Charging equipment for automated, conductive transfer of electrical energy

Abstract

The invention relates to a first charging device for the automated, conductive transfer of electrical energy between the first charging device and a second charging device, and to a second charging device. The first charging device comprises a first contact unit through which electrical energy can be transferred in an energy transfer operation upon contact with a second contact unit of the second charging device; and a positioning transmitter with at least two transmitting coils for generating different alternating positioning magnetic fields for detecting, by detecting and evaluating the different alternating positioning magnetic fields, the relative positioning of the first contact unit to the second contact unit in a positioning operation in which at least one of the contact units is moved relative to the other contact unit.

Description

[0001] The invention relates to a first charging device for the automated, conductive transfer of electrical energy between the first charging device and a second charging device. The invention further relates to a second charging device for the automated, conductive transfer of electrical energy between the first charging device and the second charging device. Finally, the invention relates to a vehicle and a method for establishing a conductive connection for the automated, conductive transfer of electrical energy between the first charging device and a second charging device. The first charging device and the second charging device together form a charging system according to the invention.

[0002] For automated parking of electric vehicles, such as automated valet parking (AVP), automated charging solutions are required to charge the electric vehicle's battery. Currently, both contactless, inductive solutions and automated conductive charging solutions are the subject of ongoing research. With AVP, the sensors for automated parking can be integrated into the vehicle itself, allowing it to autonomously navigate to the parking space. Alternatively, the sensors can be installed in the infrastructure (e.g., in a parking garage), with the information then being transmitted to the vehicle for control purposes.

[0003] German patent DE 102017115909 A1 discloses a method and a vehicle connection device for establishing an electrical connection between a vehicle contact unit of an at least partially electrically powered vehicle and a ground contact unit of an electric charging infrastructure. The ground contact unit has several electrical contact surfaces, at least two of which must be touched by the vehicle contact unit for conductive charging of the vehicle battery. The vehicle contact unit has an extendable base for this purpose. At least one of the electrical contact surfaces and / or at least one insulating surface surrounding the electrical contact surfaces is detected by means of at least one camera on the vehicle to establish an electrical connection.The information that the vehicle is near a ground contact unit can be detected by the vehicle connection device's control system, for example, via wireless communication such as Wi-Fi, Bluetooth, GPS, or radio. This type of charging infrastructure is also known as ACD-U (Automatic Connection Device Underbody).

[0004] A charging device for charging an electric vehicle is known from WO 2022 / 000006 A1. After the devices have assumed an interaction position for coarse positioning, interaction elements are moved relative to each other for fine positioning. A positioning system determines the relative position between the interaction elements to control the fine positioning. This positioning system uses UWB (ultra-wideband) radio signal transmission. This type of charging infrastructure is also referred to as ACD-U.

[0005] US Patent 2023 / 108220 A1 discloses a charging station with a robot for charging a vehicle. The robot has a robot-side charging interface for establishing a charging connection with the vehicle's charging interface. In a positioning phase, the robot-side charging interface is moved into an initial connection position, and in a connection phase, it establishes a charging connection with the vehicle's charging interface. The presence of a vehicle in a charging position is detected, for example, by image sensors or by operator input. This type of charging infrastructure is also referred to as ACD-S (Automatic Connection Device Side).

[0006] Regardless of the specific charging solution, the vehicle must be positioned in a particular way relative to the charging infrastructure so that the respective contact units can be moved relative to each other to establish contact for conductive energy transfer. Vehicles with parking assistants or AVP interfaces can independently find the appropriate parking space or be guided there by external information. However, final positioning at the charging interface requires a higher degree of accuracy than parking assistants or AVP systems can achieve.

[0007] Furthermore, an automated charging solution requires the vehicle to connect to the corresponding infrastructure at or next to where it comes to a stop (so-called pairing). This is necessary for both manual parking by a driver and automated parking maneuvers. Especially in manual parking, the driver should have the freedom to choose a parking space and should be able to select any available space without having to establish a connection to the infrastructure beforehand, for example, by selecting or clicking a corresponding option on a screen in the vehicle; in other words, no "preselection" by the driver should be required.

[0008] The present invention is based on the objective of enabling positioning between a first charging device and a second charging device with high positioning accuracy and high user comfort for automated, conductive energy transfer, in particular for charging the battery of an electric vehicle.

[0009] According to one aspect of the present invention, a first charging device is provided for the automated, conductive transfer of electrical energy between the first charging device and a second charging device, wherein the first charging device comprises: - a first contact unit through which, in an energy transfer operation, electrical energy can be transferred upon contact with a second contact unit of the second charging device; and - a positioning transmitter device with at least two transmitting coils for generating different positioning magnetic alternating fields for detecting, by detecting and evaluating the different positioning magnetic alternating fields, the relative positioning of the first contact unit to the second contact unit in a positioning operation in which at least one of the contact units is moved relative to the other contact unit.

[0010] According to a further aspect of the present invention, a second charging device is provided for the automated, conductive transfer of electrical energy between a first charging device and the second charging device, wherein the second charging device comprises: - a second contact unit through which electrical energy can be transferred in a power transfer operation upon contact with a first contact unit of the first charging device; and - a positioning receiving device with at least one receiving coil for detecting different positioning magnet alternating fields and an evaluation unit for evaluating the detected positioning magnet alternating fields to recognize the relative positioning of the first contact unit to the second contact unit in a positioning operation in which at least one of the contact units is moved relative to the other contact unit.

[0011] According to another aspect of the present invention, an electric vehicle is provided with a battery and a first or second charging device.

[0012] According to a further aspect of the present invention, a method for establishing a conductive connection for the automated, conductive transfer of electrical energy between a first charging device and a second charging device is provided, comprising the steps of: - Detection of the relative positioning of a vehicle in or on which the first or second charging device is arranged, with respect to the other charging device not arranged in or on the vehicle, during the vehicle's approach to the other charging device, in particular whether the vehicle has reached a predetermined positioning with respect to the other charging device; and - Detection of the relative positioning of the two contact units to each other during the relative movement of the two contact units to each other, in particular whether the two contact units are touching each other in a predetermined positioning.

[0013] Preferred embodiments of the invention are defined in the dependent claims. It is understood that the claimed method and the claimed vehicle have similar and / or identical preferred embodiments to the claimed charging devices, in particular as defined in the dependent claims and as disclosed herein.

[0014] The invention is based on the idea of ​​using alternating magnetic fields for positioning instead of optical sensors (e.g., image sensors) or radio signal transmission means (e.g., UWB sensors). The alternating magnetic fields generated by several transmitting coils are detected and evaluated by one or more receiving coils to determine their relative positions very quickly and accurately. This positioning information can be used to guide the vehicle or correct its position as it approaches the charging infrastructure until it reaches the desired position. As the vehicle approaches the charging infrastructure, the (first or second) contact unit arranged in or on the vehicle is moved relative to the other contact unit by the vehicle's movement, thus completing at least a (first) part of the positioning operation (i.e.,, the positioning of the vehicle relative to the charging infrastructure) in which at least one of the contact units (namely the contact unit arranged in the vehicle) is moved relative to the other contact unit.

[0015] Furthermore, if necessary, the relative positioning of the contact units to each other can also be monitored and corrected during the movement of at least one contact unit to another. For example, in a charging device of type ACD-U, an arm or nozzle with a contact unit extending from the vehicle to a base plate, or an arm or nozzle with a contact unit extending from a base plate to the vehicle, can optionally be moved in a direction parallel to the vehicle underbody or base plate, or rotated about an axis of rotation, in order to contact the corresponding contact unit in the optimal position for optimal electrical energy transfer. This positioning thus also constitutes a (second) part of the positioning operation (i.e.,, the positioning of the two contact units themselves relative to each other) in which at least one of the contact units is moved relative to the other contact unit, for which the first contact unit, the second contact unit or both contact units can be moved.

[0016] In a preferred embodiment, the at least two transmitting coils each have a winding axis, and the at least two transmitting coils are arranged such that their winding axes run substantially parallel to each other, in particular that the winding axes run substantially in the direction of movement of the movable contact unit or substantially in a direction perpendicular to a direction of movement of a device to which one of the contact units is attached. For example, all transmitting coils can be arranged such that their winding axes run substantially parallel to each other and in the direction of movement of the movable contact unit. All transmitting coils can lie in the same plane and each be designed as a flat coil.Alternatively, the transmitting coils can also be arranged such that their winding axes run essentially in a direction perpendicular to the direction of movement of a device to which one of the contact units is attached. This device could, for example, be a vehicle on which the transmitting coils are arranged, e.g., on, under, or in the area of ​​the loading flap, in such a way that the vehicle can be positioned. It is generally advantageous if the magnetic centers of the coils are known and defined.

[0017] Alternatively, at least three transmitting coils can be provided, in which case one of the three transmitting coils can be arranged such that its winding axis is essentially perpendicular to the winding axes of the other transmitting coils. This one transmitting coil (also called the horizontal coil) can then, for example, not be designed as a flat coil like the other transmitting coils (also called vertical coils), but as a solenoid coil wound around a support. The different winding axes can, for example, serve to detect the position of a vehicle first from a greater distance (e.g., 0.5 m or 1 m up to approximately 10 m) using the horizontal coil and then at a shorter distance (e.g., less than 1 m or 0.5 m) using the vertical coils.

[0018] This horizontal coil is used in particular for remote positioning and thus generates a magnetic field that is sufficient or optimal at relatively large distances between the two charging devices. The remote positioning can cover a range between a minimum and a maximum distance. The maximum distance for remote positioning can be several meters. Preferably, the maximum distance for remote positioning can be between 5 and 15 m, particularly preferably 10 m. The remote positioning can have a minimum distance below which no positioning is possible with this method. Advantageously, the minimum distance for remote positioning is at least as great as the maximum distance for near positioning. However, it is also possible for the minimum distance for remote positioning to be greater than the maximum distance for near positioning.In this case, there may be a short transition period where positioning must be carried out without a positioning method. For example, positioning can simply continue in the corresponding direction after the last evaluated signal from the remote positioning system until the near positioning system provides evaluable signals. Alternatively, it is also possible that the minimum distance for remote positioning is greater than the maximum distance for near positioning. In this case, the two positioning methods overlap.

[0019] The minimum distance for remote positioning can be, for example, between 20 cm and 1 m. Preferably, the minimum distance for remote positioning can be approximately 0.5 m. The term "remote" therefore preferably refers to a distance range between 0.5 m and 10 m. The term "near" therefore preferably refers to a distance range of less than 1 m.

[0020] For near positioning, various transmitted and received near positioning signals can be compared to determine deviations from an optimal position. This requires generating multiple near positioning signals (for example, the magnetic fields mentioned above generated by the vertical coils) that are distinguishable from one another. These near positioning signals must differ from each other in a distinguishing criterion. One possible distinguishing criterion is frequency. The intervals between two frequencies can be between 0.1 and 5 kHz, for example, approximately 1 or 2 kHz. The frequencies used could be, for example, four or more of the following (or other) frequencies: 111.5 kHz, 113.5 kHz, 115.5 kHz, 117.5 kHz, 142 kHz, 143 kHz, 145 kHz, and 146 kHz.Another possibility is to choose only one frequency for all near positioning signals, but to use different pulse widths for the different near positioning signals as a distinguishing criterion.

[0021] In a further embodiment, the at least two transmitting coils are each configured to generate a positioning magnet alternating field with a frequency and / or pulse width that differs from the frequencies and / or pulse widths of the positioning magnet alternating fields generated by the other transmitting coils. The frequencies of the positioning magnet alternating fields can, for example, be in the range of 5 kHz to 150 kHz, preferably in the range of 110 kHz to 148.5 kHz, and particularly preferably in the range of 110–118.5 kHz and / or 140–148.5 kHz. This allows the positioning magnet alternating fields to be clearly distinguished, which increases the positioning accuracy.

[0022] The first charging device can be equipped with a planar base unit, particularly for installation in or on a floor or on a vehicle, wherein the first contact unit has several contact elements arranged in or on a surface of the base unit, with the at least two transmitting coils arranged in or on the surface of the base unit (quasi as vertical coils). Preferably, in one embodiment, a third transmitting coil is also arranged in or on the surface of the base unit (quasi as another vertical coil) or at least partially around the base unit (quasi as a horizontal coil). For charging, the second contact unit is moved towards the first contact unit to establish contact, with its position being detected during the movement and corrected if necessary.

[0023] The first charging device can alternatively be equipped with a planar base unit, particularly for arrangement in or on a floor or on a vehicle, wherein the first contact unit comprises a contact plate, several contact elements arranged in or on a surface of the contact plate, and a movement unit that connects the contact plate to the base unit and can move the contact plate towards the second contact unit, wherein the at least two transmitting coils are arranged in or on a surface of the base unit or the surface of the contact plate. Preferably, in one embodiment, a third transmitting coil is also arranged in or on the surface of the base unit or the contact plate, or at least partially around the base unit or the contact plate. The first contact unit is then moved to the second contact unit by means of a movement unit, e.g., a robot arm (e.g., a robotic arm).A multi-axial arm or linear unit, a telescopic cylinder, a pantograph, or similar device is moved to establish contact. The positioning can also be detected during the movement and corrected if necessary. A pantograph is a mechanical, multi-jointed element with one or more joints, commonly used in robotics. It serves to transmit movements as precisely as possible. In contrast to more complex multi-jointed structures (e.g., a multi-axial robot arm), the movement is often parallel and limited to one plane (two-dimensional). A pantograph may have a frame on which the jointed structure is mounted.

[0024] In a further embodiment, the first charging device comprises a robot arm, wherein the first contact unit has a plug with multiple contact elements arranged on the robot arm for insertion into a socket of the second contact unit, wherein the at least two transmitting coils are arranged in or on the robot arm and / or in or on the plug. This allows, in particular, the positioning of the robot arm to be monitored and, if necessary, corrected when it is moved towards the vehicle and inserts the plug into the socket. Alternatively, the first contact unit can have a socket with multiple contact elements and a movable cover for the socket, wherein the at least two transmitting coils are arranged next to the socket and / or in or on the cover.

[0025] In a further embodiment, the first charging device has a robot arm, wherein the first contact unit has a socket with several contact elements which is arranged on a vehicle for inserting a plug of the second contact unit into the socket of the first contact unit, wherein the at least two transmitting coils are arranged in the charging flap, in the area of ​​the socket behind the charging flap or in the area around the charging flap.

[0026] In a further embodiment, the first charging device has at least one flux guiding element, e.g., one or more ferrite elements, for guiding the magnetic fields generated by the transmitting coils and / or a magnetic shield. This increases the efficiency of the generated magnetic fields and thus the accuracy of the positioning detection.

[0027] A flux guide element is suitable for guiding a magnetic field in a predetermined manner. It possesses a high magnetic permeability of µ. r >1, preferably µ r >50, especially preferred µ r >100. The flux guide element essentially acts as a magnetic core for the windings of the transmitting coils. In particular, the magnetic field is influenced by the high permeability of the flux guide element to ensure the largest possible magnetic flux transmission. A flux guide element preferably consists of ferromagnetic or ferrimagnetic material, most preferably ferrite, but can also be made of ferrimagnetic or ferromagnetic powder or be a flexible ferrite element, making the flux guide elements bendable. Flexible plastics with embedded ferrite particles can also be used.

[0028] For magnetic shielding, for example to prevent unwanted magnetic stray fields or heating of external components, a metallic sheet, such as an aluminum sheet, or a metallic shielding plate can be used. The metallic shielding can simultaneously serve as a cooling element (cooling plate), for which a slightly thicker shielding plate is more suitable, and / or may also incorporate cooling channels.

[0029] In a further embodiment, the first contact unit is provided with at least one communication line for contacting a second communication line of the second contact unit, thus enabling communication between the first and second charging devices. This allows communication between the charging infrastructure and the vehicle to exchange the data required for the charging process, such as information regarding charging power, charging current, battery capacity, energy demand, etc. Optionally, a wireless data connection can also be established for communication, for example, a connection via Bluetooth, Wi-Fi, cellular network, etc.

[0030] Furthermore, a communication unit can be provided for embedding, in particular modulating, information onto one or more of the positioning magnet alternating fields for transmission of the information to the second charging device. This allows, for example, the following information to be embedded into one or more of the positioning magnet alternating fields: - Identification and / or specification of the first charging device; - Achieving a desired relative positioning of the two contact units; - Readiness to establish contact between the two contact units to start the energy transfer operation; - Transmission of charging-specific data (e.g. power, battery voltage, SoC); - Personal data, in particular account details for payment; and - Information, especially encrypted messages, for contactless entry into locked properties (e.g. automatic opening of a garage door by sending / receiving a key).

[0031] Separate means of communication, for example via Wi-Fi, Bluetooth, UWB or the like, can therefore be omitted in the embodiment according to the invention.

[0032] The first charging device can further comprise a communication unit for extracting, in particular demodulating, information embedded, in particular modulated, in at least one communication alternating magnetic field, and an evaluation unit for evaluating the extracted information. Both unidirectional and bidirectional communication can be realized using the magnetic fields.

[0033] The receiving coil detects the alternating magnetic fields generated by the transmitting coils located at different positions. These fields can be distinguished from one another, for example, by their frequencies. By evaluating the intensities or by calculating the difference or ratio of the detected signals, the relative positioning can be determined. This allows for the determination of both the relative positioning of the vehicle in relation to the charging infrastructure and the relative positioning of the contact units to each other.

[0034] The transmitting coils generate distinguishable magnetic fields, allowing a receiver to determine, for example, the ratio between at least two of the fields generated by the transmitting coils. Alternatively, the absolute values ​​of the measured magnetic fields can also be used for evaluation. Due to the fixed arrangement of the transmitting coils within the first charging unit and the fixed arrangement of the receiving coil(s) within the second charging unit, the ratio changes depending on the relative position of the charging units to each other. Thus, the charging units are, for example, arranged overlapping in a predetermined ratio of magnetic fields to each other.

[0035] In this way, the relative position of the charging devices, and in particular an overlapping arrangement, can be determined simply and effectively. Since ratios and / or absolute values ​​of the magnetic fields are used to determine the relative position, a reliable determination of the relative position is ensured.

[0036] In one embodiment of the second charging device, the positioning receiver has at least two receiving coils, the at least two receiving coils being arranged such that their winding axes are at an angle to each other, in particular perpendicular to each other, and at an angle, in particular perpendicular to the direction of movement of the movable contact unit. This allows for redundancy in position determination, since the signal from a single receiving coil may be weak or unusable in certain positions. In principle, more than two receiving coils can also be used, for example, three receiving coils rotated 60° relative to each other, to further increase the redundancy and accuracy of the position determination.

[0037] Preferably, the winding axes of the at least two receiving coils are arranged at an angle between 70° and 110° to each other, in particular perpendicular to each other, and / or intersect in their central region. The first receiving coil can have a first radial longitudinal direction, and the second receiving coil can have a second radial longitudinal direction. The first radial longitudinal direction and the second radial longitudinal direction are each arranged at an angle of 45° ± 10°, preferably at an angle of 45°, to the longitudinal direction of a mobile device (such as a vehicle) whose position is to be detected, with the first radial longitudinal direction and the second radial longitudinal direction intersecting at an angle of 70°–110°, preferably perpendicularly.

[0038] In general, the winding of a coil extends in at least two dimensions around an axis. The principal direction of extension perpendicular to the winding axis is referred to here as the radial longitudinal direction. Thus, in the case of a winding with a rectangular (non-square) cross-section, the principal direction of extension runs along or parallel to the longer side of the rectangle. In the case of a winding with an elliptical cross-section, the radial longitudinal direction runs along or parallel to the major axis of the ellipse. The radial longitudinal direction of a receiving coil according to the invention can preferably lie in a plane that extends parallel to the surface or a base plate.

[0039] A corresponding arrangement of the angles of the radial longitudinal directions is advantageous for achieving the highest possible sensitivity in detection and for the simplest possible calculation of the positional deviation between the mobile and stationary devices. If the two angles between the respective radial longitudinal direction of the receiving coils and the longitudinal direction of the mobile device are approximately equal, this means that the receiving coils are arranged symmetrically with respect to the direction of travel.

[0040] As already explained, the evaluation unit can be designed to recognize the relative positioning of the first contact unit to the second contact unit based on the ratio or difference of the positioning magnet alternating fields detected by the at least two receiving coils.

[0041] In one embodiment, it is provided that the second contact unit has a contact plate and several contact elements arranged in or on a surface of the contact plate, and that the at least one receiving coil is arranged around the contact plate or around a carrier connected to the contact unit or around a cover of the contact elements.

[0042] The second contact unit can also have a socket with multiple contact elements and a movable cover of the socket, wherein the at least one receiving coil is arranged next to the socket, in or on the cover or around the cover.

[0043] Furthermore, in one embodiment it is provided that the second charging device has a robot arm, wherein the second contact unit has a plug with several contact elements which is arranged on the robot arm for inserting the plug into a socket of the first contact unit, and wherein the at least one receiving coil is arranged in or on the robot arm and / or in or on the plug.

[0044] As with the first charging device, the second charging device can also have at least one flux guide element to guide the positioning magnet alternating fields and / or a magnetic shield to ultimately improve the accuracy of the positioning.

[0045] Like the first charging device, the second charging device can also have a communication unit for extracting, in particular demodulating, information embedded, in particular modulated, into one or more of the positioning magnet alternating fields, wherein the evaluation unit is configured to evaluate the extracted information. Furthermore, a communication unit can also be provided for embedding, in particular modulating, information into at least one communication magnet alternating field for transmitting the information to the first charging device, wherein the at least one receiving coil and / or at least one communication coil is configured to generate the at least one communication magnet alternating field. Thus, both unidirectional and bidirectional communication can be realized via the magnetic fields.

[0046] The evaluation unit can also be designed for detection, - the relative positioning of a vehicle in or on which the first or second charging device is arranged, in relation to the other charging device not arranged in or on the vehicle during the vehicle's approach to the other charging device, in particular whether the vehicle has reached a predetermined position in relation to the other charging device, and / or - the relative positioning of the two contact units to each other during the relative movement of the two contact units to each other, in particular whether the two contact units touch each other in a predetermined positioning.

[0047] Preferably, the same magnetic fields and coils can be used for both types of detection. Alternatively, different magnetic fields and / or different coils can be used.

[0048] It is understood that the features mentioned above and those to be explained below can be used not only in the combinations specified, but also in other combinations or on their own, without leaving the scope of the present invention.

[0049] Exemplary embodiments of the invention are illustrated in the following drawings and are explained in more detail in the following description, where identical reference numerals refer to identical, similar, or functionally equivalent components. The drawings show: Fig. Figure 1 shows a block diagram of a charging system according to the invention. Fig. Figure 2 shows a top view and a cross-section of a positioning transmitter device according to the invention. Fig. Figure 3 shows a top view and a cross-section of a positioning receiving device according to the invention. Fig. Figure 4 shows a first embodiment of a charging system according to the invention. Fig. 5 shows a perspective view of the in Fig. 4 charging systems shown. Fig. Figure 6 shows the different stages in establishing a connection in the Fig. 5 charging systems shown. Fig. Figure 7 shows a second embodiment of a charging system according to the invention. Fig. Figure 8 shows a third embodiment of a charging system according to the invention.

[0050] Fig. Figure 1 shows a block diagram of a charging system 3 according to the invention, comprising a first charging device 1 and a second charging device 2. Such a charging system 3 can be used, for example, for conductive charging of the battery of an electric vehicle, such as an electric car, an electric truck, an electric bus, or the like. In particular, such a charging system can be used for automated charging, where the user does not have to manually plug the connector of a charging cable from a charging device into a corresponding socket of the vehicle, as is necessary with conventional charging stations. For this purpose, it must be ensured that the vehicle is located in a position specified for automated charging or at least within a tolerance range around a specified position.

[0051] The charging system 3 or the charging devices 1, 2 according to the invention are designed such that, in a positioning mode, they assist the driver or user in positioning the vehicle at the predetermined position, e.g., when parking the vehicle in a parking space with a charging device. This constitutes a first positioning mode. In the case of an autonomously driving vehicle, corresponding control commands can be transmitted to the vehicle in this first positioning mode so that the vehicle drives autonomously to the predetermined position. Furthermore, the charging system 3 or the charging devices 1, 2 according to the invention are designed to assist the driver or user in positioning the vehicle at the predetermined position.The charging devices 1, 2 according to the invention are optionally designed to support the positioning of contact units of the two charging devices in a second positioning operation, after the vehicle has been positioned at the predetermined position in the first positioning operation, so that they come into correct contact in order to then start the energy transfer operation.

[0052] It should be mentioned at this point that the invention provides for embodiments in which the first charging device 1 constitutes the charging infrastructure, for example at a parking space on the ground of the parking space or next to the parking space, and the second charging device 2 is arranged in or on the vehicle. In other embodiments of the invention, the second charging device 2 constitutes the charging infrastructure, while the first charging device 1 is arranged in or on the vehicle.

[0053] Furthermore, it should be noted that the energy flow can generally occur from the first charging station 1 to the second charging station 2, or in the opposite direction, or in both directions. To charge a vehicle's battery, the energy flow generally occurs from the charging infrastructure to the vehicle. If the vehicle's energy is to be fed into the grid, the energy flow can, in principle, also occur in the other direction.

[0054] The first charging device 1 for the automated (or automatic) conductive transfer of electrical energy between the first charging device 1 and the second charging device 2 comprises a first contact unit 10 and a positioning transmitter 11, with a communication unit 12 optionally being provided. The second charging device 2 for the automated, conductive transfer of electrical energy between the first charging device 1 and the second charging device 2 accordingly comprises a second contact unit 20 and a positioning receiver 21, with a communication unit 22 optionally being provided.

[0055] Once the first contact unit 10 and the second contact unit 20 have come into contact, electrical energy can be transmitted conductively in an energy transfer operation. For this purpose, the vehicle is first moved to the appropriate position in a (first) positioning operation, and then, in a (second) positioning operation, the two contact units 10 and 20 are moved relative to each other until they touch in a predetermined position. Depending on the configuration, this is achieved either by moving the first contact unit 10 towards the second contact unit 20, or by moving the second contact unit 20 towards the first contact unit 10, or by moving both contact units 10 and 20 towards each other.The contact units 10, 20 are designed accordingly for conductive electrical energy transmission, for example as metallic plates or stamps made of electrically conductive material, or as plugs and sockets or in other ways that enable conductive electrical energy transmission.

[0056] The positioning transmitter 11 and the positioning receiver 21 serve primarily to position the vehicle in the correct position, thus ensuring the first positioning operation. Optionally, the positioning of the two contact units 10, 20 can also be carried out in the second positioning operation, whereby in other embodiments separate means may be provided for this second positioning operation, for example optical means (e.g. a camera), radio means (a UWB transmitter and receiver), or the like.

[0057] The positioning transmitter 11 has at least two (preferably at least three, e.g., five) transmitting coils for generating different alternating positioning magnetic fields. A schematic representation of an embodiment of a positioning transmitter 11 used according to the invention is shown in Fig. 2 shown, where Fig. 2A a top view and Fig. Figure 2B shows a cross-section. A total of five transmitting coils, 110 and 111, are shown there.

[0058] Four transmitting coils 110 are each designed as a flat coil with one or more turns and are arranged in or on a carrier 112 (e.g., a plastic plate) at different locations, e.g., at the corners of a rectangle. The winding axes 113 of these transmitting coils 110 run perpendicular to the carrier 112. The alternating positioning magnetic fields generated by these transmitting coils 110 thus have a main magnetic field direction perpendicular to the surface of the carrier 112, which is why these transmitting coils 110 are also referred to as vertical coils or near-field coils, which are primarily used for positioning in the near field (e.g., at a distance of less than 1 m or less than 0.5 m between the positioning transmitter 11 and the positioning receiver 21).

[0059] The fifth transmitting coil 111 is designed as a solenoid coil with one or more turns and is arranged, for example, around the support 112. Its winding axis 114 runs in a direction parallel to the surface of the support 112. The alternating positioning magnetic field generated by this transmitting coil 111 thus has a main magnetic field direction parallel to the surface of the support 112, which is why this transmitting coil 111 is also referred to as a horizontal coil or far-field coil, which is used primarily for positioning in the far-field range (for example, at a distance of more than 0.5 m or more than 1 m between the positioning transmitter 11 and the positioning receiver 21). Optionally, the transmitting coil 111 can be omitted, so that only at least two, preferably three or four, transmitting coils 110 are used.

[0060] The transmitting coils 110 and 111 are each designed to generate an alternating positioning magnetic field with a frequency and / or pulse width that differs from the frequencies and / or pulse widths of the alternating positioning magnetic fields generated by the other transmitting coils. This allows differentiation as to which alternating positioning magnetic field originates from which transmitting coil, which can be used for positioning determination.

[0061] Optionally, the positioning transmitter 11 can also be used, as described in Fig. 2, additionally comprising one or more flux guiding element(s) 115, e.g., one or more ferrite plates, and / or shielding element(s) 116, e.g., a metal plate. Furthermore, a signal generation unit and / or a control unit (not shown) may be provided, which may be provided as parts of the first charging device 1 or as external elements and which provide, in particular, the corresponding signals to the transmitting coils 110, 112 for generating the positioning magnet alternating fields.

[0062] The positioning receiver 21 has at least one (preferably two or three) receiving coil(s) 210, 211 for detecting different alternating positioning magnetic fields generated by the transmitting coils 110, 111. A schematic representation of an embodiment of a positioning receiver 21 used according to the invention is shown in Fig. 3 shown, where Fig. 3A a top view and Fig. Figure 3B shows a cross-section. Two receiving coils 210 and 211 are shown there. The positioning receiving device 21 also includes an evaluation unit 212 for evaluating the detected alternating fields of the positioning magnets. The evaluation unit 212 can be part of the positioning receiving device 21 or part of the second charging device 2.

[0063] The receiving coils 210, 211 are preferably each configured as a solenoid coil with one or more turns and are arranged, for example, around a support 213. Their winding axes 214, 215 run in a direction parallel to the surface of the support 213 and perpendicular to each other, intersecting, for example, at an angle in the range of 50°–110°, for example, at an angle in the range of 70°–110° (e.g., 90°) for two receiving coils; and at an angle in the range of 50°–70° (e.g., 60°) for three receiving coils. Their main magnetic field directions thus run along the respective winding axes.

[0064] The receiving coils 210 and 211 detect the alternating positioning magnetic fields generated by the transmitting coils 110 and 111, as these fields induce an alternating voltage in the receiving coils 210 and 211, respectively. For example, the different frequencies of the alternating positioning magnetic fields allow differentiation of which induced alternating voltage was generated by which alternating positioning magnetic field and thus by which transmitting coil.The evaluation unit uses this information—the knowledge of the positions of the transmitting coils 110 and 111 and the induced AC voltages—to determine the relative positioning of the positioning transmitter 11 with respect to the positioning receiver 21. This also allows the relative positioning of the first contact unit 10 with respect to the second contact unit 20 to be determined, since the spatial position of the first contact unit 10 with respect to the positioning transmitter 11 and the spatial position of the second contact unit 20 with respect to the positioning receiver 21 are known. The AC voltage induced by the transmitting coil 111, for example, its absolute value, is used for positioning at greater distances, such as when the vehicle approaches the charging infrastructure. For relative positioning at close range, the absolute values ​​or ratios are used.Differences in absolute values ​​of the alternating voltages induced by the transmitting coils 110 are used.

[0065] Optionally, the positioning receiving device 21 can also be configured as described in Fig. 3 shown, additionally comprising one or more flow guiding element(s) 216, e.g. one or more ferrite plates, and / or shielding element(s) 217, e.g. a metal plate.

[0066] The in Fig. The charging device shown in Figure 2 thus generates defined alternating magnetic fields for positioning, the frequencies of which are fixed and assigned to the magnetic center of the respective field. These defined magnetic fields can be controlled by the device shown in Figure 2. Fig. The charging device shown in section 3 is evaluated to determine the position.

[0067] Pairing between charging devices can be achieved by evaluating the generated magnetic fields for positioning. For example, a code can be modulated onto the generated magnetic field using on / off keying, allowing the first charging device to be uniquely identified by the second. Furthermore, the second charging device can receive the information it needs to establish a communication connection with the correct first charging device.

[0068] Fig. Figure 4 shows a first embodiment of a charging system 4 according to the invention. This embodiment utilizes the design of the ACD-U type charging system known from the aforementioned DE 102017115909 A1, which has been modified for positioning. A vehicle 300, for example a battery-powered vehicle or a plug-in hybrid vehicle, is shown, parked on or above a ground contact unit 311 with contact surfaces 312 of a first charging device 310. A second charging device 320 (also referred to as a vehicle connection device) is attached to the underbody of the vehicle 300, which can electrically connect the vehicle 300 to the first charging device 310, more precisely, one vehicle contact unit 321 with contact surfaces 322 of the second charging device 320 to the ground contact unit 311.The second charging device 320 can move the vehicle contact unit 321 towards the ground contact unit 311 by means of a bellows 323 until they touch, so that electrical energy can then be transferred from the ground contact unit 311 to the vehicle contact unit 321 during energy transfer operation. For further details regarding the design and operation of this mechanism, reference is made to DE 102017115909 A1.

[0069] In this embodiment, the electrical contact is made on the ground. In other embodiments, the mechanism can be designed such that the ground contact unit 311 is moved towards the vehicle contact unit 321, and the electrical contact is made on the underbody of the vehicle. Finally, it is also possible for both units 311 and 321 to be moved towards each other, and the electrical contact is made in the area between the underbody of the vehicle and the ground.

[0070] For positioning the vehicle relative to the charging infrastructure, such charging systems often use UWB systems and / or optical methods. Pairing between the vehicle and the corresponding infrastructure usually involves establishing a communication connection before the positioning process begins. This is particularly disadvantageous in large parking lots with multiple charging stations, as the vehicle must manually select which parking space it connects to. Users cannot freely choose a parking space; they must always pre-select one.

[0071] Due to their lower accuracy and limited robustness against environmental influences (e.g., water film, snow, wet leaves) or interference from metallic objects (reflections, multipaths), UWB and optical systems require a larger tolerance range for positioning the vehicle relative to the infrastructure. UWB manufacturers specify a maximum accuracy of + / - 2 cm (under laboratory conditions and in free space), which is why an accuracy of + / - 5-10 cm is more realistic in real-world environments. Furthermore, the IEEE protocol for UWB limits the update rate for position determination to approximately 100 ms. This poses a significant challenge when approaching a vehicle at conventional speeds, as these systems can only provide delayed values ​​with an insufficient update rate.

[0072] Because of these disadvantages, loading an ACD, as is done, for example, in Fig. As shown in Figure 4 and further explained in subsequent figures, a significantly larger tolerance zone is required for positioning the vehicle in relation to the charging infrastructure. In the case of the Fig. In the charging system shown in section 4, the infrastructure-side charging device 310 must therefore be designed to be several times larger than the diameter of the descending nozzle (bellows 323). In a Fig. The 8 shown charging system 500 with a plug-in robot requires complex linear technology to compensate for the tolerances of the vehicle's positioning relative to the infrastructure through travel paths.

[0073] Regarding pairing between the vehicle and the infrastructure, the ACD-S and ACD-U require a communication connection for positioning via UWB. This necessitates the establishment of a so-called ranging network before the positioning process can occur. In a scenario with multiple adjacent parking spaces, this may require user intervention, such as selecting the desired parking space (e.g., by clicking on it on the display). Due to its high bandwidth, UWB results in significant channel congestion. The more UWB transmitters transmitting within a given radius, the more critical data exchange and positioning become. Pairing can also be delayed or even completely disrupted. Previous UWB applications additionally utilized Bluetooth Low Energy (BLE) for pairing, as UWB pairing alone was not sufficiently reliable, but this incurs additional costs.Pairing via UWB alone is technically possible, but not fully implemented in practice.

[0074] According to the invention, therefore, in the case of the Fig. 4 Charging system 300 shown in the first charging device 310 a positioning transmitter device according to the invention, for example one in Fig. 2 a positioning transmitter 11 shown, is provided, and in the second charging device 320 a positioning receiver according to the invention, for example one in Fig. The positioning receiving device 21 shown in Figure 3 is provided. A perspective view of the charging system 300 is shown schematically in Figure 3. Fig. Figure 5 shows the transmitting coils 110 arranged around or between the contact elements 312 on the top of the base contact unit 311. The transmitting coil 111 is arranged around the base contact unit 311 as a solenoid coil, for example, at the edge. Preferably, the coils 110, 111 are arranged so that they do not overlap or cross the individual contact elements. The receiving coils 210, 211 are arranged, for example, on a protective cover 324, which is closed when the bellows 323 is not extended and covers the bellows 323. The cover only opens when the vehicle is stationary and a communication link has been established between the charging units 310, 320, for example, by means of the magnetic fields. The evaluation unit (not shown) can also be integrated into the protective cover 324.

[0075] Fig. Figure 6 shows the different stages in establishing a connection in the Fig. Figure 5 shows the charging system 300. Figure A shows the disconnected state. Figure B shows the state during connection establishment. Figure C shows the state when the connection for conductive charging is established. Preferably, conductive communication between the charging devices can then also be achieved via a separate communication line.

[0076] Several options exist for implementation, both for integrating the receiving coils into the protective cover and the transmitting coils into the base unit. Transmitting and receiving coils can be integrated solely as coils or windings. Optionally, ferritic material, such as a thin foil, can be added. This amplifies the signals and reduces the influence of the environment, as the ferritic material essentially "attracts the magnetic field lines." Furthermore, electrically conductive material, such as a thin aluminum foil, can be added as an option. This creates defined boundary conditions by shielding from the environment. Optionally, both ferritic and electrically conductive material can also be added.

[0077] Transmitting and receiving coils can also be configured differently than in Fig. 5 shown. For example, the receiving coils can be integrated directly into the vehicle contact unit 321, ensuring that they are penetrated by the magnetic fields generated by the transmitting coils. In a modified embodiment, the receiving coils can be integrated into the charging device 310 and the transmitting coils into the charging device 320, i.e., opposite the one shown in Fig. 5 shown embodiment, they may be reversed.

[0078] Fig. Figure 7 shows a second embodiment of a charging system 400 according to the invention. This embodiment utilizes the design of the ACD-U type charging system known from the aforementioned WO 2022 / 000006 A1, which has been modified for positioning. A first module 410 is designed as part of a charging robot to carry out an electrical energy exchange or electrical charging between the charging robot and an electric vehicle, which has a second module 420 corresponding to the first module 410. For this purpose, the first module 410 has a first interaction element 411, which can be moved to a second interaction element 421 of the second module 420 of the electric vehicle for fine positioning in an energy exchange or charging position, in order to transfer electrical energy between the first module 410 and the second module 420 via the interaction elements 411, 421.to transfer the data to the charging robot and the electric vehicle. The second module 420 is preferably arranged on the underside of the electric vehicle, usually on its floor surface, to enable charging of the electric vehicle from the ground side.

[0079] An energy exchange or charging process between the charging robot and the electric vehicle can be carried out by arranging the electric vehicle in a rough positioning to assume the energy exchange position above the second module 420, so that the first interaction element 411 and second interaction element 421 are positioned essentially vertically above each other.

[0080] The first module 410 has a movement device 412, which is connected on one side to a base 413 of the first module 410 and on the other side to the first interaction element 411. This movement device allows the first interaction element 411 to be moved by the movement device 412 relative to the base 413 and made contact with the second interaction element 421 during fine positioning. The movement device 412 is configured to move the first interaction element 411 essentially vertically relative to the base 413 and preferably also horizontally. This enables practical contact. The movement device 412 can, for example, be formed with a movable arm or a lifting device that is horizontally displaceable on the base 413.The first interaction element 411 has a coupling plug and the second interaction element 412 has a coupling receptacle that corresponds to the coupling plug in form, in order to create a positive and / or force-locking connection between them by inserting the coupling plug into the coupling receptacle and to contact the first interaction element 411 with the second interaction element 421.

[0081] The transmitting coils 110, 111 for generating the positioning magnetic alternating fields are, as in Fig. The coils shown in Figure 7, located in the base 413, for example on or in the top surface, can alternatively also be located in the movement device 412 or in the second module, for example on or in the bottom surface. The receiving coils 210, 211 are, as shown in Figure 7, arranged in the base 413, for example on or in the top surface, or alternatively in the movement device 412 or in the second module, for example on or in the bottom surface. Fig. The components shown in Figure 7 are arranged in the second module 420, but can also be arranged in the first module 410. The same applies to the evaluation unit 212.

[0082] Fig. Figure 8 shows a third embodiment of a charging system 500 according to the invention. This embodiment utilizes the design of the ACD-S type charging system known from the aforementioned US 2023 / 108220 A1, which has been modified for positioning. In this charging system, a robot arm 510 carries a charging plug 511, which is automatically inserted into a socket 521 of the vehicle-side charging device 520 on the vehicle 501. Various designs are known for the mechanical movement of the robot arm 510. Typically, positioning is achieved using an image sensor, for example, a camera.

[0083] The transmitting coils 110, 111 can be arranged at a suitable location on the robot arm 510 and / or the connector, for example, on a mounting plate 512 of the robot arm as shown in the example. Preferably, the transmitting coils 110 are arranged such that they point towards the socket 521 and are located on a surface of the mounting plate 512 that faces the socket 521. The transmitting coil 111 is, for example, arranged around the mounting plate 512, or it may be omitted entirely. The receiving coils can, for example, be located in the charging flap 522, as shown in Fig. 8, or around (above, below, or to the side of) socket 521, or next to socket 522. Alternatively, the transmitting coils 110 (and, if applicable, 111) can be located in or on the charging flap 522 or on the vehicle in the area of ​​socket 521, and the receiving coils can be located in or on the robot arm 510 or in or on connector 511. The same applies analogously to the evaluation unit 212. The charging flap is closed during the positioning process and only opens after communication between the vehicle and the charging robot has been established. When using non-metallic components for the charging flap, the transmitting coils can be located either inside under the charging flap 522 or in the charging flap 522 itself.

[0084] Additionally, for positioning the vehicle (first positioning operation), a floor device, e.g., a mat, with transmitting coils can be provided, with corresponding receiving coils preferably mounted in or on the underbody of the vehicle. The in Fig. The eight coils shown are then used only for positioning the plug relative to the socket (second positioning operation). An evaluation unit for processing these signals can then be provided in the vehicle, which also generates and outputs instructions or other information for the driver during the first positioning operation, for example, by displaying it on a screen.

[0085] According to the invention, means for positioning the vehicle and, optionally, the contact units for conductive charging are integrated into known charging systems, particularly those of the ACD-S and ACD-U types. These means are based on the generation and detection of alternating magnetic fields. Preferably, at least three transmitting coils with different frequencies are provided in the infrastructure or in the vehicle. Various evaluation methods can be used in the vehicle unit. One solution is the use of two solenoid coils (for example, wound around ferrite) in a cross configuration at 90° and 45° to the direction of travel. Another approach is the use of three solenoid coils, each offset by 60°.

[0086] To increase robustness, a ferritic material can be used. In this case, the material and thickness requirements are significantly lower than, for example, for inductive charging devices, since no high-power inductive energy transfer takes place. To shield the environment and ensure consistent boundary conditions, an electrically conductive shield (e.g., aluminum) can also be incorporated.

[0087] With the ACD-S, the infrastructure or transmission side can be the plug socket, and the evaluation unit can be integrated into the robot arm. In principle, it can also be implemented the other way around, and data can be exchanged via a communication interface or data channel. Generally, the system can also be installed outside of the respective components anywhere in the vehicle as an additional sensor.

[0088] With the ACD-S, for example, an additional mat can be placed on the parking space as a transmitter unit. This mat is equipped with horizontal and vertical coils to generate the positioning field. On the vehicle side, an additional sensor with the evaluation unit can be installed, for example, in the front of the vehicle for forward approach, or possibly in the rear for reversing. This allows for a greater positioning range than integration into the tailgate and robot.

[0089] The ACD-U infrastructure can be implemented with integrated transmitting coils. Evaluation takes place in the vehicle-side component or in the transmitter tube itself.

[0090] The data exchange previously used for pairing via the on / off keying of magnetic fields can be extended to enable bidirectional communication. For this purpose, the receiving coils can also be designed to generate magnetic fields for data transmission. Once the charging devices are paired with each other via the unidirectional data channel from the first charging device to the second, messages can be exchanged in both directions to transmit further data necessary for positioning or general charging. Various protocols can be used for this. Additional communication methods, such as Wi-Fi or Bluetooth, can also be provided, but are not mandatory and can therefore be omitted entirely.

[0091] Overall, the infrastructure can be smaller and therefore more cost-effective. With the ACD-S, a shorter travel distance for the robot arm is required, allowing the robot to be smaller, requiring less material, requiring less space, and thus being more cost-effective. With the ACD-U, the footprint of the infrastructure-side base unit can be significantly reduced, potentially to the same size as the boom in the vehicle, which again offers the aforementioned advantages in terms of material usage, space requirements, and cost.

[0092] The solution according to the invention enables standardized positioning for cross-manufacturer operation. The solution also provides a robust positioning solution for ACD-S and ACD-U systems. Pairing between the vehicle and the infrastructure next to or underneath the vehicle can be automated without user intervention (e.g., a display click), thus preventing erroneous crossover connections. The bidirectional data channel handles the pairing process and provides a two-way communication link, eliminating the need for Wi-Fi modules. A data channel via the positioning magnet alternating fields enables local communication over a magnetic field and is therefore extremely robust against environmental interference. Finally, with the ACD-S, the vehicle can transmit the precise position of the charging flap (including angle) to the robot via the data channel, enabling, among other things, faster robot insertion.This also applies analogously to the variants of the ACD-U, where the infrastructure side docks to the vehicle.

[0093] It goes without saying that further variations and combinations are possible. In particular, the number, design, and arrangement of the individual components shown in the embodiments are only examples and can be varied.

[0094] Further advantageous embodiments of the present invention are listed below. 1. First charging device for automated, conductive transfer of electrical energy between the first charging device and a second charging device, wherein the first charging device comprises: - a first contact unit through which, in an energy transfer operation, electrical energy can be transferred upon contact with a second contact unit of the second charging device; and - a positioning transmitter device with at least two transmitting coils for generating different positioning magnetic alternating fields for detecting, by detecting and evaluating the different positioning magnetic alternating fields, the relative positioning of the first contact unit to the second contact unit in a positioning operation in which at least one of the contact units is moved relative to the other contact unit. 2. First charging device according to embodiment 1, wherein the at least two transmitting coils each have a winding axis, and wherein the at least two transmitting coils are arranged such that their winding axes run substantially parallel to each other, in particular that the winding axes run substantially in the direction of movement of the movable contact unit or substantially in a direction perpendicular to a direction of movement of a device to which one of the contact units is attached. 3. First charging device according to embodiment 1 or 2, where at least three transmitting coils are provided, wherein all transmitting coils are arranged such that their winding axes are essentially parallel to each other, or wherein one of the three transmitting coils is arranged such that its winding axis is essentially perpendicular to the winding axes of the other transmitting coils. 4. First charging device according to one of the preceding embodiments, wherein the at least two transmitting coils are each configured to generate a positioning magnet alternating field with a frequency and / or pulse width that differs from the frequencies and / or pulse widths of the positioning magnet alternating fields generated by the other transmitting coils. 5. First charging device according to one of the preceding embodiments, further comprising a planar base unit, in particular for arrangement in or on a floor or on a vehicle, wherein the first contact unit has several contact elements arranged in or on a surface of the basic unit, and wherein the at least two transmitting coils are arranged in or on the surface of the basic unit. 6. First charging device according to embodiment 5, wherein a third transmitting coil is also arranged in or on the surface of the base unit or at least partially around the base unit. 7. First charging device according to one of embodiments 1 to 4, furthermore, with a planar basic unit, in particular for arrangement in or on a floor or on a vehicle, wherein the first contact unit comprises a contact plate, several contact elements arranged in or on a surface of the contact plate, and a movement unit that connects the contact plate to the base unit and can move the contact plate towards the second contact unit, wherein the at least two transmitting coils are arranged in or on a surface of the basic unit or the surface of the contact plate. 8. First charging device according to embodiment 7, wherein a third transmitting coil is also arranged in or on the surface of the base unit or the contact plate or at least partially around the base unit or the contact plate. 9. First charging device according to one of embodiments 1 to 4, furthermore with a robotic arm, wherein the first contact unit has a plug with multiple contact elements which is arranged on the robot arm for inserting the plug into a socket of the second contact unit, wherein the at least two transmitting coils are arranged in or on the robot arm and / or in or on the connector. 10. First charging device according to one of embodiments 1 to 4, wherein the first contact unit has a socket with multiple contact elements and a movable cover of the socket, wherein the at least two transmitting coils are arranged next to the socket and / or in or on the cover. 11. First charging device according to one of the preceding claims, wherein the first contact unit has at least one first communication line for contacting a second communication line of the second contact unit in order to enable communication between the first charging device and the second charging device. 12. First charging device according to one of the preceding claims, further comprising at least one flux guiding element for guiding the magnetic fields generated by the transmitting coils and / or a magnetic shield. 13. First charging device according to one of the preceding claims, further comprising a communication unit for embedding, in particular modulating, information into one or more of the positioning magnet alternating fields for transmitting the information to the second charging device. 14. First charging device according to embodiment 13, wherein the communication unit is designed to embed one or more of the following pieces of information onto one or more of the Positioning magnet alternating fields: - Identification and / or specification of the first charging device; - Achieving a desired relative positioning of the two contact units; - Readiness to establish contact between the two contact units to start the energy transfer operation; - Transmission of load-specific data; - Personal data, in particular account details for payment; and - Information, especially encrypted messages, for contactless entry into locked properties. 15. First charging device according to one of the preceding embodiments, further comprising a communication unit for extracting, in particular demodulating, information embedded, in particular modulated, in at least one communication magnetic alternating field, and further comprising an evaluation unit for evaluating the extracted information. 16. First charging device according to one of the preceding embodiments, further comprising a robot arm, wherein the first contact unit has a socket with several contact elements, which is arranged on a vehicle for inserting a plug of the second contact unit into the socket of the first contact unit, wherein the at least two transmitting coils are arranged in the charging flap, in the area of ​​the socket behind the charging flap or in the area around the charging flap. 17. Second charging device for automated, conductive transfer of electrical energy between a first charging device and the second charging device, wherein the second charging device comprises: - a second contact unit through which electrical energy can be transferred in a power transfer operation upon contact with a first contact unit of the first charging device; and - a positioning receiving device with at least one receiving coil for detecting different positioning magnet alternating fields and an evaluation unit for evaluating the detected positioning magnet alternating fields to recognize the relative positioning of the first contact unit to the second contact unit in a positioning operation in which at least one of the contact units is moved relative to the other contact unit. 18. Second charging device according to embodiment 17, wherein the positioning receiving device has at least two receiving coils, wherein the at least two receiving coils are arranged such that their winding axes run at an angle to each other, in particular perpendicular to each other, and at an angle, in particular perpendicular, to the direction of movement of the movable contact unit. 19. Second charging device according to embodiment 18, wherein the evaluation unit is designed to detect the relative positioning of the first contact unit to the second contact unit based on the ratio or difference of the positioning magnet alternating fields detected by the at least two receiving coils. 20. Second charging device according to one of the embodiments 17 to 19, wherein the second contact unit comprises a contact plate and several contact elements arranged in or on a surface of the contact plate and wherein the at least one receiving coil is arranged around the contact plate or around a carrier connected to the contact unit or around a cover of the contact elements. 21. Second charging device according to one of claims 17 to 19, wherein the second contact unit has a socket with multiple contact elements and a movable cover of the socket, wherein at least one receiving coil is arranged next to the socket, in or on the cover or around the cover. 22. Second charging device according to one of claims 17 to 19, furthermore with a robot arm wherein the second contact unit has a plug with multiple contact elements which is arranged on the robot arm for inserting the plug into a socket of the first contact unit, wherein the at least one receiving coil is arranged in or on the robot arm and / or in or on the connector. 23. Second charging device according to one of embodiments 17 to 22, further comprising at least one flux guidance element for guiding the positioning magnet alternating fields and / or a magnetic shield. 24. Second charging device according to one of embodiments 17 to 23, furthermore, with a communication unit for extracting, in particular demodulating, information that is embedded, in particular modulated, into one or more of the positioning magnet alternating fields, the evaluation unit is designed to evaluate the extracted information. 25. Second charging device according to one of the embodiments 17 to 24, furthermore, with a communication unit for embedding, in particular modulating, information into at least one communication magnetic alternating field for transmitting the information to the first charging device, wherein the at least one receiving coil and / or at least one communication coil is used to generate the at least one It is designed with a communication magnetic alternating field. 26. Second charging device according to one of embodiments 17 to 25, wherein the evaluation unit is designed for detection, - the relative positioning of a vehicle in or on which the first or second charging device is arranged, in relation to the other charging device not arranged in or on the vehicle during the vehicle's approach to the other charging device, in particular whether the vehicle has reached a predetermined position in relation to the other charging device, and / or - the relative positioning of the two contact units to each other during the relative movement of the two contact units to each other, in particular whether the two contact units touch each other in a predetermined positioning. 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 102017115909 A1 [0003, 0068] WO 2022 / 000006 A1 [0004, 0078] US 2023 / 108220 A1 [0005, 0082]

Claims

First charging device for the automated, conductive transfer of electrical energy between the first charging device and a second charging device, wherein the first charging device comprises: - a first contact unit through which electrical energy can be transferred in an energy transfer operation upon contact with a second contact unit of the second charging device; and - a positioning transmitter device with at least two transmitting coils for generating different positioning magnetic alternating fields for the detection, by detection and evaluation of the different positioning magnetic alternating fields, of the relative positioning of the first contact unit to the second contact unit in a positioning operation in which at least one of the contact units is moved relative to the other contact unit. First charging device according to claim 1, wherein the at least two transmitting coils each have a winding axis, and wherein the at least two transmitting coils are arranged such that their winding axes run substantially parallel to each other, in particular that the winding axes run substantially in the direction of movement of the movable contact unit or substantially in a direction perpendicular to a direction of movement of a device to which one of the contact units is attached; or wherein at least three transmitting coils are provided, wherein all transmitting coils are arranged such that their winding axes run substantially parallel to each other, or wherein one of the three transmitting coils is arranged such that its winding axis runs substantially perpendicular to the winding axes of the other transmitting coils. First charging device according to one of the preceding claims, wherein the at least two transmitting coils are each configured to generate a positioning magnet alternating field with a frequency and / or pulse width that differs from the frequencies and / or pulse widths of the positioning magnet alternating fields generated by the other transmitting coils. First charging device according to one of the preceding claims, further comprising a planar base unit, in particular for arrangement in or on a floor or on a vehicle, wherein the first contact unit has several contact elements arranged in or on a surface of the base unit, and wherein the at least two transmitting coils are arranged in or on the surface of the base unit; or has a contact plate, several contact elements arranged in or on a surface of the contact plate and a movement unit that connects the contact plate to the base unit and can move the contact plate in the direction of the second contact unit, and wherein the at least two transmitting coils are arranged in or on a surface of the base unit or the surface of the contact plate. First charging device according to one of claims 1 to 3, further comprising a robot arm, wherein the first contact unit has a plug with multiple contact elements arranged on the robot arm for insertion of the plug into a socket of the second contact unit, wherein the at least two transmitting coils are arranged in or on the robot arm and / or in or on the plug; or wherein the first contact unit has a socket with multiple contact elements and a movable cover of the socket, wherein the at least two transmitting coils are arranged next to the socket and / or in or on the cover. First charging device according to one of the preceding claims, further comprising a communication unit for embedding, in particular modulating, information into one or more of the positioning magnet alternating fields for transmitting the information to the second charging device, in particular for embedding one or more of the following information onto one or more of the positioning magnet alternating fields: - identification and / or specification of the first charging device; - achieving a desired relative positioning of the two contact units; - readiness to establish contact between the two contact units to start the energy transfer operation; - transmission of charging-specific data; - personal data, in particular account data for payment; and - information, in particular encrypted messages, for contactless entry into enclosed properties;and / or extraction, in particular demodulation, of information embedded, in particular modulated, in at least one communication magnetic alternating field, and furthermore with an evaluation unit for evaluating the extracted information.; First charging device according to one of the preceding claims, further comprising a robot arm, wherein the first contact unit has a socket with several contact elements, which is arranged on a vehicle for inserting a plug of the second contact unit into the socket of the first contact unit, wherein the at least two transmitting coils are arranged in the charging flap, in the area of ​​the socket behind the charging flap or in the area around the charging flap. A second charging device for the automated, conductive transfer of electrical energy between a first charging device and the second charging device, wherein the second charging device comprises: - a second contact unit through which electrical energy can be transferred in an energy transfer operation upon contact with a first contact unit of the first charging device; and - a positioning receiving device with at least one receiving coil for detecting different positioning magnetic alternating fields and an evaluation unit for evaluating the detected positioning magnetic alternating fields to recognize the relative positioning of the first contact unit to the second contact unit in a positioning operation in which at least one of the contact units is moved relative to the other contact unit. Second charging device according to claim 8, wherein the positioning receiving device has at least two receiving coils, wherein the at least two receiving coils are arranged such that their winding axes run at an angle to each other, in particular perpendicular to each other, and at an angle, in particular perpendicular, to the direction of movement of the movable contact unit, in particular wherein the evaluation unit is configured to recognize the relative positioning of the first contact unit to the second contact unit on the basis of the ratio or difference of the positioning magnet alternating fields detected by the at least two receiving coils. Second charging device according to one of claims 8 to 9, wherein the second contact unit has a contact plate and several contact elements arranged in or on a surface of the contact plate, and wherein the at least one receiving coil is arranged around the contact plate or around a carrier connected to the contact unit or around a cover of the contact elements. Second charging device according to one of claims 8 to 9, wherein the second contact unit comprises a socket with multiple contact elements and a movable cover of the socket, wherein the at least one receiving coil is arranged next to the socket, in or on the cover or around the cover; or furthermore with a robot arm, wherein the second contact unit comprises a plug with multiple contact elements which is arranged on the robot arm for inserting the plug into a socket of the first contact unit, and wherein the at least one receiving coil is arranged in or on the robot arm and / or in or on the plug. Second charging device according to one of claims 8 to 11, further comprising a communication unit for extracting, in particular demodulating, information embedded, in particular modulated, into one or more of the positioning magnetic alternating fields, wherein the evaluation unit is configured to evaluate the extracted information; and / or for embedding, in particular modulating, information into at least one communication magnetic alternating field for transmitting the information to the first charging device, wherein the at least one receiving coil and / or at least one communication coil is configured to generate the at least one communication magnetic alternating field. Second charging device according to one of claims 8 to 12, wherein the evaluation unit is configured for detecting: - the relative positioning of a vehicle in or on which the first or second charging device is arranged, in relation to the other charging device not arranged in or on the vehicle during the approach of the vehicle to the other charging device, in particular whether the vehicle has reached a predetermined positioning in relation to the other charging device, and / or - the relative positioning of the two contact units to each other during the relative movement of the two contact units to each other, in particular whether the two contact units are touching each other in a predetermined positioning. Electric vehicle comprising a battery and a first charging device according to one of claims 1 to 7 or a second charging device according to one of claims 8 to 13. A method for establishing a conductive connection for the automated, conductive transfer of electrical energy between a first charging device and a second charging device, the method comprising the steps of: - detecting the relative positioning of a vehicle in or on which the first or second charging device is arranged, with respect to the other charging device not arranged in or on the vehicle, during the approach of the vehicle to the other charging device, in particular whether the vehicle has reached a predetermined positioning with respect to the other charging device; and - detecting the relative positioning of the two contact units to each other during the relative movement of the two contact units to each other, in particular whether the two contact units are touching each other in a predetermined positioning.

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