method of recharging a vehicle battery by means of automatic movement of a charging gun

Abstract

The invention relates to a method for recharging an electric battery of a vehicle (1) comprising a charging socket (3), said method being carried out by means of a mobile charging gun (2) which is external to the vehicle and which is intended to be plugged into said charging socket (3). According to the invention, said method comprises a step of detecting the initial position of the charging gun (2) relative to the charging socket (3), by means of scanning said gun (2) making it possible, thanks to an infrared sensor (6) fixed to said gun, to define a detection zone (8) of the infrared radiation produced by the emitter (4) fixed to the periphery of the charging socket (3), and by means of measuring a distance by the distance sensor (5) between the charging gun (2) and the vehicle (1). Figure for abstract: Figure 2

Description

Title of the invention: method for recharging a vehicle battery by means of automatic movement of a charging gun

[0001] The present invention relates to a method of recharging a vehicle battery by means of automatic movement of a charging gun.

[0002] As a reminder, a vehicle having partial or total electric propulsion comprises a battery and a charging socket, said battery being able to be recharged with electric current via an electric charging gun, which is external to the vehicle. This charging gun is connected to a source of electric current, and is plugged into the vehicle's charging socket to ensure the recharging of said battery with electric current.

[0003] In order to facilitate the recharging of the electric battery of the vehicle, it is envisaged to automate the movement of the charging gun towards the vehicle's charging socket, then its insertion into said charging socket without human intervention during these different stages. A difficulty encountered during this automation process lies in the location of the charging socket present on the vehicle to carry out the approach of the external gun towards said charging socket. Indeed, the charging gun is generally mounted on an articulated arm, and the position of said charging socket on the vehicle relative to the initial position of the charging gun on the articulated arm, must be determined precisely, to systematically trigger an optimized movement of the charging gun towards the charging socket, in order to promote its insertion into said charging socket.

[0004] Application WO2022167350 A1 discloses a vehicle comprising an electric battery and an electrical socket for supplying electricity to the battery, the socket being positioned in a bodywork element defining the vehicle so as to be accessible from outside the vehicle. This application further discloses that the socket comprises guide means for routing one end of a supply gun, such that said end can penetrate into a receiving area of ​​the socket to ensure the electrical charging of the battery.

[0005] A method for recharging a vehicle battery according to the invention implements means for locating the charging gun relative to the charging socket, to ensure safe and repetitive systematic insertion of the charging gun into the vehicle's charging socket.

[0006] The subject of the invention is a method for recharging an electric battery of a vehicle comprising a charging socket, said method being carried out by means of a mobile charging gun which is external to the vehicle and which is intended to come plug into said charging socket.

[0007] According to the invention, the recharging method comprises the following steps: - a step of securing an infrared transmitter to the vehicle, on the periphery of the charging socket, - a step of forming a system comprising the recharging gun and a specific calculator, said system further comprising a distance sensor and an infrared sensor attached to the recharging gun, - a step of positioning the vehicle in relation to the charging gun which is stored on a support making it possible to define an initial position of the charging gun in relation to the charging socket - a step of detecting the initial position of the charging gun relative to the charging socket, by means of scanning said gun allowing, thanks to the infrared sensor, to define a detection zone of the infrared radiation produced by the transmitter, and by means of measuring a distance by the distance sensor between the charging gun and the vehicle, - a step of automatic movement of the charging gun towards the charging socket, said step being controlled by the specific computer according to the measurements taken in the previous step, until said charging gun is plugged into said charging socket, - a step of recharging the vehicle battery.

[0008] The principle of a recharging method according to the invention is that it allows the charging gun to move automatically and very precisely towards the vehicle's charging socket, thanks to: - to an infrared sensor of said gun which will detect in a particular area of ​​space a signal coming from an infrared transmitter placed near the charging socket, and - to a distance detector which measures a distance between the initial position of the gun and the vehicle.

[0009] The measurements from these sensors will constitute input data for the computer to enable it to determine the route that the charging gun must take from its initial position to safely reach the charging socket. The vehicle positioning step is carried out naturally, without any particular maneuver, the vehicle being parked in approximately the same place next to the charging gun. In this way, it is assumed that the charging gun will always be in the same predefined area around the charging socket. If the charging gun were to be outside said predefined area, which is a very unlikely configuration, the method according to the invention would be inoperative. The scanning of the charging gun can, for example, be carried out by translation or rotation, or by a com- combination of the said two movements.

[0010] According to a possible characteristic of the invention, the step of scanning the charging gun consists of rotating said charging gun around an axis of rotation in order to determine the detection zone in which said infrared sensor detects the infrared radiation produced by the transmitter. The rotation of the charging gun is carried out around a longitudinal axis of said gun, so that the infrared sensor moves along a circle. At the beginning, the infrared sensor does not receive any infrared radiation from the transmitter, then will begin to pivot. From a certain angle of rotation, it will begin to capture infrared radiation, then by continuing its rotation it will end up no longer capturing this radiation. In other words, it will only capture the signal over an angular sector.

[0011] According to a possible characteristic of the invention, the axis of rotation around which the charging gun pivots is a vertical axis, the detection zone extending in a horizontal plane and being delimited by two segments materializing an angular opening. Indeed, when the gun pivots, the infrared sensor will pivot simultaneously, the orientation of the sensor relative to the infrared transmitter being modified at each instant of the pivoting. This modification of orientation explains why the infrared sensor does not pick up a signal over its entire pivoting.

[0012] According to a possible characteristic of the invention, the recharging method comprises: - a step of determining a specific angle [3 between a straight line which is parallel to a wall of the vehicle in which the charging socket is placed, and the bisector of the angular opening of the detection zone defined by the infrared sensor, - a step of measuring the minimum distance “d” between the infrared sensor carried by the charging gun and the wall of the vehicle carrying the charging socket, - a step of deducing the distance and the path that the charging gun must take from its initial position to plug into the charging socket, thanks to the minimum distance d measured and the specific angle [3 determined, - a step of moving the charging gun along the path defined in the previous step until it plugs into the charging socket.

[0013] According to a possible characteristic of the invention, the step of determining the distance and the path that the charging gun must take to plug into the charging socket are deduced from usual trigonometric rules involving the minimum distance d measured and the specific angle [3 determined.

[0014] According to a possible feature of the invention, the infrared sensor attached to the charging gun is collimated, said infrared sensor being able to detect only direct radiation coming from the infrared emitter. In this way, the infrared sensor of the charging gun can only pick up direct radiation coming from the infrared emitter. The detection area of ​​said infrared sensor will therefore be narrower and therefore more clearly defined, preventing the sensor from detecting infrared radiation over its entire rotation. The position of the infrared emitter will therefore be detected more precisely.

[0015] According to a possible characteristic of the invention, the infrared transmitter comprises at least one infrared LED.

[0016] According to a possible characteristic of the invention, the distance sensor is an ultrasonic sensor.

[0017] According to a possible characteristic of the invention, the scanning of the gun and the step of moving said gun towards the vehicle's charging socket are ensured by an articulated arm on which the charging gun is mounted, equipped with its distance sensor and its infrared sensor. The movements of the articulated arm are controlled by the computer from the measurements made by the infrared sensor and the distance sensor.

[0018] A recharging method according to the invention has the advantage of involving equipment such as for example an infrared sensor, an ultrasonic sensor and an infrared transmitter, which are inexpensive and which are reliable and precise. It also has the advantage of being controlled by a computer having an algorithm based on standard trigonometric rules which do not require complex programming.

[0019] A detailed description is given below of a preferred embodiment of a method for recharging an electric battery of a vehicle according to the invention, with reference to the following figures:

[0020] [Fig. 1] [Fig. 1] is a top view of a vehicle and a charging gun illustrating a first step of a charging method according to the invention,

[0021] [Fig.2] [Fig.2] is a top view of a vehicle and a charging gun illustrating a second step of a recharging method according to the invention,

[0022] [Fig.3] [Fig.3] is a top view of a vehicle and a charging gun illustrating a third step of a recharging method according to the invention,

[0023] [Fig.4] [Fig.4] is a diagram showing different distances and an angle allowing a charging gun to be located in relation to the vehicle's charging socket,

[0024] [Fig.5] [Fig.5] is a perspective view of an infrared sensor in a first configuration, and intended to be attached to a charging gun and from which a recharging method according to the invention can be applied,

[0025] [Fig.6] [Fig.6] is a perspective view of the infrared sensor of [Fig.5], in a second configuration,

[0026] [Fig.7] [Fig.7] is a perspective view of the infrared sensor of Figures 5 and 6, in a third configuration,

[0027] A recharging method according to the invention applies to a vehicle 1 having a at least partially electric propulsion. The vehicle 1 therefore has an electric battery which can be recharged by a charging gun 2 which is external to said vehicle and which is plugged into a charging socket 3 of said vehicle. The charging gun 2 is connected to a source of electric current which is external to the vehicle, and is inserted into the charging socket 3 to recharge the electric battery remaining in its functional position in said vehicle.

[0028] Currently, the driver of the vehicle performs this recharging operation manually. In other words, he takes hold of the charging gun 2 which is placed on a base and then carries it to the charging socket 3 of his vehicle, before plugging said charging gun 2 into said charging socket 3. This process is quite tedious because it requires the driver to exert effort and precision in order to achieve the electrical recharging of the battery of his vehicle.

[0029] The automated solutions that have been developed to date to allow the driver to free himself from this manipulation of the charging gun 2 are generally complex and involve expensive equipment.

[0030] A recharging method according to the invention allows automated movement of the charging gun 2 to the charging socket 3 and then its insertion into the latter, without having the disadvantages of the solutions currently developed.

[0031] A method for electrically recharging the electric battery of a vehicle 1 according to the invention comprises the following steps: -a step of securing an infrared transmitter 4 to the vehicle, on the periphery of the charging socket 3. The charging socket 3 is generally covered by a protective hatch which is flush with a wall of the vehicle 1, said protective hatch being able to move from a closed position for which it covers the charging socket 3 to an open position for which it has pivoted by an angle at least equal to 90°. This protective hatch opens or closes automatically by means of an actuating element associated with a motorization. This infrared transmitter 4 is an infrared LED transmitter. The position of the charging socket 3 on the vehicle is deduced directly from the position of the infrared LED transmitter -a step of forming a system comprising the charging gun 2 and a specific computer, said system further comprising a distance sensor 5 and an infrared sensor 6 fixed to the charging gun 2. The distance sensor is preferably an ultrasonic sensor making it possible to measure the time elapsing between an incident ultrasonic wave and an ultrasonic wave reflected by a wall. The infrared sensor 6 makes it possible to detect the infrared radiation, and in particular the infrared radiation produced by the infrared LED emitter secured to the vehicle 1. The infrared sensor 6 is collimated, said infrared sensor 6 being able to detect only direct radiation coming from the LED emitter in infrared 4 attached to the vehicle 1. In this way, the infrared sensor 6 of the charging gun 2 can only pick up the direct radiation from the infrared LED emitter 6. The position of the infrared LED emitter 4 will be detected more accurately, - a step of mounting the charging gun 2 equipped with its two sensors 5, 6 on an articulated arm allowing said charging gun 2 to undergo different rotational and translational movements in space, -a step of positioning the vehicle 1 near the charging gun 2 which is mounted on the articulated arm, in order to place the charging socket 3 at a reasonable distance from said charging gun 2, as illustrated in Figures 1 and 2. Generally, the charging gun 2 is placed in a fixed manner in the garage of an individual or within a charging station having several charging guns 2, and the vehicle always comes to park in the same way in relation to the charging gun 2 considered. For a charging method according to the invention to be able to be applied, the charging socket 3 must be placed in a predefined and small area 7 around the charging gun 2. If the vehicle 1 parks too far from the charging gun 2, nothing will happen and the driver of said vehicle will be invited to move closer to said charging gun.During this step of positioning the vehicle 1, the charging gun 2 is in an initial position relative to the position of the infrared LED transmitter 4 fixed to the vehicle 1. -a step of scanning the previously formed system, resulting in a rotation around a vertical axis of the charging gun 2 mounted on the articulated arm and equipped with its two sensors 5, 6. During this scanning, the collimated infrared sensor 6 of the charging gun 2 pivots simultaneously with said charging gun 2 and will determine a detection zone 8 in which said infrared sensor 6 detects the infrared radiation produced by the infrared LED emitter. This detection zone 8 extends in a horizontal plane and is delimited by two rectilinear segments 9, 10 defining a given angular sector as illustrated in Figures 2 and 3. The determination of this detection zone 8 makes it possible to deduce an angle [3, which is the angle that the bisector 11 of the detection zone 8 makes with a straight line passing through the charging gun 2 and which is parallel to a wall 12 of the vehicle carrying the charging socket 3.The bisector 11 corresponds to the straight line joining the infrared sensor 6 and the infrared LED transmitter 4, . - a step of measuring the minimum distance d separating the distance sensor 5 fixed to the charging gun 2 and the wall 12 of the vehicle into which the charging socket 3 opens, - a step of determining the distance Igl and the route that the charging gun 2 must follow to reach the charging socket 3, using trigonometric rules usual involving the angle [3 and the minimum distance d measured by the distance sensor 5: Igl = d / sin (|3) - a step of determining the distance lg2 separating the projection of the infrared sensor 6 on the wall 12 of the vehicle 1 into which the charging socket 3 opens and the infrared LED transmitter 4 fixed to said wall 12: lg2 = d / tan (|3) - a step of automatic movement of the charging gun 2 along the line Igl or lg2 until it reaches the charging socket 3 and plugs into it, - a step of recharging the vehicle battery.

[0032] A recharging method according to the invention is entirely controlled by the computer forming part of the system formed by the charging gun 2 equipped with its two sensors 5, 6 and said computer.

[0033] Referring to [Fig.5], this occulting device 15 can be closed while only revealing a minimal opening 16. For this configuration the infrared sensor 6 is maximally collimated.

[0034] Referring to [Fig.6], the occulting device 15 can be moderately open, and for this configuration the infrared sensor 6 is moderately collimated.

[0035] Referring to [Fig.7], the occulting device 15 can be widely opened, and for this configuration the infrared sensor 6 is significantly collimated.

[0036] The state of the occulting device 15, namely almost closed, moderately open or widely open, is entirely controlled by the computer forming part of the system formed by the charging gun 2 equipped with its two sensors 5, 6 and said computer.

Claims

Claims

1. Method for recharging an electric battery of a vehicle (1) comprising a charging socket (3), said method being carried out by means of a mobile charging gun (2) which is external to the vehicle and which is intended to be plugged into said charging socket (3), characterized in that it comprises the following steps: - a step of securing an infrared transmitter (4) to the vehicle, at the periphery of the charging socket (3), - a step of forming a system comprising the charging gun (2) and a specific computer, said system further comprising a distance sensor (5) and an infrared sensor (6) fixed to the charging gun (2),-a step of positioning the vehicle (1) relative to the charging gun (2) which is stored on a support making it possible to define an initial position of the charging gun (2) relative to the charging socket (3) -a step of detecting the initial position of the charging gun (2) relative to the charging socket (3), by means of scanning said gun (2) making it possible, thanks to the infrared sensor (6), to define a detection zone (8) of the infrared radiation produced by the transmitter (4), and by means of measuring a distance by the distance sensor (5) between the charging gun (2) and the vehicle (1), -a step of automatically moving the charging gun (2) towards the charging socket (3), said step being controlled by the specific computer according to the measurements made in the previous step, until said charging gun (2) is plugged into said charging socket (3), -a step of recharging the battery of the vehicle (1).,

2. A recharging method according to claim 1, characterized in that the step of scanning the charging gun (2) consists of rotating said charging gun (2) around an axis of rotation in order to determine the detection zone (8) in which the infrared sensor (6) detects the infrared radiation produced by the transmitter (4).

3. Recharging method according to claim 2, characterized in that the axis of rotation around which the charging gun (2) pivots is a vertical axis, and in that the detection zone (8) extends in a horizontal plane and is delimited by two segments (9, 10) materializing a angular opening.

4. Charging method according to claim 3, characterized in that it comprises a step of determining a specific angle (|3) between a straight line which is parallel to a wall (12) of the vehicle in which the charging socket (3) is placed, and the bisector (11) of the angular opening of the detection zone (8) defined by the infrared sensor (6), - a step of measuring the minimum distance (d) between the infrared sensor (6) carried by the charging gun (2) and the wall (12) of the vehicle carrying the charging socket (3), - a step of deducing the distance (lg2) and the path that the charging gun (2) must take to come and plug in from its initial position in the charging socket (3), thanks to the minimum distance (d) measured and the specific angle (|3) determined, - a step of moving the charging gun (2) along the path defined in the previous step until it comes plug into the charging socket (3).

5. Recharging method according to claim 4, characterized in that the step of determining the distance and the path that the charging gun (2) must take to plug into the charging socket (3), are deduced from usual trigonometric rules involving the minimum measured distance (d) and the specific angle (|3) determined.

6. A recharging method according to any one of claims 1 to 5, characterized in that the infrared sensor (6) attached to the charging gun (2) is collimated, said infrared sensor (6) being able to detect only direct radiation coming from the infrared emitter (4).

7. A recharging method according to any one of claims 1 to 6, characterized in that the infrared transmitter (4) comprises at least one infrared LED.

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

9. A recharging method according to any one of claims 1 to 8, characterized in that the scanning of the charging gun (2) and the step of moving said gun (2) towards the charging socket (3) of the vehicle (1) are ensured by an articulated arm on which the charging gun (2) is mounted, equipped with its distance sensor (5) and its in- infrared (6).

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