Methods for increasing safety during the charging of a traction battery

Abstract

The invention relates to a method for increasing safety during the charging of a traction battery of an AVP electric vehicle located within a parking space by a charging robot, comprising the following steps: Monitoring the area surrounding the charging robot while the charging robot is charging the drive battery in order to detect a safety-critical event, Upon detection of a safety-critical event, at least one safety measure must be implemented to stop the charging of the drive battery by the charging robot. The invention relates to a device for increasing safety during the charging of a traction battery of an AVP electric vehicle located within a parking space by a charging robot, a parking space, a computer program and a machine-readable storage medium.

Description

[0001] The invention relates to a method for increasing safety during the charging of a traction battery of an AVP electric vehicle, a device for increasing safety during the charging of a traction battery of an AVP electric vehicle, a parking space, a computer program and a machine-readable storage medium. State of the art

[0002] Patent DE 10 2015 200 018 B4 discloses a method for charging an energy storage device of a vehicle at a charging station.

[0003] Utility model specification CN 204 947 654 U discloses a charging device.

[0004] The patent application CN 106 183 843 A discloses a stationary electric vehicle charging station.

[0005] The patent application CN 106 864 295 A discloses a vehicle-based automatic charging system. Disclosure of the invention

[0006] The object underlying the invention is to provide a concept for increasing safety during the charging of a traction battery of an AVP electric vehicle located within a parking space by a charging robot.

[0007] This problem is solved by means of the respective subject matter of the independent claims. Advantageous embodiments of the invention are the subject matter of dependent claims.

[0008] Following a first aspect, a procedure is provided to increase safety during the charging of a traction battery of an AVP electric vehicle located within a parking space by a charging robot, comprising the following steps: Monitoring the area surrounding the charging robot while the charging robot is charging the drive battery in order to detect a safety-critical event, Upon detection of a safety-critical event, at least one safety measure must be implemented to stop the charging of the drive battery by the charging robot.

[0009] A second aspect involves providing a device to increase safety during the charging of a traction battery of an AVP electric vehicle located within a parking space by a charging robot, comprising: a monitoring device which is set up to monitor an area surrounding the charging robot while the drive battery is being charged by the charging robot in order to detect a safety-critical event, an implementation device which is designed to carry out at least one safety measure upon detection of a safety-critical event in order to stop the charging of the drive battery by the charging robot.

[0010] According to a third aspect, a parking space is provided, including a charging robot and the device according to the second aspect.

[0011] According to a fourth aspect, a computer program is provided, comprising instructions which, when the computer program is executed by a computer, for example by the device according to the second aspect, cause it to perform a procedure according to the first aspect.

[0012] According to a fifth aspect, a machine-readable storage medium is provided in which the computer program is stored according to the fourth aspect.

[0013] The invention is based on the understanding and includes the fact that the above problem is solved by monitoring the area surrounding the charging robot while the charging robot is charging the traction battery of the AVP electric vehicle. This monitoring is carried out with the aim of detecting a safety-critical event. If such an event is detected, at least one safety measure is implemented with the aim of stopping the charging robot from charging the traction battery.

[0014] This means, for example, that as soon as an object moves into the surrounding area, at least one safety measure is taken to stop the charging robot from charging the drive battery. For example, the step of stopping the charging robot from charging the drive battery is included in the procedure according to the first aspect.

[0015] This results, for example, in the technical advantage of efficiently increasing safety during the charging of the AVP electric vehicle's traction battery. It can also result, for example, in the technical advantage of ensuring that the operation of a pacemaker is not disrupted if the object is a person wearing a pacemaker.

[0016] In general, this results in the technical advantage of reducing or eliminating health risks to living beings that enter the vicinity of the charging robot during charging. Living beings include, for example, animals or humans.

[0017] A safety-critical event is, for example, the presence or appearance of an object, in particular a living object, especially an animal or a human being.

[0018] The operating area of ​​the charging robot refers specifically to the immediate vicinity of the charging robot. For example, the operating area is a region of the surroundings or environment of the charging robot with a maximum distance of 8 m, 5 m, 3 m, or 2 m.

[0019] The terms "environment" and "surroundings" can be used synonymously. The surrounding area can therefore be referred to as the surrounding area.

[0020] A parking lot, as described above, can also be referred to as a parking area or parking space and serves as a parking area for motor vehicles. A parking lot thus forms, for example, a contiguous area that has several parking spaces (in the case of a parking lot on private property) or parking bays (in the case of a parking lot on public property). A parking lot can also be, for example, a parking garage or a multi-story car park. A multi-story car park can, for example, include an underground parking garage.

[0021] A parking lot as described includes in particular driveways, entrances and exits.

[0022] The abbreviation "AVP" stands for "Automated Valet Parking" and can be translated into German as "automatischer Parkservice" (automated parking service). An AVP process includes, for example, at least highly automated driving of the vehicle from a drop-off zone (also called a drop-off point) to a parking position, and at least highly automated driving of the vehicle from a parking position to a pick-up point (also called a pick-up zone). At the drop-off point, the driver hands over the vehicle for an AVP process. At a pick-up point, the vehicle is retrieved after the AVP process has ended. An AVP process therefore typically starts at the drop-off zone and typically ends at the pick-up zone. The pick-up zone can be the same as, or different from, the drop-off zone.

[0023] An AVP vehicle is therefore a motor vehicle that can participate in an AVP process. Whenever the term "motor vehicle" is used above or below, it should always be understood to mean an AVP vehicle, even if the term "AVP" is not explicitly used.

[0024] The AVP process is carried out on the infrastructure side using an infrastructure-side AVP system of the parking lot and is carried out on the vehicle side using a vehicle-side AVP system.

[0025] The above description of AVP (Automatic Vehicle) refers to a "motor vehicle". Since an electric motor vehicle is also a motor vehicle, the above statements apply analogously to an electric motor vehicle.

[0026] When the term "electric vehicle" or "motor vehicle" is used in this description, it should always be understood that this refers to an AVP electric vehicle or an AVP motor vehicle.

[0027] A traction battery, as described above, is in particular a battery primarily intended to supply electrical energy to the electric motor(s) that provide propulsion in the AVP electric vehicle. A traction battery can also be referred to as a high-voltage storage device, traction battery, or deep-cycle battery.

[0028] The phrase "at least one" means "one or more." This means, for example, that multiple safety measures are implemented. Thus, for instance, the technical advantage is achieved that if one implemented safety measure fails to stop the charging of the drive battery by the charging robot, there is always at least one further safety measure that can do so.

[0029] This results in the particular technical advantage of creating redundancy in this respect.

[0030] In one embodiment of the method, the at least one safety measure is an element selected from the following group of safety measures: sending a stop command to stop charging the drive battery to the charging robot, interrupting the power supply to the charging robot, sending a halt command to stop the charging robot, sending a deactivation command to deactivate the charging robot, sending an emergency stop command to perform an emergency stop procedure on the charging robot side, alerting a rescue service.

[0031] This results, for example, in the technical advantage that particularly suitable safety measures can be provided.

[0032] The charging robot itself can injure a person, for example, through its movement. Sending a stop command can therefore halt the charging robot's movement, thus effectively preventing injuries to people and / or animals caused by the robot's movement, or at least significantly reducing the severity of any accidents.

[0033] In one embodiment of the method, the surrounding area includes an intermediate area between the charging robot and the AVP electric vehicle.

[0034] This results, for example, in the technical advantage of monitoring a particularly useful area of ​​the surrounding environment.

[0035] In one embodiment of the method, it is provided that the charging robot is monitored during charging in order to detect a safety-critical event.

[0036] This results, for example, in the technical advantage that safety can be efficiently increased during the charging of the drive battery.

[0037] In one embodiment of the method, it is provided that, based on the monitoring of the charging robot, an actual behavior of the charging robot is determined, which is compared with a target behavior in order to detect a safety-critical event.

[0038] This results, for example, in the technical advantage that an intended behavior of the charging robot is not detected as a safety-critical event.

[0039] The target behavior is, for example, a behavior that the charging robot should exhibit when charging a drive battery of an AVP electric vehicle.

[0040] In one embodiment of the method, monitoring is carried out using one or more environmental sensors, wherein the one or more environmental sensors are each selected from the following group of environmental sensors: environmental sensor of the AVP electric vehicle, environmental sensor of the charging robot, environmental sensor of a drone, environmental sensor of the parking lot, environmental sensor of another motor vehicle other than the AVP electric vehicle located within the parking lot, environmental sensor of an infrastructure-side AVP system of the parking lot.

[0041] This results, for example, in the technical advantage that monitoring can be carried out efficiently.

[0042] In one embodiment of the method, it is provided that upon detection of a safety-critical event, this event is classified, and at least one safety measure is carried out based on the classification.

[0043] This results, for example, in the technical advantage that at least one security measure can be implemented efficiently. In particular, based on the classification, one or more security measures can be selected from a large number of available security measures.

[0044] In one embodiment of the method, it is provided that if the detected safety-critical event is classified as a person moving into the surrounding area, at least one safety measure is taken to alert a rescue worker.

[0045] This results, for example, in the technical advantage that a particularly useful safety measure is implemented in the event that a person has been detected in the surrounding area.

[0046] In one embodiment of the method, it is provided that the charging robot is guided to the AVP electric vehicle by an infrastructure-based AVP system of the parking lot and / or that the AVP electric vehicle is guided to the charging robot by the infrastructure-based AVP system of the parking lot as part of an AVP process.

[0047] This results, for example, in the technical advantage that the charging process can be carried out efficiently.

[0048] In one embodiment of the method, it is provided that a future charging area is defined within which the traction battery of the AVP electric vehicle is to be charged by the charging robot, wherein the future charging area is monitored before the AVP electric vehicle arrives at the charging area and / or after the AVP electric vehicle arrives in the charging area and before the traction battery is charged by the charging robot and / or after the traction battery is charged by the charging robot and before the AVP electric vehicle leaves the charging area in order to detect a safety-critical event.

[0049] This results, for example, in the technical advantage that the future area can be efficiently monitored, thus increasing security efficiently.

[0050] The process is carried out, for example, using the device.

[0051] For example, the device is configured to execute all steps of the process according to the first aspect. Device features result in particular from corresponding process features and vice versa. This means, in particular, that technical functionalities of the process result analogously from corresponding technical functionalities of the device and vice versa.

[0052] The device is, for example, programmed to execute the computer program.

[0053] One or more process steps are carried out, for example, by an infrastructure-based AVP system of the parking lot.

[0054] An infrastructure-side AVP system can also be referred to as an AVP infrastructure system.

[0055] Sending, as described, includes, for example, sending via a communication network, such as a wireless communication network or a wired communication network.

[0056] An environmental sensor as described is, for example, one of the following environmental sensors: radar sensor, LiDAR sensor, image sensor, in particular image sensor of a video camera, ultrasonic sensor, magnetic field sensor and infrared sensor.

[0057] The environmental sensor(s) monitor, for example, an area as described and output environmental sensor data based on this monitoring. Based on this environmental sensor data, it is determined, for example, whether an object is located within the corresponding area or not. This means, for example, that the environmental sensor data is processed to detect a corresponding object. More generally, the environmental sensor data is processed, for example, to detect a safety-critical event.

[0058] For example, different environmental sensors are used for monitoring, resulting in diverse surveillance. Potential disadvantages of one sensor technology can thus be advantageously compensated for by aspects of another sensor technology. For instance, an infrared camera can detect living beings even in darkness, whereas a video camera without additional lighting would be unable to detect them.

[0059] For example, multiple environmental sensors are used for monitoring to advantageously create redundancy. If, for instance, one of the environmental sensors fails, there is at least one other environmental sensor that can take over monitoring.

[0060] The monitoring device includes, for example, one or more environmental sensors.

[0061] For example, the device includes a processing unit to process environmental sensor data in order to detect a safety-critical event.

[0062] The processing of environmental sensor data can be carried out, for example, in one or more of the following instances: environmental sensor, charging robot, infrastructure-side AVP system, cloud, motor vehicle, for example AVP electric vehicle.

[0063] For example, processing environmental sensor data includes object detection and / or free space detection.

[0064] Object detection involves processing environmental sensor data to identify or detect an object. Free-space detection, also known as open-area detection, processes environmental sensor data to compare the areas or spaces described by the sensor data with reference areas or spaces. If the difference is greater than or equal to a predetermined threshold, the system determines that the corresponding area or space is occupied.

[0065] The procedure is carried out, for example, as part of an AVP process.

[0066] The exemplary embodiments and configurations described here can be combined in any way, even if this is not explicitly described.

[0067] The invention is explained in more detail below with reference to preferred embodiments. These include: Fig. 1. A flowchart of a procedure according to the first aspect, Fig. 2 a device according to the second aspect, Fig. 3 a machine-readable storage medium and Fig. 4 parking spaces.

[0068] Fig. Figure 1 shows a flowchart of a procedure for increasing safety during the charging of a traction battery of an AVP electric vehicle located within a parking space by a charging robot, comprising the following steps: Monitoring 101 of an area surrounding the charging robot during the charging of the drive battery by the charging robot in order to detect a safety-critical event, Upon detection of a safety-critical event, implement at least one safety measure to stop the charging of the drive battery by the charging robot.

[0069] Fig. Figure 2 shows a device 201 for increasing safety during the charging of a traction battery of an AVP electric vehicle located within a parking space by a charging robot, comprising: a monitoring device 203, which is set up to monitor an area surrounding the charging robot during the charging of the drive battery by the charging robot in order to detect a safety-critical event, an implementation device 205, which is set up to carry out at least one safety measure upon detection of a safety-critical event in order to stop the charging of the traction battery by the charging robot.

[0070] Device 201 includes, for example, an infrastructure-side AVP system as described.

[0071] Fig. Figure 3 shows a machine-readable storage medium 301 on which a computer program 303 is stored. The computer program 303 comprises instructions which, when executed by a computer, cause the computer program 303 to perform a procedure according to the first aspect.

[0072] Fig. Figure 4 shows a parking space 401. An AVP electric vehicle 403 is located within the parking space 401. The AVP electric vehicle 403 includes a traction battery 405.

[0073] Within parking space 401 there is a charging robot 407, which can be used to charge the drive battery 405.

[0074] A curved bracket with the reference symbol 409 indicates an area surrounding the charging robot 407.

[0075] The AVP electric vehicle 403 is located in the vicinity of the charging robot 407.

[0076] The surrounding area 409 can be a charging area as described, which is therefore monitored before the arrival of the AVP electric vehicle 403 at the charging robot 407.

[0077] An intermediate area between AVP electric vehicle 403 and charging robot 407 is marked by a further curly bracket with the reference numeral 411 and is encompassed by the surrounding area 409.

[0078] The area 409 is monitored by a video camera 413 with an image sensor 415. The video camera 413 is attached to a mast 417 in the parking lot 401.

[0079] In the Fig. Figure 4 shows only one video camera 413. In an embodiment not shown, it may be provided that, in addition to the video camera 413, further video cameras may be provided for monitoring. In addition to or instead of the video camera(s), further environmental sensors may be used to monitor the surrounding area 409.

[0080] In Fig. Figure 4 shows a person 419 located within the intermediate area 411. The monitoring system detects the existence or presence of person 419 within this intermediate area 411, which constitutes a safety-critical event as described. The fact that the presence of person 419 within the intermediate area 411 is a safety-critical event is symbolically indicated by an arrow with the reference symbol 421.

[0081] Parking space 401 comprises an infrastructure-side AVP system 423, including a wireless communication interface 425 and a processing unit 427. The infrastructure-side AVP system can communicate with, for example, the video camera 413 via the wireless communication interface 425. It is also possible to send one or more commands, as described, to the charging robot 407 via the wireless communication interface 425. Communication between the AVP system 423 and the video camera 425 and / or charging robot 407 can include wired communication instead of, or in addition to, wireless communication.

[0082] The processing unit 427 can be used to process the video data from the video camera 413 in order to comply with the requirements set out in Fig.4 in the embodiment shown, to detect the person 419 or, more generally, an object which is located within the intermediate area 411 and / or within the area 409.

[0083] The detection of a person or object is a safety-critical event as described, so that one or more safety measures are implemented, for example by the infrastructure-side AVP system 423.

[0084] Thus, parking lot 401 includes a device 429 according to the second aspect, wherein the monitoring device is formed by the video camera 413 and wherein the implementation device is implemented by the infrastructure-side AVP system 423.

[0085] The charging robot 407 could, for example, injure person 419 through its movement. Sending a stop command to the charging robot, as an example of a safety measure, can therefore halt the movement of the charging robot 407, thus effectively preventing injury to person 419 due to the movement of the charging robot 407, or at least effectively reducing the severity of an accident.

[0086] The above example shows a human being (419) located in the intermediate area (411). The corresponding explanations apply analogously to an animal.

[0087] In summary, the concept described here is based in particular on the monitoring of an area around a charging robot, especially an area between the charging robot and the AVP electric vehicle, whereby, upon detection of a potential problem, i.e. a safety-critical event, a charging process, especially the energy flow, and / or a movement of the charging robot are interrupted.

[0088] For example, if a safety-critical event is detected, parking lot service personnel can be informed.

[0089] The concept is based primarily on monitoring the area around the charging robot using environmental sensors. Specifically, it monitors whether objects are moving into a certain area, i.e., the surrounding area.

[0090] To detect objects, object recognition can be performed based on environmental sensor data. For example, open space or area detection can be performed based on environmental sensor data to identify occupied or unoccupied areas or spaces around the charging robot.

[0091] For example, the system is designed to determine the processes and movements of the charging robot, particularly its arm, based on monitoring. Specifically, it will determine the actual behavior of the charging robot based on this monitoring. This actual behavior will then be compared, for example, with the intended behavior of the charging robot during the charging of an AVP electric vehicle. Based on this comparison, a safety-critical event will be detected. This comparison ensures that intended movements or behaviors of the charging robot, especially its arm, are not mistakenly identified as problems.

[0092] Monitoring starts or is carried out, for example, before the AVP electric vehicle arrives at the charging robot and / or before the charging process starts and / or during the charging process and / or after the charging process, in particular before the AVP electric vehicle leaves the charging robot or before the charging robot leaves the AVP electric vehicle.

[0093] An environmental sensor as described above is, for example, a static environmental sensor. Such a sensor is permanently mounted around the surrounding area. This type of sensor can also be referred to as a stationary environmental sensor.

[0094] An environmental sensor can be mobile or dynamic. For example, it can be enclosed by a charging robot or a drone.

[0095] In one embodiment, an environmental sensor or several environmental sensors of the AVP electric vehicle and / or of another motor vehicle located within the parking lot are used for monitoring.

[0096] Any possible combination of the above embodiments relating to the various environmental sensors is possible.

[0097] An environmental sensor can therefore be, for example, integrated into the charging robot. An environmental sensor can, for example, be integrated into an AVP infrastructure system.

[0098] An evaluation of the environmental sensor data can be carried out, for example, in the environmental sensor itself, in the charging robot, in a server on site, i.e. at the parking lot itself, for example by the AVP infrastructure system, and / or by a cloud infrastructure.

[0099] For example, the evaluation of environmental sensor data can also be carried out on the vehicle side, for example by the AVP electric vehicle.

[0100] For example, a safety-critical event is classified. One classification describes, for example, that a person has entered the monitored area.

[0101] For example, the appropriate safety measure is selected based on the classification. For instance, if a person has entered the monitored area, an immediate emergency call is made to the fire department or emergency services.

[0102] For example, the charging robot is intended to be static, i.e., a stationary charging robot. Such a charging robot is, for instance, permanently mounted. In this case, the AVP electric vehicle is driven to the charging robot. The AVP electric vehicle can, for example, be guided to the ladder frame by the infrastructure-based AVP system as part of an AVP process.

[0103] For example, the charging robot can be a dynamic charging robot, meaning a mobile charging robot. Such a charging robot can then drive to the AVP electric vehicle. For instance, the infrastructure-based AVP system guides the charging robot to the AVP electric vehicle.

[0104] The process can be carried out, for example, within an AVP (Automated Vehicle Pre-Service) process. This means that, for example, the AVP electric vehicle is driven from the drop-off point or a parking position to a charging area as part of the AVP process. After charging, it can be driven away again, for example to a parking position or directly to a pick-up point.

[0105] For example, it may be planned that the charging robot drives to the parking position of the AVP electric vehicle; in this case, for example, the charging robot is guided by an infrastructure-side AVP system. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2015 200 018 B4

[0002] CN 204 947 654 U

[0003] CN 106 183 843 A

[0004] CN 106 864 295 A

[0005]

Claims

[1] Method for increasing safety during charging of a drive battery of an AVP electric vehicle (403) located within a parking space (401) by a charging robot, comprising the following steps: Monitoring (101) an environmental area (409) of the charging robot during charging of the drive battery by the charging robot in order to detect a safety-critical event (421), upon detection of a safety-critical event (421), carrying out (103) at least one safety measure to stop the charging of the drive battery by the charging robot. [2] The method according to claim 1, wherein the at least one safety measure is an element selected from the following group of safety measures: sending a stop command to stop the charging of the drive battery to the charging robot, interrupting a power supply of the charging robot, sending a stop command to stop the charging robot to the charging robot, sending a deactivation command to deactivate the charging robot to the charging robot, sending an emergency stop command to perform an emergency stop process on the charging robot side to the charging robot, alerting a rescue force. [3] Method according to claim 1 or 2, wherein the surrounding area (409) comprises an intermediate area (411) between the charging robot and the AVP electric vehicle (403). [4] Method according to one of the preceding claims, wherein the charging robot is monitored during charging to detect a safety-critical event (421). [5] Method according to claim 4, based on the monitoring of the charging robot, an actual behavior of the charging robot is determined, which is compared with a target behavior in order to detect a safety-critical event (421). [6] Method according to one of the preceding claims, wherein the monitoring is carried out using one or more environmental sensors, wherein the one or more environmental sensors are each an element selected from the following group of environmental sensors: environmental sensor of the AVP electric motor vehicle (403), environmental sensor of the charging robot, environmental sensor of a drone, environmental sensor of the parking space (401), environmental sensor of another motor vehicle different from the AVP electric vehicle (403) which is located within the parking space (401), environmental sensor of an infrastructure-side AVP system (423) of the parking space (401). [7] Method according to one of the preceding claims, wherein upon detection of a safety-critical event (421), said event is classified, wherein the at least one safety measure is carried out based on the classification. [8] Method according to claim 7 as far as dependent on claim 2, wherein, if the detected safety-critical event (421) was classified as a person moving into the surrounding area (409), a rescue force is alerted as at least one safety measure. [9] Method according to one of the preceding claims, wherein the charging robot is guided to the AVP electric vehicle (403) by an infrastructure-side AVP system (423) of the parking lot (401) and / or wherein the AVP electric vehicle (403) is guided to the charging robot by the infrastructure-side AVP system (423) of the parking lot (401) as part of an AVP process. [10] Method according to one of the preceding claims, wherein a future charging area is defined within which the drive battery of the AVP electric vehicle (403) is to be charged by the charging robot, wherein the future charging area is monitored before the AVP electric vehicle (403) arrives at the charging area and / or after the AVP electric vehicle (403) arrives in the charging area and before the drive battery is charged by the charging robot and / or after the drive battery is charged by the charging robot and before the AVP electric vehicle (403) drives away from the charging area in order to detect a safety-critical event (421). [11] Device (201) for increasing safety during charging of a drive battery of an AVP electric vehicle (403) located within a parking space (401) by a charging robot, comprising: a monitoring device (203) which is configured to monitor an environmental area (409) of the charging robot during charging of the drive battery by the charging robot in order to detect a safety-critical event (421), an implementation device (205) which is configured to implement at least one safety measure upon detection of a safety-critical event (421) in order to stop the charging of the drive battery by the charging robot. [12] Parking space (401) comprising a loading robot and the device according to claim 11. [13] Computer program (303) comprising instructions which, when the computer program (303) is executed by a computer, cause the computer to carry out a method according to one of claims 1 to 10. [14] Machine-readable storage medium (301) on which the computer program (303) according to claim 13 is stored.

Images