axis movement) of the working machine 100 and / or the working tool connector 116 or the charging connector 314 is separated from the electrical connection process to protect sensitive electrical components that may be damaged by inaccurate movement. This can be achieved by removing the charging adapter 320 from the recess 706 (as described in this section) or by rotating the charging connector 314 about a fixed contact point with the charging unit 412 (as described about). Figure 3 The working tool connecting hook 216 (shown in the figure) is used to protect electrical components.

[0057] According to the example, the charging adapter 320 is moved out of the recess by an actuator 820, which moves the charging adapter out of the recess 706 and electrically connects it to the charging adapter receiver 418. The adapter receiver 418 can similarly move automatically into and out of the recess 810. Alternatively, instead of connecting the charging adapter 320 to the charging adapter receiver 418, the charging connector electrical contact 812 can make electrical contact with the charging unit electrical contact 814 to electrically connect the charging connector 314 to the charging unit 412. According to the example, when the charging connector 314 mates with the charging unit 412, an electrical interface is established between the charging connector 314 and the charging unit 412. A power line or conduit 430 provides electrical contact from the charging unit 412 to one or more systems (e.g., batteries) in the charging station 410. After the charging connector 314 and the charging unit 412 are electrically connected, power from the charging station can be transferred from the charging station to the electrical system (e.g., batteries) of the operating machine 100. In other words, the transmission of power is performed via the connection between the charging adapter 320 and the charging adapter receiver 418 as described above.

[0058] Now for reference Figure 8 In Figure 804 at the bottom, according to an alternative example, instead of forming an electrical interface by connecting the charging adapter 320 to the charging adapter receiver 418 or to the charging unit electrical contacts 814 via the charging connector electrical contacts 812, an inductive transmitter coil (hereinafter referred to as the "transmitter coil") 824 is provided or disposed in the charging unit 412 for inductively transferring charge to a corresponding inductive receiver coil (hereinafter referred to as the "receiver coil") 828 provided or disposed in the charging connector 314. According to the example, the transmitter coil 824 may be held in a recess 810, and the receiver coil 828 may be held in a recess 706 until the charging connector 314 engages with the charging unit 412 to protect the transmitter coil and receiver coil from damage during the engagement process. After the charging connector 314 engages with the charging unit 412, the actuator 820 may remove the transmitter coil 824 from the recess 810 until it contacts or comes very close to the receiver coil to form an inductive field between the transmitter coil 824 and the receiver coil 828.

[0059] According to this example, power transmission is performed via induction, where a transmitter coil 824 and a corresponding receiver coil 828 form an induced field. As those skilled in the art will understand, when power is supplied from charging station 410 to transmitter coil 824, charge can be transferred across the induced field formed between transmitter coil 824 and receiver coil 828. That is, supplying charge to transmitter coil 824 generates an electric field around the transmitter coil. When transmitter coil 824 contacts receiver coil 828 through physical contact or through a close distance between transmitter coil and receiver coil, charge can be transferred between transmitter coil and receiver coil via induction. The charge transferred via the electrical interface formed between transmitter coil and receiver coil can then be transferred to the electrical system of operating machine 100 as described herein.

[0060] Figure 9 A right elevation view of an alternative example of a charging connector according to the present disclosure, adjacent to an alternative example of a charging unit, is shown. Figure 9 As shown, the charging adapter 916 is positioned in the recess 914 of the charging unit 412. The charging adapter receiver 912 is connected to... Figure 8 The charging adapter and charging adapter receiver, as shown in the opposite configuration, are positioned in the recess 910 of the charging connector 314. According to the example, when the charging connector 314 mates with the charging unit 412, an electrical interface is established between the charging connector 314 and the charging unit 412. After the charging connector 314 and the charging unit 412 are electrically connected, power from the charging station can be transferred from the charging station to the electrical system of the operating machine 100 (e.g., multiple batteries). That is, the power transfer is performed via the connection between the charging adapter 916 and the charging adapter receiver 912 as described above.

[0061] Figure 10 A flowchart illustrating an exemplary method, according to an example of this disclosure, for connecting a charging connector of a work machine to a charging unit for charging one or more electrical systems of the work machine. Method 1000 begins with a start operation 1002 and proceeds to operation 1006, in which a request to charge the electrical systems of the work machine 100, including a battery system, is received. It should be understood that the request to charge the electrical systems of the work machine 100 can be initiated by an operator based on an indication on the battery indicator 422 that the battery of the work machine 100 needs charging.

[0062] At operation 1010, any work tool 118 currently attached to the work tool connector 116 is detached and removed from the work machine 100, as described above. At operation 1010, if the work tool connector 116 is currently engaged or attached to the work machine 100, the work tool connector 116 is replaced by the charging connector 314 as described above.

[0063] At operation 1014, the work machine 100 is moved toward the charging station 410. It should be understood that at operation 1014, the movement of the work machine 100 toward the charging station 410 can initially be manually performed by the operator of the work machine 100. At operation 1018, the navigation and movement of the work machine 100 can be transferred to automatic control via vehicle automation and navigation system 508, and then the work machine 100 can be operated toward the charging station 410 via driverless control. Alternatively, if the work machine is driven to and attached to the charging station 410 by user control, the user can manually drive the work machine to the charging station based on navigation information as described below.

[0064] At operation 1022, the vehicle automation and navigation system 508 receives positioning signaling from the global positioning satellite system 428, the distance transmitter 704 to the object, and / or the reference detector 612. At operation 1026, according to one example, the reference detector 712 reads the signaling return from the reference 416 disposed on the surface of the charging unit 412 to precisely align the charging connector 314 with the charging unit 412.

[0065] At operation 1030, the charging connector 314 attached to the working machine 100 engages with the charging unit 412, as described above. Figure 5 As shown. At operation 1034, the charging adapter is deployed from the charging connector 314 or from the charging unit 412 to the charging adapter receivers 418, 912 to establish electrical contact between the charging unit 412 and the charging connector 314. Alternatively, at operation 1034, the electrical connection between the charging unit 412 and the charging connector 314 is established through contact between the electrical contacts 812 of the charging connector 314 and the electrical contacts 814 of the charging unit 412.

[0066] At operation 1038, power is transferred from charging station 410 through charging unit 412 and across the interface established by the engagement of charging unit 412 with charging connector 314. The charge is then transferred through charging cable or conduit 326 to rechargeable battery system 506 for distribution to the electrical system of working machine 100, including for battery charging.

[0067] At operation 1042, after the electrical system including the battery of the work machine 100 is fully charged or charged to the required level, the charging connector 314 is disengaged from the charging unit 412 by moving the work machine 100 backward away from the charging station 410. The work machine 100 can then be moved to a position where the charging connector 314, or subsequently attached work tool connector 116, is attached to the work tool 118, allowing the work machine 100 to resume service as needed. Method 1000 ends at operation 1050.

[0068] Figure 11 This is a block diagram illustrating the physical components of an exemplary computing device from which examples of this disclosure can be practiced. The computing system 1100 may include at least one processing unit 1102 and system memory 1104. System memory 1104 may include, but is not limited to, volatile (e.g., random access memory (RAM)), non-volatile (e.g., read-only memory (ROM)), flash memory, or any combination thereof. System memory 1104 may include an operating system 1106, one or more program instructions 1108, and may include sufficient computer-executable instructions for operating a vehicle automation and navigation system 508, a positioning signal system 1126 for receiving and distributing geolocation, distance data to objects, and reference positioning information as described herein, and a rechargeable battery system 506. For example, the operating system 1106 may be adapted to control the operation of the computing system 1100. Furthermore, the example can be practiced with graphics libraries, other operating systems, or other applications, and is not limited to any application or system. This basic configuration is illustrated by those components within the dashed lines 1110. The computing system 1100 may also include one or more input devices 1112 (e.g., keyboard, mouse, pen, touch input device, etc.) and one or more output devices 1114 (e.g., display, speaker, printer, etc.).

[0069] The computing system 1100 may also include additional data storage devices (removable or non-removable), such as disks, optical discs, or magnetic tapes. Such additional storage devices are illustrated by removable storage device 1116 and non-removable storage device 1118. The computing system 1100 may also include a communication connection 1120 that allows the computing system 1100 to communicate with other computing devices 1122 (e.g., job machine computing system 510 and / or charging connector computing unit 710) via a network (e.g., an intranet or the Internet), for example, in a distributed computing environment. The communication connection 1120 is an example of a communication medium through which computer-readable transmission media (i.e., signals) can be transmitted.

[0070] Program modules can include routines, programs, components, data structures, and other structures that can perform tasks or implement specific abstract data types. Furthermore, the examples can be practiced with other computer system configurations, including handheld devices, multiprocessor systems, microprocessor-based or programmable user electronic devices, microcomputers, mainframes, etc. The examples can also be practiced in distributed computing environments, where tasks are performed by remote computing and processing devices linked via communication networks. In distributed computing environments, program modules can reside in local and remote memory storage devices. Additionally, the examples can be practiced in circuits or on a single chip (e.g., a system-on-a-chip (SoC)) containing electronic components or a microprocessor, including discrete electronic components, packaged or integrated electronic chips containing logic gates, and circuits using microprocessors. The examples can also be practiced using other technologies capable of performing logical operations (e.g., AND, OR, and NOT), including but not limited to mechanical, optical, fluid, and quantum technologies. Furthermore, the examples can be practiced within general-purpose computers or other circuits or systems.

[0071] Examples can be implemented as computer processes (methods), computing systems, or articles of manufacture, such as computer program products or computer-readable storage media. A computer program product can be a computer storage medium that is readable by a computer system and encodes a computer program with instructions for performing a computer process. Therefore, hardware or software (including firmware, resident software, microcode, etc.) can provide examples discussed herein. Examples can take the form of a computer program product on a computer-usable or computer-readable storage medium having computer-usable or computer-readable program code contained therein for use by or in conjunction with an instruction execution system.

[0072] Examples of this disclosure can be implemented via local and remote computing and data storage systems. Such memory storage devices and processing units can be implemented in computing devices. Any suitable combination of hardware, software, or firmware can be used to implement memory storage devices and processing units. For example, memory storage devices and processing units can be implemented within computing system 1100, or within any other computing device 1122 combined with computing system 1100, where functionality can be aggregated via a network (e.g., an intranet or the Internet) in a distributed computing environment to perform the functions described herein. The systems, devices, and processors described herein are provided as examples; however, consistent with the described disclosure, other systems, devices, and processors may include memory storage devices and processing units.

[0073] Reference is made to the examples shown in the accompanying drawings, and specific language is used to describe these examples. However, it is to be understood that this is not intended to limit the scope of the art. Changes and further modifications to the features shown herein, as well as additional applications of the examples shown herein (that would be conceived by one of skill in the art and with the knowledge of this disclosure), are to be considered within the scope of the description.

[0074] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more examples. Numerous specific details, such as examples of various configurations, have been provided in the foregoing description to offer a thorough understanding of examples of the described technology. However, those skilled in the art will recognize that the technology can be practiced without one or more specific details, or using other methods, components, devices, etc. In other instances, well-known structures or operations have not been shown or described in detail to avoid obscuring various aspects of the technology.

[0075] Although the subject matter has been described in language specific to structural features, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features described. Rather, specific features are disclosed as illustrative forms for implementing the claims.

[0076] Industrial applicability

[0077] Systems and methods are provided for connecting a work machine charging connector to a charging unit attached to or part of a charging station, the charging station for providing power to the work machine's electrical system, including for charging the work machine's battery. The charging connector is attached to the work machine, such as a bulldozer, front-end loader, skid steer, tractor, etc. The charging connector can replace conventional connectors used for attaching work tools (e.g., buckets, scrapers, forks, etc.) to the work machine, or the charging connector can function as both a charging device and a connector for attaching work tools to the work machine.

[0078] When the electrical system of the working machine (e.g., the onboard battery) requires charging, the working machine, equipped with an attached charging connector, moves toward a fixed or remote charging station where the charging connector engages with a charging unit. The working machine and the attached charging connector can autonomously move to the charging unit via an onboard vehicle automation and navigation system. Systems can be employed to facilitate precise and gentle engagement between the charging connector and the charging unit. Geolocation systems can be used to accurately locate the charging unit relative to the working machine and the charging connector. Other systems, such as LiDAR or LADAR systems, can be employed for accurately measuring the distance (and speed of movement) between the working machine's charging connector and the charging unit. Signaling from a charging unit reference allows for very precise engagement between the charging connector and the charging unit, enabling non-destructive electrical contact between them to ensure proper power delivery from the charging unit through the charging connector attached to the working machine.

[0079] When the charging connector is coupled to the charging unit for charging purposes, the charging adapter can be unfolded from the charging connector to engage with the charging adapter receiver in the charging unit. Instead of a charging adapter and charging adapter receiver combination, fixed electrical contacts on each of the charging connector and the charging unit can be connected via an interface of fixed electrical contacts for electrical charging. Alternatively, an inductive transmitter coil can be disposed on the charging unit, and an inductive receiver coil can be disposed on the charging connector. When the charging connector and the charging unit are coupled, electrical charging can be transferred inductively from the inductive transmitter coil to the inductive receiver coil.

[0080] Once the charging connector and charging unit are engaged, the charging station can transmit power across the electrical interface formed when the charging connector and charging unit are engaged. Power is transmitted to the charging connector and then to the electrical system of the working machine, including its battery system. Once the necessary electrical transmission, including charging the battery system, is complete, the charging connector can be disconnected from the charging unit to allow the working machine to resume service.

[0081] Although various aspects of this disclosure have been specifically shown and described with reference to the embodiments described above, those skilled in the art will understand that various other embodiments can be contemplated with modifications to the disclosed machines, systems, and methods without departing from the spirit and scope of the disclosure. Such embodiments should be understood to fall within the scope of this disclosure as defined by the claims and any equivalents.

Claims

1. A system comprising: a work machine having a rechargeable battery system and a charging coupler in electrical communication with the rechargeable battery system; the work machine configured to autonomously drive to a charging unit; the work machine further configured to autonomously couple the charging coupler with the charging unit; the charging coupler configured to receive a charge transfer from the charging unit; and the rechargeable battery system configured to receive the charge transfer via the charging coupler.

2. The system of claim 1, wherein the work machine is configured to autonomously drive to the charging unit based at least in part on geolocation information.

3. The system of claim 2, wherein the work machine is further configured to autonomously drive to the charging unit based at least in part on distance-to-object information.

4. The system of claim 3, wherein the distance-to-object information is received via a charging coupler light detection and ranging (LIDAR) emitter operable to determine a distance from the charging coupler to the charging unit.

5. The system of claim 1, wherein the work machine is configured to autonomously couple the charging coupler with the charging unit by aligning the charging coupler with the charging unit based at least in part on one or more fiducials positioned on the charging unit.

6. The system of claim 5, wherein the charging coupler includes a fiducial detector configured to locate one or more fiducials positioned on the charging unit.

7. The system of claim 1, wherein the charging coupler is configured to receive the charge transfer from the charging unit via an electrical interface between the charging coupler and the charging unit.

8. The system of claim 7, wherein the electrical interface includes an electrical charging adapter deployable from the charging coupler for electrical connection with an electrical charging adapter receiver of the charging unit.

9. The system of claim 7, wherein the electrical interface includes an inductive electrical interface between an electrical receiver coil positioned on the charging coupler and an electrical transmitter coil positioned on the charging unit, wherein the electrical transmitter coil engages the electrical receiver coil when the charging coupler is coupled with the charging unit.

10. A method of charging a work machine, comprising: attaching a charging coupler to the work machine, the charging coupler in electrical communication with a work machine rechargeable battery system; driving the work machine to a charging station, the charging station having a charging unit, the charging unit electrically tethered to the charging station; coupling the charging coupler to the charging unit; establishing an electrical interface between the charging coupler and the charging unit; and transferring a charge from the charging unit to the work machine rechargeable battery system via the electrical interface between the charging coupler and the charging unit. ​

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