Method for charging a vehicle battery by automatically moving a charging gun

Abstract

The invention relates to a method for charging an electric battery of a vehicle (1) comprising a charging socket (3), wherein the method is performed by means of a mobile charging gun (2) which is located outside the vehicle and is intended to be inserted into the charging socket (3). According to the invention, the method comprises a step of enabling, by scanning of the gun (2), the definition of a detection zone (8) for infrared radiation emitted by emitters (4) arranged at the periphery of the charging socket (3) by means of an infrared sensor (6) attached to the gun and the detection of the initial position of the charging gun (2) relative to the charging socket (3) by measuring the distance between the charging gun (2) and the vehicle (1) by means of a distance sensor (5).

Description

[0001] This invention relates to a method for recharging a vehicle battery using an automatically moving charging gun.

[0002] It should be noted that partially or fully electric vehicles include a battery and a charging socket, and the battery can be recharged using an external charging gun. This charging gun is connected to a current source and plugged into the vehicle's charging socket to recharge the battery with current.

[0003] To facilitate easier recharging of a vehicle's battery, it is envisioned that the charging gun be automatically moved toward and inserted into the vehicle's charging socket without human intervention during these steps. One challenge encountered during this automated process is locating the existing charging socket on the vehicle to guide the external charging gun there. Specifically, the charging gun is typically mounted on an articulated arm, and the initial position of the charging socket on the vehicle relative to the charging gun on the articulated arm needs to be precisely determined so that the optimized movement of the charging gun toward the charging socket can be systematically initiated to allow it to be inserted into the socket.

[0004] Application WO2022 / 167350 A1 discloses a vehicle including a power battery and an electrical socket for supplying power to the battery, the socket being positioned within a body element defining the vehicle so as to be accessible from the outside of the vehicle. The application also discloses that the socket includes a guide for guiding one end of a supply gun in such a way that the end can enter a receiving area of ​​the socket to charge the battery.

[0005] The vehicle battery recharging method according to the present invention includes means for positioning the charging gun relative to the charging socket to ensure reliable, repeatable, and systematic insertion of the charging gun into the vehicle's charging socket.

[0006] The present invention relates to a recharging method for recharging a power battery of a vehicle including a charging socket, the method being performed by means of a mobile charging gun located outside the vehicle and intended to be inserted into the charging socket.

[0007] According to the present invention, the recharging method includes the following steps:

[0008] - The steps for attaching the infrared transmitter to the perimeter of the charging socket on the vehicle.

[0009] - The step of forming a system including a charging gun and a specific computer, said system further including a distance sensor and an infrared sensor fixed to the charging gun.

[0010] - The step of positioning the vehicle relative to the charging gun stored on the support so as to define the initial position of the charging gun relative to the charging socket.

[0011] - The scanning of the gun enables the infrared sensor to define a detection area for detecting infrared radiation generated by the transmitter, and the initial position of the charging gun relative to the charging socket is detected by using the distance sensor to measure the distance between the charging gun and the vehicle.

[0012] - The step of automatically moving the charging gun toward the charging socket until the charging gun is inserted into the charging socket, said step being controlled by the specific computer based on measurements performed in the previous step.

[0013] - The steps to recharge the vehicle's battery.

[0014] The principle of the charging method according to the present invention is that the charging gun is allowed to move automatically and very precisely toward the vehicle's charging socket by means of the following:

[0015] - The gun's infrared sensor will detect signals originating from an infrared emitter positioned near the charging socket in a specific area of ​​space, and

[0016] - Distance detector, which measures the distance between the gun's initial position and the vehicle.

[0017] Measurements from these sensors form the input data for the computer, allowing it to determine the path the charging gun needs to take from its initial position to reliably reach the charging socket. The vehicle positioning step is performed naturally without special manipulation, as the vehicle must be parked more or less in the same spot next to the charging gun. In this way, it is assumed that the charging gun will always be located within the same predefined area around the charging socket. If the charging gun is located outside this predefined area, which is highly unlikely, the method according to the invention would be inoperable. Scanning of the charging gun can be achieved, for example, by translation or rotation, or by a combination of both.

[0018] According to one possible feature of the invention, the scanning step of the charging gun includes rotating the charging gun about a rotation axis to determine a detection zone in which the infrared sensor can detect infrared radiation generated by the transmitter. The charging gun rotates about its longitudinal axis, causing the infrared sensor to move in a circle. Initially, the infrared sensor does not receive infrared radiation from the transmitter, and then begins to pivot. Beyond a certain rotation angle, it will begin to pick up infrared radiation, and then, as it continues to rotate, it will eventually stop picking up the radiation. In other words, it will only pick up signals in a certain angular sector.

[0019] According to one possible feature of the invention, the charging gun's axis of rotation about which it pivots is a vertical axis, and the detection area extends in a horizontal plane and is defined by two line segments depicting an angle. Specifically, as the gun pivots, the infrared sensor pivots simultaneously, and the sensor's orientation relative to the infrared emitter is modified at each moment of pivoting. This change in orientation explains why the infrared sensor does not pick up a signal throughout its entire pivoting movement.

[0020] According to one possible feature of the invention, the recharging method includes:

[0021] - The step of determining a specific angle β between a straight line parallel to the wall of the vehicle and the bisector of the angle between the detection area defined by the infrared sensor, wherein the charging socket is located in the wall.

[0022] - The step of measuring the minimum distance "d" between the infrared sensor carried by the charging gun and the vehicle wall carrying the charging socket.

[0023] - Using the measured minimum distance d and the determined specific angle β, derive the distance and path steps required for the charging gun to be inserted into the charging socket from its initial position.

[0024] - The step of moving the charging gun along the path defined in the previous step until the charging gun is inserted into the charging socket.

[0025] According to one possible feature of the invention, the step of determining the distance and path required for the charging gun to be inserted into the charging socket is derived from a common trigonometric relationship involving the measured minimum distance d and the determined specific angle β.

[0026] According to one possible feature of the invention, the infrared sensor fixed to the charging gun is collimated, and the infrared sensor is capable of detecting only direct radiation originating from the infrared emitter. In this way, the infrared sensor of the charging gun can pick up only direct radiation originating from the infrared emitter. Therefore, the detection area of ​​the infrared sensor will be narrower and thus more clearly defined, thereby preventing the sensor from detecting infrared radiation throughout its entire rotation. Therefore, the position of the infrared emitter will be detected more accurately.

[0027] According to one possible feature of the invention, the infrared emitter includes at least one infrared LED.

[0028] According to one possible feature of the invention, the distance sensor is an ultrasonic sensor.

[0029] According to one possible feature of the invention, the scanning of the gun and the steps of moving the gun toward the vehicle's charging socket are performed by an articulated arm on which the charging gun, equipped with its distance sensor and its infrared sensor, is mounted. The movement of the articulated arm is controlled by a computer based on measurements taken by the infrared sensor and the distance sensor.

[0030] The recharging method according to the invention offers the advantage of involving relatively inexpensive, reliable, and accurate equipment, such as infrared sensors, ultrasonic sensors, and infrared transmitters. It also has the advantage of being computer-controlled, with algorithms relying on conventional triangulation and not involving complex programming.

[0031] A preferred embodiment of the method for recharging a vehicle's electric battery according to the present invention is given in detail below with reference to the accompanying drawings:

[0032] [ Figure 1 ] Figure 1 This is a top view of the vehicle and the charging gun, showing the first step of the recharging method according to the present invention.

[0033] [ Figure 2 ] Figure 2 This is a top view of the vehicle and the charging gun, showing the second step of the recharging method according to the present invention.

[0034] [ Figure 3 ] Figure 3 This is a top view of the vehicle and the charging gun, showing the third step of the recharging method according to the present invention.

[0035] [ Figure 4 ] Figure 4 This is a simplified diagram showing different distances and angles at which the charging gun can be positioned relative to the vehicle's charging socket.

[0036] [ Figure 5 ] Figure 5 This is a perspective view of an infrared sensor in a first configuration, designed to be fixed to a charging gun, and upon which the recharging method according to the invention can be applied.

[0037] [ Figure 6 ] Figure 6 It is in the second configuration Figure 5 A stereoscopic view of the infrared sensor, and

[0038] [ Figure 7 ] Figure 7 It is in the third configuration Figure 5 and Figure 6 A 3D view of the infrared sensor.

[0039] The recharging method according to the invention can be applied to at least partially electric vehicles 1. Thus, vehicle 1 has a power battery that can be recharged by a charging gun 2 located outside the vehicle and inserted into a charging socket 3. The charging gun 2 is connected to a current source outside the vehicle and inserted into the charging socket 3 to recharge the power battery, which retains its functional position within the vehicle.

[0040] Currently, the vehicle driver manually performs the recharging operation. In other words, the driver holds the charging gun 2 placed on the base station, guides the charging gun to the vehicle's charging socket 3, and then inserts the charging gun 2 into the charging socket 3. This process is very inconvenient because the driver must exert effort and maintain precision in order to recharge the vehicle's battery.

[0041] The automated solutions developed to date to alleviate the need for driver operation of the charging gun 2 are typically complex and involve expensive equipment.

[0042] The recharging method according to the present invention allows the charging gun 2 to automatically move to the charging socket 3 and then be inserted into the charging socket without the drawbacks of the solutions developed to date.

[0043] The recharging method for recharging the electric battery of vehicle 1 according to the present invention includes the following steps:

[0044] - The step of securing the infrared emitter 4 to the periphery of the charging socket 3 on the vehicle. The charging socket 3 is typically covered by a protective flip cover flush with the wall of the vehicle 1. This protective flip cover is movable from a closed position to an open position. In the closed position, the protective flip cover covers the charging socket 3. In the open position, the protective flip cover pivots at least 90 degrees. The protective flip cover opens or closes automatically by means of an actuating element associated with a drive mechanism. The infrared emitter 4 is an infrared LED emitter. The position of the charging socket 3 on the vehicle can be directly deduced from the position of the infrared LED emitter.

[0045] The steps of forming a system including a charging gun 2 and a specific computer, the system further including a distance sensor 5 and an infrared sensor 6 fixed to the charging gun 2. The distance sensor is preferably an ultrasonic sensor capable of measuring the time elapsed between an incident ultrasonic wave and an ultrasonic wave reflected from a wall. The infrared sensor 6 is capable of detecting infrared radiation, particularly infrared radiation generated by an infrared LED emitter fixed to the vehicle 1. The infrared sensor 6 is collimated, and is capable of detecting only the direct radiation originating from the infrared LED emitter 4 fixed to the vehicle 1. In this way, the infrared sensor 6 of the charging gun 2 can pick up only the direct radiation originating from the infrared LED emitter 4. The position of the infrared LED emitter 4 will be detected more accurately.

[0046] - The step of mounting the charging gun 2, equipped with two sensors 5 and 6, on a hinged arm, which allows the charging gun 2 to undergo different rotational and translational movements in space.

[0047] - Positioning the vehicle 1 close to the charging gun 2 mounted on the articulated arm, so as to position the charging socket 3 at a reasonable distance from the charging gun 2, such as... Figure 1 and Figure 2 As shown. Typically, the charging gun 2 is fixedly positioned in a private parking lot or at a charging station with multiple charging guns 2, and the vehicle is always parked in the same manner relative to the charging gun 2 involved. In order to apply the recharging method according to the invention, it is necessary to position the charging socket 3 in a predefined area 7 around the charging gun 2 with very close boundaries. If the vehicle 1 is parked too far from the charging gun 2, nothing will happen, and the driver of the vehicle will be invited to move closer to the charging gun. During this step of positioning the vehicle 1, the charging gun 2 is in its initial position relative to the infrared LED emitter 4 fixed to the vehicle 1.

[0048] - The step of scanning the previously formed system is performed by rotation about the vertical axis of the charging gun 2, which is mounted on the articulated arm and equipped with two sensors 5 and 6. During this scan, the collimated infrared sensor 6 of the charging gun 2 pivots simultaneously with the charging gun 2 and determines a detection zone 8 in which the infrared sensor 6 can detect infrared radiation generated by the infrared LED emitter. This detection zone 8 extends in a horizontal plane and is defined by two straight line segments 9 and 10 that depict a given angular sector, as shown... Figure 2 and Figure 3 As shown. The detection area 8 is defined such that angle β can be derived, which is the angle formed by the bisector 11 of the detection area 8 and the straight line passing through the charging gun 2 and parallel to the wall 12 of the vehicle's carrying charging socket 3. The bisector 11 corresponds to the straight line connecting the infrared sensor 8 and the infrared LED emitter 4.

[0049] -The step of measuring the minimum distance d between the distance sensor 5 fixed to the charging gun 2 and the wall 12 of the charging socket 3 of the vehicle with its opening.

[0050] -Using the conventional trigonometric relationship involving angle β and the minimum distance d measured by distance sensor 5, the distance lg1 and path steps that charging gun 2 must follow to reach charging socket 3 are determined:

[0051] lg1 = d / sin(β)

[0052] - The step of determining the distance lg2 separating the projection of the infrared sensor 6 onto the wall 12 with an opening in the charging socket 3 of the vehicle 1 from the infrared LED emitter 4 fixed to the wall 12:

[0053] lg2 = d / tan(β)

[0054] - The step of automatically moving the charging gun 2 along a straight line lg1 or lg2 until the charging gun reaches the charging socket 3 and is inserted into the socket.

[0055] - The steps for recharging the vehicle's battery.

[0056] The recharging method according to the invention is entirely computer-controlled, and the computer forms part of a system consisting of a charging gun 2 equipped with two sensors 5 and 6 and the computer itself.

[0057] refer to Figure 5 The shielding device 15 can be closed, leaving only the minimum opening 16 exposed. In this configuration, the infrared sensor 6 is maximally collimated.

[0058] refer to Figure 6 The shielding device 15 can be opened to a certain extent, and for this configuration, the infrared sensor 6 is appropriately collimated.

[0059] refer to Figure 7 The shielding device 15 can be fully opened, and for this configuration, the infrared sensor 6 is significantly collimated.

[0060] The state of the shielding device 15 (i.e., near closed, moderately open, or fully open) is entirely controlled by a computer, which is part of a system formed by the charging gun 2 equipped with two sensors 5 and 6 and the computer.

Claims

1. A recharging method for recharging an electric battery of a vehicle (1) including a charging socket (3), the method being performed by means of a mobile charging gun (2) located outside the vehicle and intended to be inserted into the charging socket (3), characterized in that, The method includes the following steps: -The step of fixing the infrared transmitter (4) to the periphery of the charging socket (3) on the vehicle, - The step of forming a system including the charging gun (2) and a specific computer, the system further including a distance sensor (5) and an infrared sensor (6) fixed to the charging gun (2). - The step of positioning the vehicle (1) relative to the charging gun (2) stored on the support such that the initial position of the charging gun (2) relative to the charging socket (3) can be defined. - The scanning of the gun (2) enables the infrared sensor (6) to define a detection area (8) for detecting infrared radiation generated by the transmitter (4) and the initial position of the charging gun (2) relative to the charging socket (3) to be detected by measuring the distance between the charging gun (2) and the vehicle (1) using the distance sensor (5). - The step of automatically moving the charging gun (2) toward the charging socket (3) until the charging gun (2) is inserted into the charging socket (3), the step of which is controlled by the particular computer based on the measurements performed in the previous step, - The steps for recharging the battery of the vehicle (1).

2. The recharging method as described in claim 1, characterized in that, The scanning steps of the charging gun (2) include rotating the charging gun (2) about a rotation axis to determine the detection zone (8), in which the infrared sensor (6) detects infrared radiation generated by the transmitter (4).

3. The recharging method as described in claim 2, characterized in that, The charging gun (2) has a vertical axis of rotation about which it pivots, and the detection area (8) extends in a horizontal plane and is defined by two line segments (9, 10) that depict the angle.

4. The recharging method as described in claim 3, characterized in that, The method includes the step of determining a specific angle (β) between a straight line parallel to the wall (12) of the vehicle and the bisector (11) of the angle between the detection area (8) defined by the infrared sensor (6) and the wall, in which the charging socket (3) is located. -The step of measuring the minimum distance (d) between the infrared sensor (6) carried by the charging gun (2) and the vehicle wall (12) carrying the charging socket (3), - Using the measured minimum distance (d) and the determined specific angle (β), derive the distance (lg2) and path steps required for the charging gun (2) to be inserted into the charging socket (3) from its initial position. - Move the charging gun (2) along the path defined in the previous step until the charging gun is inserted into the charging socket (3).

5. The recharging method as described in claim 4, characterized in that, The steps for determining the distance and path required for the charging gun (2) to be inserted into the charging socket (3) are derived from common trigonometric relationships involving the measured minimum distance (d) and the determined specific angle (β).

6. The recharging method according to any one of claims 1 to 5, characterized in that, The infrared sensor (6) fixed to the charging gun (2) is collimated and is capable of detecting only direct radiation originating from the infrared emitter (4).

7. The recharging method according to any one of claims 1 to 6, characterized in that, The infrared emitter (4) includes at least one infrared LED.

8. The recharging method according to any one of claims 1 to 7, characterized in that, The distance sensor (5) is an ultrasonic sensor.

9. The recharging method according to any one of claims 1 to 8, characterized in that, The scanning of the charging gun (2) and the steps of moving the gun (2) toward the charging socket (3) of the vehicle (1) are performed by a hinged arm, on which the charging gun (2) is mounted with its distance sensor (5) and its infrared sensor (6).

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