Charging robot under a vehicle to recharge a traction battery with presence detection

Abstract

A charging robot for a traction battery of an electric or hybrid vehicle, comprising a navigation device, an automatic ground movement device, a power transmission system to the vehicle coming beneath it, and at least one vehicle proximity detection sensor (14, 16), notable in that the movement device allows movement beneath the vehicle along its longitudinal direction, in that the sensor (14, 16) detects the presence of the vehicle above it, and in that the robot (10) includes means for communicating with the vehicle and providing information on this detection. Figure 1

Description

Title of the invention: Under-vehicle charging robot for recharging a traction battery with presence detection

[0001] The present invention relates to a charging robot coming under an electric or hybrid vehicle to recharge a traction battery, as well as an assembly comprising a vehicle and this type of charging robot.

[0002] Electric or hybrid motor vehicles using a traction battery rechargeable by an electricity distribution network generally include a socket fixed to the bodywork receiving the connector of a cable from a charging station delivering electrical energy.

[0003] In this case, the driver must personally pull the cable out of the charging station and connect it, which is time-consuming and can be unpleasant, especially if the cable is heavy, poorly stored, wet, or dirty, or if the weather conditions are adverse. Furthermore, the charging cable connecting the station to the vehicle can obstruct pedestrian traffic.

[0004] To avoid these problems, a known type of motorized automatic robot that slides under the vehicle, presented in particular by document FR-A1-3072339, includes a primary coil receiving an alternating current via a connecting cable to a charging terminal, and includes a guidance system to a light emitted under the vehicle in order to precisely adjust this primary coil under a secondary coil permanently fixed under the vehicle.

[0005] With good transmission efficiency, energy is transferred, giving a secondary alternating current which is then rectified to recharge the vehicle's traction battery.

[0006] Other ground-mounted power transmission systems allow driving over them. However, their position is fixed; the vehicle must be positioned precisely on them.

[0007] Alternatively, it is known to carry out energy transmission by a mobile robot equipped with electrical contacts, coming under the vehicle to establish a direct transmission connection of the electric current.

[0008] However, at the end of the charging cycle, when the robot begins to move from its working position under the vehicle, movement of the vehicle by the driver, or by an automated driving system providing parking assistance, can lead to contact between the vehicle and the robot, causing damage or even crushing the robot. Visual or audible alerts can reduce the risks, but do not eliminate them all.

[0009] To avoid these problems, the driver must wait for the robot to be completely withdrawn to a position sufficiently far from the vehicle to ensure safety. Since the robot's movement can be relatively slow, the driver loses time waiting for this safe position.

[0010] The present invention is specifically designed to avoid these problems of the prior art.

[0011] To this end, it proposes a robot for charging a traction battery of a vehicle electric or hybrid, comprising a navigation device, an automatic ground movement device, a power transmission system to the vehicle coming under this vehicle, and at least one vehicle proximity detection sensor, this robot being notable in that the movement device allows movement under the vehicle along its longitudinal direction, in that the sensor detects the presence of the vehicle above it, and in that the robot includes means of communication with the vehicle delivering information on this detection.

[0012] An advantage of this charging robot is that after recharging the traction battery, during its movement to withdraw, a detection of the absence of the vehicle above the sensor indicates a disengagement at least in part of the robot from under the vehicle, which allows communication with this vehicle to allow it at least certain movements not at risk of causing damage to the robot, by blocking the others.

[0013] In all cases, especially with a robot with relatively slow movements, the driver can save time to make his departure safely.

[0014] The charging robot according to the invention may further comprise one or more of the following characteristics, which may be combined with each other.

[0015] Advantageously, the sensors detect the presence of the vehicle along their vertical axis.

[0016] Advantageously, the robot includes, along the longitudinal direction of the vehicle, a front sensor and a rear sensor which are spaced apart.

[0017] According to one embodiment, the sensors are arranged each along the longitudinal direction on an edge of the robot.

[0018] According to another embodiment, the robot includes at least one sensor which, following the longitudinal direction, is disposed at a margin distance from the edge of this robot.

[0019] In this case, advantageously the robot includes a control system that knows its speed of movement, which calculates with the margin distance and this speed, the time it takes, from a detection of withdrawal of the presence of the vehicle above the sensor, for the robot to completely disengage from this vehicle.

[0020] The invention also relates to an assembly with a charging robot comprising any one of the preceding characteristics, and a vehicle equipped under its floor with a system for receiving energy from the robot.

[0021] Advantageously, the vehicle of the assembly includes an automatic driving system for parking assistance, which receives information from the robot's communication means to prohibit or authorize certain driving movements.

[0022] The invention will be better understood and other features and advantages will become more apparent upon reading the following description given by way of example, with reference to the accompanying drawings in which:

[0023] [Fig-1] is a side view diagram of the robot according to the invention, positioned under the vehicle in its charging position;

[0024] [Fig.2] is a diagram of this robot fully extended towards the rear of the vehicle;

[0025] [Fig.3] is a diagram of this robot in the process of moving backwards; and

[0026] [Fig.4] is a diagram of a robot in the process of moving backwards including a variant of sensor positioning.

[0027] Fig. 1 presents an electric or hybrid motor vehicle having forward steering (AV), which is parked in a parking area comprising a charging robot 10 equipped with an energy transmission system 12 for recharging a traction battery of this vehicle.

[0028] The vehicle includes, under its floor 4, an energy reception system 6, which may be a receptive induced coil permanently fixed flat under the vehicle, connected to the traction battery charging device. Alternatively, the robot's energy transmission system 12 may be equipped with electrical contacts that connect to other contacts arranged under the vehicle to establish an electrical connection for current transmission by conduction.

[0029] The robot 10 includes a navigation device which controls an automatic ground movement device, enabling it, from a storage base supplying it with energy from an electricity distribution network, to locate the position of a vehicle parked nearby which requires recharging, and to come underneath it precisely to align its energy transmission system 12 with that of the vehicle 6.

[0030] At the request of the vehicle or the driver, the robot 10 is automatically positioned and a charging process can begin.

[0031] The robot 10, in its charging position under the vehicle 2, has, along its longitudinal direction of travel, a front sensor 14 and a rear sensor 16, facing upwards, which independently detect the presence of the vehicle above, along their vertical axis. The detection distance, on the order of 10 to 20 cm, corresponds to the height between the sensors 14, 16 and the floor of the vehicle 4.

[0032] The robot 10 includes means of communication with the vehicle of information concerning this presence, which allows intervention on functions related to the movements of the vehicle forwards or backwards, which may include maneuvers of the direction of this vehicle.

[0033] The movement can be achieved through manual control of the vehicle, for example by preventing it from starting in forward or reverse. It can also be achieved through automatic control, including, for example, a low-speed driving function to automatically park the vehicle in its space or to move it out of position.

[0034] In its charging position shown [Fig. 1], the two sensors 14, 16 detect the presence of the vehicle above. In this case, the communication means of the robot 10 send the vehicle a message of this presence, which, at the end of the charging cycle, prevents its movement to avoid any risk of contact with the robot that could damage it.

[0035] The driver can be warned of this impediment by an audible or visual signal. In particular, in the case of parking assistance, the system then blocks certain functions

[0036] Figure 2 shows the robot 10 after a battery recharge, having had time to withdraw completely to the rear from under the vehicle. Its rear sensor 16 and then its front sensor 14 successively recorded the absence of the vehicle by their detection 20, the latter sensor giving the final signal for the release.

[0037] In this case, the communication system sends the vehicle information about the position of the robot 10, which is directly behind it. The vehicle can then immediately perform certain maneuvers to move out of its parking space, either manually or automatically, in particular driving forward without limiting the steering angle of its front wheels. This allows the vehicle to move out as quickly as possible, especially with relatively slow movements of the robot 10, depending on the desired trajectory.

[0038] Fig. 3 shows the robot 10 in the process of moving backward after recharging, the rear sensor 16 having completely disengaged from the rear of the vehicle, the front sensor 14 having detected 20 that it is still underneath.

[0039] We also obtain, with a communication to the vehicle of this position, a possibility of driving for maneuvers which are not dangerous for the robot 10. For example a forward drive in a straight line.

[0040] Figure 4 shows a robot 10 equipped with sensors 14, 16 positioned behind the edges of the robot. In particular, the front sensor 14 is positioned at the margin distance D from the front face of the robot 10.

[0041] The robot 10 includes a control system that knows its speed of descent. placement. In this case the control system calculates with this speed the time it takes, from a signal from the front sensor 14 indicating its exit from the vehicle, for the robot 10 to move backwards over the margin distance D.

[0042] At the end of the clearance time, the robot 10 sends the vehicle the information of complete clearance of the rear of the vehicle, allowing the maneuvers as shown [Fig.2],

[0043] In a simplified embodiment, the robot 10 comprises a single sensor that detects the presence of the vehicle vertically above it. In this case, similarly, the time required to achieve a complete exit from under the vehicle to the rear is calculated using the distance of this sensor from the front or rear edge of the robot 10 and its speed of movement.

[0044] Similar operations are carried out for a robot 10 moving away towards the front of the vehicle, allowing in this case as early as possible maneuvers of the vehicle towards the rear.

[0045] In certain cases of vehicle movement, a faster start is obtained, in particular for an automatic driving of this vehicle which, following its movements, receives a signal of possible departure which is given as early as possible.

Claims

Claims

1. Robot for charging a traction battery of an electric or hybrid vehicle, comprising a navigation device, an automatic ground movement device, a system for transmitting energy to the vehicle coming under this vehicle, and at least one sensor (14, 16) for detecting the proximity of the vehicle, characterized in that the movement device allows movement under the vehicle in its longitudinal direction, in that the sensor (14, 16) detects the presence of the vehicle above it, and in that the robot (10) comprises means of communication with the vehicle delivering information on this detection.

2. Charging robot according to claim 1, characterized in that the sensors (14, 16) detect the presence of the vehicle along their vertical.

3. Charging robot according to claim 1 or 2, characterized in that it comprises, in the longitudinal direction of the vehicle, a front sensor (14) and a rear sensor (16) which are spaced apart.

4. Charging robot according to any one of the preceding claims, characterized in that the sensors (14, 16) are each arranged in the longitudinal direction on an edge of the robot (10).

5. Charging robot according to any one of claims 1 to 3, characterized in that it comprises at least one sensor (14) which, in the longitudinal direction, is arranged at a margin distance (D) from the edge of this robot (10).

6. Charging robot according to claim 5, characterized in that it comprises a control system knowing its speed of movement, which calculates with the margin distance (D) and this speed the time required from a detection of withdrawal of the presence of the vehicle above the sensor (14) for the robot (10) to completely free itself from this vehicle.

7. Assembly comprising a charging robot (10) according to any one of the preceding claims, and a vehicle equipped under its floor (4) with a system for receiving energy (6) coming from the robot (10).

8. Assembly according to claim 7, characterized in that the vehicle comprises an automatic driving system for parking assistance, which receives information from the communication means of the robot (10) to prohibit or authorize certain driving.

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