AUTONOMOUS ROBOT FOR RECHARGING AN ELECTRIC OR HYBRID MOTOR VEHICLE WITH ELECTRIC ENERGY AND ASSOCIATED METHOD

Abstract

The invention relates to an autonomous robot (1) for recharging an electric or hybrid motor vehicle with electrical energy, comprising a recharging base (2) having a funnel shape comprising a rectilinear part (2a) and a flared part (2b), said rectilinear part (2a) having an internal thread (20), said robot (1) is connected to an electrical recharging terminal or to a wall electrical outlet by an electrical cable, characterized in that said robot comprises a navigation system and a jack (3) comprising an electrical connector (4) capable of being plugged into said rectilinear part (2a) of the recharging base (2), said electrical connector (4) having an external thread (40) and said robot (1) comprising a guidance system making it possible to position said electrical connector opposite said recharging base (2).The invention also relates to a method for automatically recharging an electric or hybrid motor vehicle implemented by said robot (1). Abstract figure: Fig. 1.

Description

Title of the invention: AUTONOMOUS ROBOT FOR RECHARGING AN ELECTRIC OR HYBRID MOTOR VEHICLE WITH ELECTRIC ENERGY AND ASSOCIATED METHOD

[0001] The invention relates to means for recharging electric or hybrid motor vehicles, and more particularly to means for autonomous recharging of these vehicles.

[0002] Known from the prior art is a patent application WO2023078695 which describes a method for autonomously connecting a charging socket to a charging plug of a vehicle. The charging plug is also called a connector. The charging socket is also called a charging base. The charging socket is arranged on a programmable robotic arm in an electric charging station. The robotic arm comprises a camera for locating the charging plug of said vehicle. To perform this location, an analysis of the images acquired by said camera is implemented. The environment of the electric charging station is digitized by means of said camera in order to create a digital map. The charging plug is identified on said digital map, the location of said charging plug is therefore determined. The charging socket is moved into a plug-in position, at a predetermined distance from said charging plug.The camera continues to analyze the environment. If necessary, the digital map is modified as the images acquired by said camera are analyzed while moving said charging socket until said charging plug is correctly inserted into said charging socket. The patent application also describes a device implementing the steps of said method previously described. However, drawbacks remain. Indeed, despite digitization of the space, the insertion of said charging plug into the charging socket is not guided. Thus, if said digital map is not sufficiently precise, the charging plug may hit the charging socket, which is likely to damage it. In addition, simply inserting the charging plug into the charging socket does not guarantee a satisfactory seal.Water may enter between the charging plug and the charging socket, which may cause a short circuit, and consequently overheating or even a fire.

[0003] The objective of the present invention is to overcome these drawbacks by proposing a means of autonomous recharging of an electric or hybrid motor vehicle allowing a sealed connection of the connector and the recharging base and making it easier, even in the case of imperfect alignment, to insert the connector into the charging base.

[0004] To achieve this objective, the invention proposes an electric or hybrid motor vehicle configured to be recharged with electrical energy by an autonomous robot, characterized in that said vehicle comprises a recharging base having a funnel shape comprising a rectilinear part and a flared part, said rectilinear part having an internal thread, said rectilinear part being capable of receiving an electrical connector having an external thread.

[0005] Preferably, said vehicle comprises a spring system making it possible to dampen movements when said electrical connector is inserted into said charging base.

[0006] Furthermore, the invention proposes an autonomous robot for recharging an electric or hybrid motor vehicle described above with electrical energy, said robot being capable of being connected to an electrical recharging terminal or to a wall electrical outlet by an electrical cable, remarkable in that said robot comprises a navigation system and a jack comprising an electrical connector capable of being plugged into said rectilinear part of the recharging base of said vehicle, said electrical connector and said robot comprising a guidance system making it possible to position said electrical connector opposite said recharging base.

[0007] Thanks to the invention, the robot ensures the connection of said connector into said recharging base autonomously. The introduction of said connector into said recharging base is guided by the funnel shape of said base. The seal is ensured by the thread of the rectilinear part of the recharging base and of the connector allowing the screwing of these two elements.

[0008] Advantageously, said guidance system is an electronic system, but other solutions are possible (non-exhaustive list).

[0009] Advantageously, said robot comprises a laser, said cylinder having a longitudinal axis, said laser being coaxial with respect to the longitudinal axis, and said electronic system being a photodetector positioned at the center of said rectilinear part.

[0010] Advantageously, said electronic system is a radio-identification system.

[0011] Advantageously, said electronic system is an ultrasonic guidance system.

[0012] Advantageously, said guidance system is an electromagnetic system.

[0013] The invention also relates to a method for automatically recharging an electric or hybrid motor vehicle implemented by an autonomous robot previously described, remarkable in that said method comprises the following steps: - a step of positioning said electrical connector facing said recharging base by the navigation system and said guidance system; - a step of introducing said electrical connector into said base of loading under the effect of the actuation of the motor causing a translational movement of the jack; - a step of screwing said electrical connector into said rectilinear part of said recharging base; - a step of recharging said vehicle with electrical energy.

[0014] Furthermore, the invention relates to a computer program comprising instructions which, when the program is executed by a computer, cause the latter to implement the steps of the method for automatically recharging an electric or hybrid motor vehicle previously described.

[0015] The invention will be further detailed by the description of non-limiting embodiments, and on the basis of the appended figures illustrating variants of the invention, in which: - [Fig.l] schematically illustrates a recharging base of an electric or hybrid motor vehicle into which an electrical connector of an autonomous recharging robot is inserted according to one embodiment of the invention; - [Fig.2] schematically illustrates, in the form of a flowchart, a process recharging an electric or hybrid motor vehicle implemented by the autonomous robot.

[0016] In [Fig.l], there is schematically illustrated an autonomous robot 1 for recharging an electric or hybrid motor vehicle with electrical energy. The vehicle comprises a recharging base 2. The recharging base 2 comprises a locking system. In an alternative, the recharging base 2 does not comprise a locking system. The robot 1 is a device carrying out, thanks to an automatic control system, the task for which it was designed, namely here the automatic connection of an electrical connector 4 into the recharging base 2 of the vehicle. The recharging base 2 has a funnel shape comprising a rectilinear part 2a having an internal thread 20 and a flared part 2b. The robot 1 comprises a motor (not shown in [Fig.l]) and a jack 3. The jack 3 is a device for lifting or supporting an element located at its end. At the end of the jack 3 is positioned said electrical connector 4.The electrical connector 4 is capable of being plugged into said rectilinear part 2a of the charging base 2. The robot 1 is capable of being connected to a charging terminal or to a wall electrical outlet by an electrical charging cable. The charging of an electric or hybrid vehicle can be carried out according to different charging modes. A mode 2 allows slow charging by alternating current of the vehicle via a domestic electrical outlet. A mode 3, faster than mode 2, recharges the vehicle via a charging cable capable of being plugged into the connector. 4 type 2 electric. The charging cable is connected to an electric charging station, or to a wall electrical outlet, which provides alternating current. Unlike a wall electrical outlet, an electric charging station integrates control, safety, regulation and programming features for vehicle charging. A mode 4 can be implemented by an electric charging station delivering direct current at a very high power level. Thus, the vehicle is recharged very quickly. For vehicle recharging in mode 4, it is necessary for the vehicle to have the charging base 2 capable of receiving the appropriate electrical connector 4. There are several types of electrical connectors 4, said robot 1 must therefore identify whether said charging base 2 detected in front of it is the charging base 2 appropriate for the type of electrical connector 4 it contains.The recharging base 2 capable of receiving the type 2 connector is the most widespread to date and seems to be on the way to becoming the standard recharging base 2 in the coming years, particularly in Europe. In the context of the invention, the electrical connector 4 is therefore preferably the type 2 electrical connector 4. Before being plugged into said rectilinear part 2a, said electrical connector 4 is inserted into said flared part 2b. The shape of the flared part makes it possible to guide said electrical connector 4 to said rectilinear part 2a. The electrical connector 4 has an external thread 40. Thus, said electrical connector 4 is capable of being screwed into said rectilinear part 2a of the recharging base 2. In addition, the robot 1 comprises a navigation system allowing spatial location so that said robot 1 positions itself correctly to introduce said electrical connector 4 into said recharging base 2.In addition, the robot 1 comprises a guidance system (not shown in [Fig.l]). The guidance system allows the robot 1 to precisely position said electrical connector 1 opposite the recharging base 1, and more precisely opposite the rectilinear part 2a. The guidance system is an electronic sensor. The electronic sensor comprises a photoreceptor, provided that said robot 1 comprises a laser. The jack 3 has a longitudinal axis A, and said laser is coaxial with respect to the longitudinal axis A. The photodetector is positioned at the center of said rectilinear part 2a of the recharging base 2. Thus, when the laser is detected by said photoreceptor, this means that said laser is at the center of said rectilinear part 2a, the jack 3, and consequently the electrical connector 4 positioned at the end of the jack 3, are aligned facing the center of said rectilinear part 2a.Alternatively, said electronic system is a radio-identification system. In this case, RFID transponders (acronym meaning Radio Frequency Identification) are present on said recharging base 2. The robot 1 includes an RFID reading device allowing it to collect position information from the . RFID transponders. This information is processed by a controller connected to the RFID reading device. Thus, the position of said recharging base 2 is precisely detected. In another alternative, said electronic system is an ultrasonic guidance system. Ultrasonic waves are mechanical and elastic waves with a frequency greater than 20,000 Hz which propagate in a wide variety of media, gaseous, liquid or solid. The robot 1 comprises an ultrasonic wave transmitter and receiver. The transmitter causes the propagation of ultrasonic waves which are reflected on said recharging base 2. The reflected waves are then picked up by said receiver. In another embodiment, the guidance system is an electromagnetic system.An electromagnetic wave is a wave comprising an electric field and a magnetic field, the electric field and the magnetic field being perpendicular to each other and moving in the same direction. Electromagnetic waves sent by an electromagnetic transmitter propagate and are reflected by the target, in this case by said recharging base 2. The reflected waves are then captured and interpreted by a receiver. It is common for the transmitter and the receiver to be located in the same place, which is the case in the context of the invention, the transmitter and the receiver being located on said robot 1. Advantageously, said robot 1 comprises a spring system making it possible to dampen the movement when said robot 1 connects said electrical connector 4 to the recharging base 2 of said vehicle.

[0017] [Fig.2] is schematically illustrated in the form of a flowchart, a method for automatically recharging an electric or hybrid motor vehicle implemented by the autonomous robot described above. During a positioning step E1, said robot 1 moves in order to position said electrical connector 4 facing said recharging base 2. The positioning is made possible by the navigation system of said robot 1 allowing it to locate itself in space, and by the guidance system, whether it is the electronic system or the electromagnetic system. During an introduction step E2, the motor of the robot 1 is activated in order to generate a translational movement of the jack 3, at the end of which is located said electrical connector 4.The electrical connector 4 being positioned facing said recharging base 2, said electrical connector 4 is firstly introduced into said flared part 2b, until it is inserted into said rectilinear part 2a. During a screwing step E3, said electrical connector 4 is aimed into said rectilinear part 2a of the recharging base 2. The robot 1 therefore generates a rotational movement to carry out the screwing. The screwing is enabled by the presence of the external thread 40 on said electrical connector 4 and the internal thread 20 in said rectilinear part 2a. The screwing enables a solid connection and reduces the risks of water infiltration into said recharging base 2. Advantageously, said . rectilinear part 2a comprises at least one seal to ensure sealing when connecting the electrical connector 4. During a recharging step E4, the electrical energy is transmitted from the recharging terminal or from the wall electrical outlet to said vehicle via said robot 1. At the end of recharging, the robot 1 performs a rotational movement in the opposite direction, allowing the unscrewing of said electrical connector 4. Furthermore, the invention relates to a computer program comprising instructions which, when the program is executed by a computer, cause the latter to implement the steps of the method described above.

Claims

Claims

1. Electric or hybrid motor vehicle configured to be recharged with electrical energy by an autonomous robot (1), characterized in that said vehicle comprises a recharging base (2) having a funnel shape comprising a rectilinear part (2a) and a flared part (2b), said rectilinear part (2a) having an internal thread (20), said rectilinear part (2a) being capable of receiving an electrical connector (4) having an external thread (40).

2. Vehicle according to claim 1 characterized in that said vehicle comprises a spring system making it possible to dampen movements during the insertion of said electrical connector (4) into said recharging base (2).

3. Autonomous robot (1) for recharging an electric or hybrid motor vehicle with electrical energy according to claim 1 or 2, said robot (1) being capable of being connected to an electrical recharging terminal or to a wall electrical outlet by an electrical cable, characterized in that said robot comprises a navigation system and a jack (3) comprising an electrical connector (4) capable of being plugged into said rectilinear part (2a) of the recharging base (2) of said vehicle, said electrical connector (4) and said robot (1) comprising a guidance system making it possible to position said electrical connector opposite said recharging base (2).

4. Robot (1) according to claim 3 characterized in that said guidance system is an electronic system.

5. Robot (1) according to claim 4 characterized in that said robot (1) comprises a laser, said jack (3) having a longitudinal axis (A), said laser being coaxial with respect to the longitudinal axis (A), and said electronic system being a photodetector positioned at the center of said rectilinear part (2a).

6. Robot (1) according to claim 4 characterized in that said electronic system is a radio-identification system.

7. Robot (1) according to claim 4 characterized in that said electronic system is an ultrasonic guidance system.

8. Robot (1) according to claim 3 characterized in that said guidance system is an electromagnetic system.

9. Method for automatically recharging an electric or hybrid motor vehicle according to any one of claims 1 to 2 implemented by an autonomous robot (1) according to any one of claims 3 to 8, characterized in that said method comprises the following steps: - a step of positioning (El) said electrical connector (4) facing said recharging base (2) by the navigation system and said guidance system; - a step (E2) of introducing said electrical connector (4) into said recharging base (2) under the effect of the actuation of the motor causing a translational movement of the jack (3); - a step of screwing (E3) said electrical connector (4) into said rectilinear part (2a) of said recharging base (2) - a step (E4) of recharging said vehicle with electrical energy.

10. Computer program comprising instructions which, when the program is executed by a computer, cause the latter to implement the steps of the method for automatically recharging an electric or hybrid motor vehicle according to claim 9.

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