ROBOTIC MANAGEMENT SYSTEM FOR TRAVEL, PARKING AND ELECTRIC CHARGING OF A PLUG-IN VEHICLE, ASSOCIATED METHODS

Abstract

ROBOTIC MANAGEMENT SYSTEM FOR MOVING, PARKING AND ELECTRIC CHARGING OF A RECHARGEABLE VEHICLE, ASSOCIATED METHODS The invention relates to a robotic management system for moving, parking and electric charging of a rechargeable vehicle (14), comprising at least one docking station (18a, 18b) intended to receive a vehicle, at least one transport device (24) configured for moving and parking the vehicle in a parking lot (10), characterized in that each docking station (18, 18a, 18b) comprises at least one temporary connection terminal (20a, 20b) configured to receive a device (21a, 21b) for electrically connecting a rechargeable vehicle (14), and in that each transport device (24) comprises at least one robotic arm (26) configured for connecting or disconnecting the device (21a, 21b) for electrically connecting the vehicle (14), and in that each transport device (24) comprises at least one robotic arm (26) configured for connecting or disconnecting the device (21a, 21b) for electrically connecting the vehicle (14). the temporary terminal (20a, 20b) and handling of the device (21a,21b) of electrical connection when moving or parking the associated rechargeable vehicle (14). Figure for the abstract: figure 1,

Description

Title of the invention: ROBOTIC MANAGEMENT SYSTEM FOR TRAVEL, PARKING AND ELECTRIC CHARGING OF A PLUG-IN VEHICLE, ASSOCIATED METHODS Technical field of the invention

[0001] The invention relates to a robotic management system for moving, parking and electric recharging of a rechargeable vehicle, a robotic method for moving, parking and electric recharging of a rechargeable vehicle and a robotic method for recovering a rechargeable vehicle. In particular, the invention relates to a robotic management system for moving, parking and electric recharging of a rechargeable vehicle in a parking lot comprising at least one, generally a plurality of parking spaces near which an electric recharging terminal for the rechargeable vehicle. Technological background

[0002] The increase in the number of rechargeable vehicles produced and marketed encourages urban development stakeholders to offer innovative parking lot management solutions allowing the electric recharging of rechargeable vehicles when they are parked in these parks. Rechargeable vehicles here designate vehicles comprising, for example, one or more electric accumulator batteries or other electricity storage devices that can be recharged by an input of electrical energy from an external source, such as, for example, electric vehicles or so-called "rechargeable hybrid" vehicles also comprising a thermal or other engine. The expression "recharging of the vehicle" is used by metonymy and commonly to designate the recharging of the battery(ies) or any other electrical storage device of the rechargeable vehicle.

[0003] Plug-in vehicles share infrastructure with thermal vehicles which generally do not require electric charging, except for plug-in hybrid systems. Thus, parking lots are generally equipped with fewer electric charging stations than the number of parking spaces in the parking lot.

[0004] In parallel, the need to reduce the space occupied by vehicles when parking and innovations in the field of autonomous robots have led to the implementation of robotic parking lots, in which the parking of the vehicle in a parking space is managed by a carrier device, generally automated, can retrieve a vehicle from a docking station in which the user has left their vehicle. Such robotic parking lots allow for better optimization of the available parking space because it requires less space for moving vehicles.

[0005] The installation of electric charging stations in these robotic spaces presents several constraints.

[0006] In particular, the use of conventional charging stations requires the connection of each rechargeable vehicle to the associated charging station for the transmission of electrical energy. However, the vehicle connection device allowing this connection is different depending on the vehicle and is therefore difficult to automate.

[0007] Furthermore, the limited number of charging stations available in a parking lot requires moving charged vehicles to a location that does not include a charging station in order to leave the station available for another vehicle. This additional movement amplifies the connection / disconnection problems as well as the management of connection devices, in particular electrical connection cables.

[0008] Several solutions have been proposed for the management of robotic parks, particularly underground or silo-type, in which each vehicle is placed on an individual pallet. The use of individual pallets simplifies the problem of transport and connection, each pallet being able to be equipped with an individual charging station. However, this solution leads to a considerable increase in the costs of the parking lot due to the multiplication of pallets, and is not suitable for deployment in an open-air parking lot over a large area.

[0009] The inventors have thus sought to provide a robotic management system for the parking and electric recharging of rechargeable vehicles which overcomes these drawbacks. Objectives of the invention

[0010] The invention aims to provide a robotic management system for moving, parking and electrically recharging a rechargeable vehicle, a robotic method for moving, parking and electrically recharging a rechargeable vehicle and a robotic method for recovering a rechargeable vehicle.

[0011] The invention aims to provide, in at least one embodiment, a robotic management system making it possible to facilitate the delivery of a rechargeable vehicle to be recharged by a user and to simplify the management of the electrical connection of the rechargeable vehicle to an electric recharging terminal.

[0012] The invention aims to provide, in at least one embodiment, a robotic management system that can be implemented in an open-air parking lot in a reduced time, with minimal cost and a small footprint.

[0013] The invention aims to provide, in at least one embodiment, a system of robotic management to increase the rate of use of electric charging stations available in the parking lot to reduce the number of electric charging stations required.

[0014] The invention aims to provide, in at least one embodiment, a robotic management system allowing modular deployment and management of electric charging stations. Statement of the invention

[0015] To do this, the invention relates to a robotic management system for moving, parking and recharging a rechargeable vehicle, comprising at least one docking station intended to receive a vehicle, at least one transport device configured for moving and parking the vehicle in a parking lot,

[0016] characterized in that each docking station comprises at least one temporary connection terminal configured to receive an electrical connection device of a rechargeable vehicle,

[0017] and in that each transport device comprises at least one robotic arm configured for connection or disconnection of the electrical connection device from the temporary terminal and handling of the electrical connection device during movement or parking of the associated rechargeable vehicle.

[0018] A management system according to the invention therefore makes it possible to facilitate the management of the electrical connection of the rechargeable vehicle by providing the user with at least one temporary terminal to which the connection device is connected. This temporary terminal makes it possible to leave to the user the management of the first connection which is difficult to robotize due to the large variations in rechargeable vehicles, in particular the type of connector fitted to the rechargeable vehicle, the position of this connector, the cable used, etc. The temporary terminal being equipped with one or more standardized connectors at a known location, the robotic arm can easily carry out the disconnection / connection maneuver at the temporary terminal, without requiring intervention on the rechargeable vehicle.

[0019] The electrical connection device designates any equipment allowing the recharging of the rechargeable vehicle and forming part of or being an accessory dedicated to the rechargeable vehicle. In particular, the electrical connection device generally comprises a standardized male connector configured to adapt to a standardized female connector of the temporary terminal, and an electrical cable making it possible to connect the standardized male connector to the rechargeable vehicle, for example to a second male connector dedicated to the vehicle. The temporary terminal may comprise several types of standardized female connectors in order to adapt to different types of standardized male connectors.

[0020] The system according to the invention makes it possible to provide a parking infrastructure allowing the sharing of parking space between rechargeable and non-rechargeable vehicles. The docking stations are mutualizable and can be used by a non-rechargeable vehicle which will not require connection with the temporary connection terminal.

[0021] The system according to the invention also allows all electrical installations to be carried out above ground. Thanks to the absence of user traffic in the parking and electrical charging area, it is possible to simplify the overall infrastructure of the parking lot, in particular the cabling of the parking lot. This advantage is all the more relevant if the carrier device is configured to be able to straddle other vehicles and cables.

[0022] Advantageously and according to the invention, the temporary connection terminal is an electric recharging terminal configured to supply electrical energy to said rechargeable vehicle via the electrical connection device.

[0023] According to this aspect of the invention, the supply of electrical energy by the temporary connection terminal makes it possible to confirm a good electrical connection, ensuring that the connection device is indeed capable of allowing the rechargeable vehicle to be recharged.

[0024] Advantageously and according to the invention, the temporary connection terminal is supplied with electrical energy by a photovoltaic power supply, a battery and / or be connected to an electrical network.

[0025] If the temporary connection terminal is powered by a photovoltaic power supply and / or a battery, it can be disconnected from the public electricity distribution network, which simplifies the deployment of the system as well as its reconfiguration, for example by allowing the docking station to be easily moved.

[0026] Advantageously and according to the invention, the management system comprises at least one transportable connection box intended to receive the electrical connection device, and the robotic arm is configured for handling the transportable connection box.

[0027] According to this aspect of the invention, the use of a transportable connection box allows the simplification of the transport of the electrical connection device by the robotic arm.

[0028] The transportable connection box makes it possible in particular to ensure the movement of the electrical connection device with the vehicle when the vehicle must be moved to a parking space. The transportable connection box comprises a means for connecting the electrical connection device, the location of which is known to the robotic arm, which simplifies the disconnection or connection of an electrical connection device by the robotic arm.

[0029] Advantageously and according to the invention, the robotic arm is configured to: - a connection or disconnection of the electrical connection device of the temporary terminal, - a connection or disconnection of the electrical connection device to a means of connection of the transportable connection box

[0030] According to this aspect of the invention, the robotic arm is configured for handling and managing the connection of the electrical connection device of the temporary terminal, and allows the management of the connection to the transportable connection box. This management of the connection at locations controlled by the system makes it possible to simplify the movement of the robotic arms and the connection / disconnection of the electrical connection devices.

[0031] Advantageously and according to the invention, the management system comprises at least two transport devices, and each robotic arm of a transport device is configured for a transfer of a transportable connection box to a robotic arm of another transport device and / or for shared handling of a transportable connection box by at least two robotic arms of different transport devices.

[0032] According to this aspect of the invention, the transportable connection box is not integral with the transport device or the robotic arm and can be transmitted to another transport device, deposited to be recovered by another transport device or transported by at least two transport devices.

[0033] Advantageously and according to the invention, the transportable connection box comprises a connection interface configured to allow a direct connection with a charging terminal arranged near at least one parking space in the parking lot.

[0034] According to this aspect of the invention, the connection interface allows the transmission of electrical energy from the connection device to the charging terminal without requiring the connection device to be disconnected from the transportable connection box. The connection interface notably comprises an electrical circuit capable of interfacing with the charging terminal.

[0035] Advantageously and according to the invention, the electrical connection device comprises a cable and a connection connector, and the transportable connection box comprises a basket intended to receive at least part of the cable of the electrical connection device.

[0036] According to this aspect of the invention, the basket makes it possible to receive the connection cable in order to secure the movement of the cable and avoid any unwanted mechanical interaction with an external element, which could cause damage to the cable, the transportable connection box, the management system in general and / or the vehicle. rechargeable.

[0037] The connection connector is generally a male connector, preferably standardized and compatible with one or more standardized female connectors.

[0038] Advantageously and according to the invention, comprises at least one charging terminal arranged near at least one parking space of the parking lot, the robotic arm is further configured to: - transporting the electrical connection device when moving the rechargeable vehicle to a selected parking space, - direct or indirect connection or disconnection of the electrical connection device with the charging station near the selected parking space.

[0039] According to this aspect of the invention, the robotic arm also allows the transportable connection box and therefore the electrical connection device to be moved at the same time as the rechargeable vehicle, which in particular simplifies the management of the electrical cable when moving the vehicle.

[0040] When the vehicle is a parking space comprising a charging station nearby, the robotic arm can perform connection or disconnection maneuvers of the electrical connection device with said charging station.

[0041] Direct connection consists of disconnecting the connection device from the transportable connection box to connect it to the charging station via a standardized male connector and a standardized female connector. Conversely, direct disconnection consists of disconnecting the standardized male connector to reconnect the connection device to the transportable connection box when charging is complete and / or when the rechargeable vehicle must be moved.

[0042] Alternatively, the indirect connection / disconnection does not require connection / disconnection of the connection device with the transportable connection box, but the transportable connection box is configured to connect / disconnect with the charging station via an integrated electrical circuit and suitable connectors.

[0043] Although the main function of the electrical connection with the charging station is the recharging of the rechargeable vehicle, the electrical connection device and the charging station can be configured for bidirectional transmission of energy, making it possible to transmit electrical energy stored in one or more batteries of the rechargeable vehicle to an external electrical network to which it is connected. In particular, solutions propose using rechargeable vehicles as a large-scale energy storage solution, for example by storing the energy produced by intermittent electrical production sources (solar, wind, etc.) and restoring a portion of it to the electrical network if necessary. necessary.

[0044] Advantageously and according to the invention, the temporary terminal is a low-power electric charging terminal and each charging terminal arranged near at least one parking space in the parking lot is a high-power electric charging terminal.

[0045] According to this aspect of the invention, the temporary terminal is particularly configured to confirm a good electrical connection ensuring that the electrical connection device is indeed capable of allowing the rechargeable vehicle to be recharged, without requiring the implementation of a high-power network to supply each temporary terminal of each docking station. The high-power electrical charging terminal of the parking lot allows the rechargeable vehicle to be electrically recharged.

[0046] The low-power terminal operates with low energy consumption, in particular to only establish communication between the low-power terminal and the rechargeable vehicle and validate the connection of the rechargeable vehicle to the low-power terminal. The effective power of a low-power terminal for recharging the rechargeable vehicle can be of the order of a few watts or even almost zero for a simple connection check.

[0047] The high-power terminal delivers a power compatible with the recharging of a rechargeable vehicle according to the electrical standards and norms of the time and of the geographical area of ​​installation of the system, in particular a power generally greater than 1kW and preferably a power of several kW or several tens of kW for the recharging of a rechargeable vehicle, or even one or several hundreds of kW for the recharging of several rechargeable vehicles by the same terminal.

[0048] The low-power terminal can be powered by an independent device such as a photovoltaic panel and / or a battery, and the high-power terminal is generally connected to a local electrical network, in particular to the public electrical distribution network.

[0049] Advantageously and according to the invention, at least one transport device is configured to be able to move over a vehicle parked in the parking lot, a charging station arranged near at least one parking space of the parking lot, and / or an electrical energy transmission network of the parking lot.

[0050] According to this aspect of the invention, the transport device is in particular configured to be able to straddle elements placed or fixed to the ground, such as another vehicle, a terminal, a cable, etc., and advantageously to straddle the elements while carrying the vehicle moved above these elements. The transport device can be configured in the form of a gantry on wheels and have several columns allowing the spanning. An example of such a carrier device is for example described in the applicant's application WO2021 / 009420Al.

[0051] The invention also relates to a robotic method for moving, parking and electrically recharging a rechargeable vehicle in a parking lot comprising at least one parking space, characterized in that it comprises: a step of manually parking the rechargeable vehicle in a docking station, a step of manually connecting an electrical connection device of the rechargeable vehicle parked in the docking station with a temporary connection terminal, a step of disconnection by a robotic arm of the electrical connection device with the temporary connection terminal, a step of moving the rechargeable vehicle by a carrier device configured for moving and parking the vehicle to a selected parking space in the parking lot, and transporting the electrical connection device during the movement of the rechargeable vehicle, a step of direct or indirect connection of the electrical connection device with a charging station near the selected parking space.

[0052] If no parking space with a charging station nearby is available, the rechargeable vehicle can be moved to a parking space without a charging station nearby, while waiting for such a space allowing charging to become available. The method can thus comprise several steps of moving and parking the vehicle.

[0053] Advantageously, the management system according to the invention is configured to implement at least in part the robotic method of movement, parking and electrical recharging according to the invention.

[0054] Advantageously and according to the invention, the robotic method of movement, parking and electrical recharging is configured to be implemented at least in part by a management system according to the invention.

[0055] Advantageously and according to the invention, the robotic method for moving, parking and electrically recharging comprises, following the step of manually connecting an electrical connection device of a rechargeable vehicle parked in the docking station with a temporary connection terminal, a step of supplying electrical energy to the rechargeable vehicle by the temporary connection terminal.

[0056] Advantageously and according to the invention, the robotic method of moving, parking and electrical recharging comprises, following the step of disconnection by a robotic arm of the electrical connection device with the temporary connection terminal, a step of storing at least a part of the electrical connection device in a transportable connection box, and a step of connection by the robotic arm of the electrical connection device with a transportable connection box, and the step of transporting the electrical connection device is carried out by transporting the transportable connection box in which the electrical connection device is stored.

[0057] The invention also relates to a robotic method for recovering a rechargeable vehicle parked in a parking lot comprising at least one parking space, a charging terminal near a parking space and a docking station, characterized in that it comprises: - a step of disconnecting an electrical connection device of the rechargeable vehicle with the charging station, - a step of moving the rechargeable vehicle by a transport device configured for moving the rechargeable vehicle to the docking station, and transporting the electrical connection device during the movement of the rechargeable vehicle, - a step of connection by a robotic arm of the electrical connection device with a temporary connection terminal of the docking station, - a step of disconnecting an electrical connection device of the rechargeable vehicle with the temporary connection terminal

[0058] The step of disconnecting an electrical connection device of the rechargeable vehicle with the charging station can be carried out as soon as the rechargeable vehicle is recharged (either completely or above a predetermined threshold), so as to leave the parking space free for another rechargeable vehicle to be recharged. The robotic method can then comprise an additional step of moving the rechargeable vehicle by the transport device to another parking space, in particular a parking space not having a charging station nearby.

[0059] Advantageously, the management system according to the invention is configured to implement at least in part the robotic recovery method according to the invention.

[0060] Advantageously and according to the invention, the robotic recovery method according to the invention is configured to be implemented at least in part by a management system according to the invention.

[0061] Advantageously and according to the invention, the recovery method comprises, following the step of disconnecting an electrical connection device of the rechargeable vehicle with the charging terminal, a step of storing at least part of the electrical connection device in a transportable connection box, and a step of connecting by the robotic arm the electrical connection device with a transportable connection box, and the step of transporting the electrical connection device is carried out by transporting the transportable connection box in which the electrical connection device is stored.

[0062] The invention also relates to a management system, a method of moving, parking and recharging, and a robotic recovery method characterized in combination by all or part of the characteristics mentioned above or below. List of figures

[0063] Other aims, characteristics and advantages of the invention will appear on reading the following description given solely for non-limiting purposes and which refers to the appended figures in which:

[0064] [Fig-1] is a schematic top view of a parking lot comprising a robotic management system for movement, parking and electric recharging of rechargeable vehicles according to one embodiment of the invention,

[0065] [Fig.2] is a schematic perspective view of a conveyor device of a management system according to one embodiment of the invention,

[0066] [Fig.3a], [Fig.3b], [Fig.3c], [Fig.3d], [Fig.3e], [Fig.3f], [Fig.3g], [Fig.3h], [Fig.3i], [Fig.3j], [Fig.3k], are schematic top views of steps of a method for moving, parking and recharging a rechargeable vehicle in a parking lot according to a first embodiment of the invention,

[0067] [Fig.4a], [Fig.4b], [Fig.4c], [Fig.4d], [Fig.4e], [Fig.4f], [Fig.4g] are schematic views top diagrams of steps of a method for moving, parking and recharging a rechargeable vehicle in a parking lot according to a second embodiment of the invention,

[0068] [Fig.5] is a schematic side view of a parking step of a vehicle re chargeable in a parking space equipped with a charging terminal of a method of moving, parking and electric charging, according to the second embodiment of the invention,

[0069] [Fig.6] is a schematic side view of a parking step of a vehicle re chargeable in a parking space not equipped with a charging terminal of a method of moving, parking and electric charging, according to the second embodiment of the invention.

[0070] Detailed description of an embodiment of the invention

[0071] In the figures, the scales and proportions are not strictly respected, for the purposes of illustration and clarity.

[0072] Furthermore, identical, similar or analogous elements are designated by the same references in all the figures.

[0073] [Fig.l] schematically represents a top view of a park 10 of sta- operation comprising a system 12 for robotic management of movement, parking and electric recharging of rechargeable vehicles according to one embodiment of the invention. The parking lot 10 allows the parking of vehicles, here motor vehicles, and in particular rechargeable vehicles 14 and non-rechargeable vehicles 16.

[0074] The management system 12 comprises at least one docking station, here a first docking station 18a and a second docking station 18b, intended to receive a vehicle. The docking station allows both the drop-off and the recovery of the vehicle to be parked, whether it is rechargeable or not, for example from a street 200 of the road network. For example, in [Fig.l], the first docking station 18a is occupied by a rechargeable vehicle 14a intended to be parked and the second docking station 18b is occupied by a rechargeable vehicle 14b previously parked in the parking lot and intended to be returned to its driver. Each docking station comprises at least one temporary connection terminal configured to receive an electrical connection device of a rechargeable vehicle.

[0075] In the first docking station 18a, the vehicle 14a is thus connected to an electrical connection terminal 20a via a connection cable of the electrical connection device 21a. The connection is made by a human user 22a of the vehicle, in particular the driver or a passenger of the vehicle which is to be parked.

[0076] Similarly, in the second docking station 18b, the vehicle 14b is connected to an electrical connection terminal 20b via a connection cable of the electrical connection device 21b. The connection is made by a human user 22b of the vehicle, in particular the driver or a passenger of the vehicle who is picking up the vehicle.

[0077] Electrical connection devices generally designate the elements making it possible to connect each rechargeable vehicle to an electrical power supply, in particular an assembly formed of a cable for transmitting electrical energy and possibly electronic signals, a connection at the vehicle level, a connection connector such as a socket allowing connection to a charging terminal, as well as mechanical or electromagnetic protection elements such as sheaths, shielding, and any other relevant element in this context of recharging a rechargeable vehicle.

[0078] The management system 12 also comprises at least one transport device, here three transport devices 24 configured for moving and parking the vehicle in the parking lot. Each transport device comprises at least one robotic arm 26 configured for connecting or disconnecting the electrical connection device from the temporary terminal 20a, 20b and handling the electrical connection device when moving or parking the vehicle. associated rechargeable.

[0079] [Fig. 2] is a schematic perspective view of a transport device 24 of a management system according to one embodiment of the invention. The transport device 24 comprises a chassis 240 mounted on four wheels 242, and means 244 for gripping and lifting the rechargeable vehicle 14. An example of such a transport device is described in more detail in the applicant's application WO2021 / 009420Al. The robotic arms, here four robotic arms 26, allow the handling of the electrical connection device 21 formed of a connection cable and the associated connectors.

[0080] The carrier device 24 is of course configured for the movement of non-rechargeable vehicles, in which case no electrical connection device is to be manipulated. The robotic arms can advantageously serve other functions when they are not being used to manipulate an electrical connection device.

[0081] The robotic arms are preferably arranged on a transverse upright, more preferably in the middle thereof. The robotic arms may also be arranged on at least one column and / or at least one longitudinal upright, depending on the characteristics of the conveyor device. It may have a fixed or mobile position along these structures of the conveyor device.

[0082] Returning to [Fig.l], the management system 12 allows the execution of a vehicle parking or recovery method according to steps described below. This method allows the vehicles to be driven to parking spaces according to their characteristics. In particular, an area 28 may be intended for recharging rechargeable vehicles, thanks to the presence of charging terminals, here four charging terminals 30, powered by a plurality of electrical power supply cables 32 connected to a device 34 supplying electrical power, for example an electrical generator or an interface device (electricity meter, transformer, etc.) to the local electrical network, in particular to the public electrical distribution network.

[0083] Depending on the use of the parking lot, non-rechargeable vehicles may be parked in spaces with charging stations without being recharged, or rechargeable vehicles may be parked in spaces without charging stations, particularly if their battery is sufficiently charged. For example, a rechargeable vehicle whose battery is recharged by a charging station in a parking space may be moved to another parking space without a charging station when its battery is sufficiently charged, so as to make room for another rechargeable vehicle whose battery needs to be charged.

[0084] More generally, vehicles can be moved from one parking space to another during their time in the parking lot. to optimize the management of available spaces in the parking lot.

[0085] Figures 3a to 3k are schematic top views of steps of a method for moving, parking and electrically recharging a rechargeable vehicle in a parking lot according to a first embodiment of the invention. For reasons of clarity, the references to the elements visible in the figures may not be present in all the steps shown.

[0086] [Fig. 3a] represents a step following the arrival of the rechargeable vehicle 14 in the docking station 18. As described previously, the vehicle has been connected by a human user to a temporary connection terminal 20a. The temporary connection terminal 20a is preferably a low-power electrical charging terminal configured to supply electrical energy to the vehicle via the electrical connection device. The temporary connection terminal thus makes it possible to verify the correct electrical connection of the rechargeable vehicle 14 to the management system to ensure its recharging. The temporary connection terminal is for example powered by one or more photovoltaic panels, a battery and / or connected to an electrical network.

[0087] The docking station 14 advantageously comprises several temporary connection terminals, here four temporary connection terminals 20a, 20b, 20c, 20d, making it possible to adapt to different types of rechargeable vehicles, in particular depending on the location of the electrical connection device 21, here at the front of the rechargeable vehicle 14.

[0088] [Fig.3b] represents a step in which a conveyor device 24 equipped with two robotic arms 26a, 26b, a first arm 26a of which disconnects the electrical connection device 21 from the temporary connection terminal 20a. The precise and known location of each temporary connection terminal makes it easier to control the robotic arm which performs a simple action for disconnecting and handling the electrical connection device 21.

[0089] [Fig.3c] represents a step in which the robotic arm 26a manipulates the electrical connection device 21 with a view to moving it at the same time as the vehicle. The electrical connection device 21 is thus no longer connected to the docking station.

[0090] [Fig.3d] represents a step in which the robotic arm 26a connects the electrical connection device 21 to a cable support means 34 integrated into the conveyor device 24, in particular on a longitudinal upright, for example a clamp for carrying the cable.

[0091] [Fig. 3e] shows a step in which the carrier device 24 moves to position itself above the rechargeable vehicle 14. The support means 34 moves along the upright so that the electrical connection device 21 remains at a relatively fixed position relative to the docking station 14 during movement of the carrier device 24.

[0092] [Fig.3f] represents a step in which the transport device 24 is arranged above the rechargeable vehicle 14 and can allow its transport. In particular, means for gripping and lifting the vehicle as shown in [Fig.2] described previously are deployed for gripping and lifting the rechargeable vehicle 14. In addition, the second robotic arm 26b grabs the electrical connection device 21, this operation being facilitated by knowledge of the precise position of the support means 34 on the transport device 24.

[0093] [Fig.3g] represents a step in which the transport device 24 moves the rechargeable vehicle 14 out of the docking station, to reach the parking space. The robotic arm 26b allows the handling of the electrical connection device 21 during this movement.

[0094] [Fig. 3i] represents a step in which the transport device has transported the rechargeable vehicle 14 to a parking space in the parking lot equipped with a charging station. This parking space is connected to an electrical power supply network by an electrical power supply cable 32.

[0095] [Fig.3j] represents a step in which the rechargeable vehicle 14 is parked in the parking space and the robotic arm 26b manipulates the connection device 21 for connection to a charging terminal 30 powered by the power supply cable 32. As for the previous steps of manipulation of the connection device 21 by a robotic arm, the positions of the connection device 21 and the charging terminal are known, which makes it possible to simplify the control of the robotic arm 26b.

[0096] [Fig.3k] represents a step in which the rechargeable vehicle 14 is parked in a parking space and is connected to a charging terminal 30. The carrier device 24 can therefore move to move a new vehicle.

[0097] Figures 4a to 4g are schematic top views of steps of a method for moving, parking and recharging a rechargeable vehicle in a parking lot according to a second embodiment of the invention. The sequence of steps is similar to that shown in Figures 3a and 3k, but in this embodiment, the management system comprises at least one transportable connection box intended to receive the electrical connection device, and the robotic arm is configured for handling the transportable connection box. In particular, the electrical connection device comprises a cable and a connection connector, and the transportable connection box comprises a basket intended to receive at least at least a portion of the cable of the electrical connection device. The transportable connection box is described in particular in more detail with reference to Figures 5 and 6 below. For reasons of clarity, references to elements visible in the figures may not be present at all stages shown.

[0098] [Fig.4a] represents a step in which the conveyor device 24 arrives at proximity of the rechargeable vehicle 14 located in the docking station. The carrier device 24 comprises a first robotic arm 26a and a second robotic arm 26b. The first robotic arm 26a transports a transportable connection box 36 and places it on the ground in the docking station 18 near the temporary connection terminal 20a to which the electrical connection device 21 of the rechargeable vehicle 14 is connected.

[0099] [Fig.4b] represents a step in which the robotic arm disconnects the device 21 for electrical connection of temporary connection terminal 20a.

[0100] [Fig.4c] represents a step in which the robotic arm connects the device 21 for electrical connection to the transportable connection box 36, in particular to a means of connection of the transportable connection box 36.

[0101] [Fig.4d] represents a step in which the transportable device 24 is placed above the rechargeable vehicle 14 and sets up means 244 for gripping and lifting the vehicle as described previously with reference to [Fig.2]. The second robotic arm 26b grabs the transportable connection box 36 for the purpose of moving and handling it at the same time as moving the rechargeable vehicle 14.

[0102] [Fig.4e] represents a step in which the conveyor device 24 moves the rechargeable vehicle 14 as well as the transportable connection box 36 carried by the second robotic arm 26b.

[0103] [Fig.4f] represents a step in which the transporting device 24 arrives at a parking space equipped with a charging terminal 30. The second robotic arm 26b places the transportable connection box 36 directly on the charging terminal for indirect connection of the electric charging device 21 enabled by the transportable connection box 36. The rechargeable vehicle 14 is placed at the parking space.

[0104] [Fig.4g] represents a step in which the electric recharging device 21 is connected to the electrical power supply network and the carrier device 24 moves away from the rechargeable vehicle 14.

[0105] [Fig.5] is a schematic side view of a parking step of a vehicle 14 rechargeable in a parking space equipped with a charging terminal 30 of a method of moving, parking and recharging electric vehicles, according to the second embodiment of the invention. This step corresponds substantially to the step described with reference to [Fig.4f].

[0106] When the rechargeable vehicle 14 is moved by the transporting device 14 to the parking space, the second robotic arm 26b manipulates the transportable connection box 36. This transportable connection box 36 comprises a basket 38 whose interior volume makes it possible to accommodate at least a portion of the cable 40 of the electric charging device 21. To facilitate the handling of the electric charging device 21, its connection socket 42 is connected to a connection means 44 of the transportable connection box 36, thus providing a repeatable interface whose position is known to the robotic arms of the management system. According to other embodiments, the transportable connection box may comprise several connection means to adapt to different situations.

[0107] To simplify the connection of the rechargeable vehicle, the transportable connection box 36 comprises a quick connection interface 46 intended to interface with a quick connection base 48 arranged on the charging terminal 30. The electrical energy is supplied by the charging terminal 30 via the cables 32 laid on the ground and which can be installed quickly. The quick connection base 48 is shown here schematically and its interface with the transportable connection box 36 can take different forms.

[0108] [Fig. 6] is a schematic side view of a step of parking a rechargeable vehicle of a method of moving, parking and electric recharging, according to the second embodiment of the invention, using the same elements as in [Fig. 5] when the parking space is not equipped with a charging terminal. In this case, the transportable connection box 36 is placed directly on the ground, and allows, despite the absence of electric recharging (for example when the battery of the rechargeable vehicle 14 is sufficiently charged), to leave the electric recharging device 21 on the ground. Indeed, as in [Fig.5], the cable 40 of the electric charging device 21 is arranged in the basket 38 and its socket 42 is connected to the connection means 44 which allows a robotic arm of a transporting device to be able to easily manipulate it, knowing the position of the transportable connection box 36 and the position of the connection means 44 in the transportable connection box 36.

[0109] The invention is not limited to the embodiments described.

[0110] In particular, the conveyor device can take different forms, for example mobile conveyors with at least one platform or at least one tray or at least one gantry, generally on wheels, rollers, or tracks, capable of moving on different types of ground or on guided rails. The vehicles can be lifted and held from below the vehicle tires by means of arms or pallet-type platforms, integral or detachable from the conveyor.

[0111] The transportable connection box may be of different shape, for example take the form of a cable reel, etc.

[0112] The method described may comprise additional steps not described, for example steps in which the connection box is transferred from a transportable connection box to a robotic arm of another transport device and / or in which shared handling of a transportable connection box by at least two robotic arms of different transport devices is provided. The vehicle may also be parked in a waiting area if the parking spaces equipped with charging stations are not free and thus not be parked directly in a parking space equipped with a charging station as shown in the figures.

Claims

Claims

1. Robotic management system for moving, parking and electrically recharging a rechargeable vehicle (14, 14a, 14b), comprising at least one docking station (18, 18a, 18b) intended to receive a vehicle, at least one carrier device (24) configured for moving and parking the vehicle in a parking lot (10), characterized in that each docking station (18, 18a, 18b) comprises at least one temporary connection terminal (20a, 20b, 20c, 20d) configured to receive a device (21, 21a, 21b) for electrically connecting a rechargeable vehicle (14, 14a, 14b), and in that each carrier device (24) comprises at least one robotic arm (26, 26a, 26b) configured for connecting or disconnecting the device (21, 21a, 21b) for electrical connection of the temporary terminal (20a, 20b, 20c, 20d) and handling of the electrical connection device (21, 21a, 21b) when moving or parking the vehicle (14, 14a,14b) associated rechargeable.,

2. Management system according to claim 1, characterized in that the temporary connection terminal (20a, 20b, 20c, 20d) is an electric recharging terminal configured to supply electrical energy to said vehicle (14, 14a, 14b) rechargeable via the electrical connection device (21, 21a, 21b).

3. Management system according to claim 2, characterized in that the temporary connection terminal (20a, 20b, 20c, 20d) is supplied with electrical energy by a photovoltaic power supply and / or a battery.

4. Management system according to one of claims 1 to 3, characterized in that it comprises at least one transportable connection box (36) intended to receive the electrical connection device (21, 21a, 21b), and in that the robotic arm (26, 26a, 26b) is configured for handling the transportable connection box (36).

5. Management system according to claim 4, characterized in that the robotic arm (26, 26a, 26b) is configured for: - a connection or a disconnection of the electrical connection device (21, 21a, 21b) from the temporary terminal (20a, 20b, 20c, 20d), - a connection or a disconnection of the electrical connection device (21, 21a, 21b) to a connection means (44) of the transportable connection box (36).

6. Management system according to one of claims 4 or 5, characterized in that it comprises at least two transport devices (24), and in that each robotic arm (26, 26a, 26b) of a transport device (24) is configured for a transfer of a transportable connection box (36) to a robotic arm (26, 26a, 26b) of another transport device and / or for shared handling of a transportable connection box by at least two robotic arms (26, 26a, 26b) of different transport devices (24).

7. Management system according to one of claims 4 to 6, characterized in that the transportable connection box (36) comprises a connection interface (46) configured to allow a direct connection with a charging terminal (30) arranged near at least one parking space of the parking lot (10).

8. Management system according to one of claims 4 to 7, characterized in that the electrical connection device (21, 21a, 21b) comprises a cable (40) and a connection connector (42), and in that the transportable connection box (36) comprises a basket (38) intended to receive at least part of the cable (40) of the electrical connection device.

9. Management system according to one of claims 1 to 8, characterized in that it comprises at least one charging terminal (30) arranged near at least one parking space of the parking lot (10), in that the robotic arm (26, 26a, 26b) is further configured for: - transporting the electrical connection device (21, 21a, 21b) during movement of the rechargeable vehicle (14, 14a, 14b) to a selected parking space, - direct or indirect connection or disconnection of the electrical connection device (21, 21a, 21b) with the charging terminal (30) near the selected parking space.

10. Management system according to a combination of claims 2 and 7, characterized in that the temporary terminal (20a, 20b, 20c, 20d) is a low-power electric charging station and in that each charging station (30) arranged near at least one parking space of the parking lot (10) is a high-power electric charging station.

11. Management system according to one of claims 1 to 10, characterized in that at least one transport device (24) is configured to be able to move over a vehicle (14, 16) parked in the parking lot, a charging terminal (30) arranged near at least one parking space of the parking lot (10), and / or an electrical energy transmission network (32) of the parking lot.

12. Robotic method for moving, parking and electrically recharging a rechargeable vehicle (14, 14a, 14b) in a parking lot (10) comprising at least one parking space, characterized in that it comprises: - a step of manually parking the rechargeable vehicle (14, 14a, 14b) in a docking station (18), - a step of manually connecting a device (21, 21a, 21b) for electrically connecting the rechargeable vehicle (14, 14a, 14b) parked in the docking station to a temporary connection terminal (20a, 20b, 20c, 20d), - a step of disconnecting the device (21, 21a, 21b) for electrically connecting the terminal (20a, 20b, 20c, 20d) by a robotic arm (26, 26a, 26b) with the robotic arm (26, 26a, 26b) from the electrical connection device (21, 21a, 21b) to the terminal (20a, 20b, 20c, 20d), 20d) temporary connection, - a vehicle movement step (14, 14a,14b) re-chargeable by a carrier device (24) configured for moving and parking the vehicle to a selected parking space of the parking lot (10), and for transporting the electrical connection device (21, 21a, 21b) during the movement of the rechargeable vehicle (14, 14a, 14b), - a step of directly or indirectly connecting the electrical connection device (21, 21a, 21b) with a charging terminal (30) near the selected parking space.,

13. Robotic method of moving, parking and electrical recharging according to claim 12, characterized in that it comprises, following the step of manual connection of an electrical connection device (21, 21a, 21b) of a rechargeable vehicle (14, 14a, 14b) parked in the docking station (18) with a temporary connection terminal (20a, 20b, 20c, 20d), a step of supplying electrical energy to the rechargeable vehicle (14, 14a, 14b) by the temporary connection terminal (20a, 20b, 20c, 20d).

14. Robotic method for moving, parking and electrical recharging according to one of claims 12 or 13, characterized in that it comprises, following the step of disconnection by a robotic arm (26, 26a, 26b) of the electrical connection device (21, 21a, 21b) with the temporary connection terminal (20a, 20b, 20c, 20d), a step of storing at least a part of the electrical connection device (21, 21a, 21b) in a transportable connection box (36), and a step of connection by the robotic arm (26, 26a, 26b) of the electrical connection device with a transportable connection box (36), and in that the step of transporting the electrical connection device (21, 21a, 21b) is carried out by transporting the transportable connection box (36) in which the electrical connection device (21, 21a, 21b) is stored.

15. Robotic method for recovering a rechargeable vehicle (14, 14a, 14b) parked in a parking lot (10) comprising at least one parking space, a charging terminal (30) near a parking space and a docking station (18), characterized in that it comprises: - a step of disconnecting a device (21, 21a, 21b) for electrically connecting the rechargeable vehicle (14, 14a, 14b) with the charging terminal (30), - a step of moving the rechargeable vehicle (14, 14a, 14b) by a carrier device (24) configured for moving the rechargeable vehicle (14, 14a, 14b) to the docking station, and transporting the electrical connection device (21, 21a, 21b) during the movement of the rechargeable vehicle (14, 14a, 14b), - a step of connection by a robotic arm (26, 26a, 26b) of the electrical connection device (21, 21a, 21b) with a temporary connection terminal (20a, 20b, 20c, 20d) of the docking station (18), - a step of disconnecting a device (21, 21a, 21b) from vehicle electrical connection (14, 14a, 14b) rechargeable with the temporary connection terminal (20a, 20b, 20c, 20d).

16. Robotic recovery method according to claim 15, characterized in that it comprises, following the step of disconnecting an electrical connection device (21, 21a, 21b) of the rechargeable vehicle with the charging terminal (30), a step of storing at least a part of the electrical connection device (21, 21a, 21b) in a transportable connection box (36), and a step of connecting by the robotic arm (26, 26a, 26b) the electrical connection device with a transportable connection box (36), and in that the step of transporting the electrical connection device (21, 21a, 21b) is carried out by transporting the transportable connection box (36) in which the electrical connection device (21, 21a, 21b) is stored.

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