DE102015225989B3 - Method for carrying out at least one energy supply operation between a power supply unit and at least one motor vehicle to be supplied with energy - Google Patents

Abstract

The invention relates to a method for carrying out at least one energy supply operation between a power supply unit (1) and at least one motor vehicle (K1, K2) to be supplied with energy. In this case, a position of a vehicle-side power supply interface (2) is determined and there is an automated coupling between the vehicle-side power supply interface (2) and a power supply interface (100) of the power supply unit (1) characterized in that the power supply interface (100 The energy supply unit (1) is moved to and coupled to the vehicle-side power supply interface (2). According to the invention, the emitted light radiation is provided by at least one light-detecting component (110) arranged on the robot (11) at least one of the motor vehicle (K1, K2) located laser (4) detected and thereby the position of the laser (4) is determined and from the position of the laser (4) on the position of the vehicle-side power supply interface (2) is closed. In this way, a power supply operation can be made more reliable.

Description

The invention relates to a method for carrying out at least one energy supply operation between a power supply unit and at least one motor vehicle to be supplied with energy having the features of the preamble of patent claim 1.

The invention further relates to a motor vehicle and a power supply unit for carrying out the method.

From the US 5,646,500 all features of the preamble of the independent claims are known. Specifically, an inductively operating charging system with a charging station and an electric vehicle is described. The charging station is provided with a movable in X-, Y- and Z-direction charging element, which is movable into an opening of a vehicle-side charging socket. Furthermore, the charging station comprises a light detector oriented towards the electric vehicle. In contrast, the electric vehicle has a laser unit, which can emit a light beam in the direction of the light detector and is matched with the charging socket. When an electric vehicle parks in front of the charging station, the charging element is moved in dependence on the light beam detected by the light detector by a drive unit in the direction of the charging socket. From the DE 10 2014 107 153 A1 is a vehicle charging station with several parking spaces known. About a along the parking spaces extending ground or overhead track a charging device to parked vehicles is movable. The loading device is designed as Gelenkarmroboter with an end effector designed as a charging plug. Via the end effector, an electrical coupling of the vehicle charging station with charging sockets of the vehicles for the purpose of charging can take place. It is also proposed to equip the end effector with a sensor which can receive electromagnetic radiation in the form of visible light and / or sound pressure waves from a charging socket. The signals received by the sensor are used as feedback to guide the end effector to the charging socket.

In the DE 10 2014 201 821 A1 a charging device of an electric vehicle is described, wherein the electric vehicle is equipped on its underside with a light source, which may be formed for example as a laser. The light source is arranged in alignment with the center axis of a vehicle-side charging current receiving element and serves as a positioning aid to align the charging current receiving element to a roadside charging current delivery element. In concrete terms, a light cone of the light source generated on a roadway must be reconciled with road-side, optical markings. The light source may also generate a pattern, such as a circle, an ellipse, or a stroke pattern. The bar pattern may have dashes that taper in a direction in which the charging current dispenser is located. So can be given by the pattern also a directional instruction in the positioning.

In the WO 2013/041133 A1 discloses a movable on a rail power supply unit (charging unit), which can start a variety of parking lots of a parking space and provide parked electric vehicles with electric power. The movable charging unit is equipped with an image capture device in the form of a camera, which serves to detect a position of a power supply interface (charging interface) of a motor vehicle to be charged. To simplify the image recognition, it is proposed to provide the charging interface with suitable visual features, for example lamps, markings or reflectors. It is further proposed that the loading unit can access by means of a robot arm on several charging cables, which are arranged at the head of the parking lot from the parking space. The robot removes after charging a parking lot the charging cable by picking up an associated charging connector from a suspension and then plugged into the charging interface of the motor vehicle to be charged. In order to synchronize the charging process between an electric vehicle to be charged and the charging unit, at least confirmation of the charging process by the vehicle driver is required. Therefore, a communication of the motor vehicle with the charging unit is made possible via a communication device, for example via a WLAN port.

From the DE 10 2009 006 982 A1 a power supply unit is known, which is equipped with a multi-jointed robot arm, which serves for positioning and connecting a charging plug to a charging socket of a motor vehicle to be charged. In addition, the energy supply unit has a detector unit for determining the position of the charging socket from the motor vehicle. The detector unit detects the position of the charging socket of the motor vehicle on the basis of optical or geometric features of the charging socket. Further, a communication device is arranged on the power supply unit, which is designed to receive information of the motor vehicle and a charge controller. The charge controller is used to initiate a start or termination of a charge based on the state of charge from the motor vehicle. It is also proposed to design the detector unit for determining the position of the charging socket on the basis of an RFID chip (RFID = Radio Frequency Identification).

Finally, in the DE 10 2012 216 980 A1 a robot charging station for charging a battery of an electric vehicle described. In this case, the robot is movably attached to a standpipe, which is coupled to a base plate. The robot includes a gripping member with an electrical connector, which serves for coupling with a vehicle-side charging socket. To detect the presence of a motor vehicle to be charged, a sensor is present in the base plate which uses optical, acoustic or RFID-based detection means. The arm of the robot further includes a camera in the vicinity of the plug to detect the position of a vehicle-side charging box and thus to be able to move the gripping member of the robot exactly to the vehicle-side charging box. It is also proposed to use multiple cameras to provide a stereoscopic view of the motor vehicle and / or its charging socket.

Power supply interfaces of motor vehicles, for example, fuel filler neck or charging sockets of electric or hybrid vehicles are generally made of a dark or even black plastic. The recognition of such a vehicle-side power supply interface with image acquisition devices for the purpose of determining their position has proven to be difficult and thus a great challenge in the past.

The invention is therefore prior to the cited prior art, the object to provide a method for performing an energy supply operation between a power supply unit and a motor vehicle to be supplied with energy, in which the position determination of a vehicle-side power supply interface can be improved.

Furthermore, the invention is based on the object to provide a suitable motor vehicle and a suitable power supply unit for performing the method.

Present objects are achieved by the features of claims 1, 7 and 9. Advantageous embodiments or developments of the invention can be found in the respective dependent claims.

The invention is initially based on a method for carrying out a power supply operation between a power supply unit and a motor vehicle to be supplied with energy. In this case, a position of a vehicle-side power supply interface is determined and there is an automated coupling between the vehicle-side power supply interface and a power supply interface of the power supply unit. The automated coupling is accomplished by moving the power supply interface of the power supply unit through a robot to the vehicle-side power supply interface and coupled thereto.

In addition, it is proposed that the emitted light radiation of at least one laser located on the motor vehicle be detected by at least one light-detecting component arranged on the robot, thereby determining the position of the laser. From the position of the laser is closed to the position of the vehicle-side power supply interface.

In this way, the basis for a significant improvement in the reliability of position detection of the vehicle-side power supply interface is laid.

If the position of the laser is known, the robot can also deduce the position of the power supply interface. Because the power supply interface and the laser are in a defined and thus known relative position to each other.

It should be noted that the term "energy" is not just electrical energy in the form of electricity, but also chemical energy in the form of liquid or gaseous fuel (eg gasoline, diesel, gas, hydrogen). can act.

Accordingly far, the term "power supply unit" is to be understood, which may be formed, for example, in the form of a charging station for electric power, a fuel dispenser or the like. A combination of such training is quite conceivable against the background of hybrid vehicles.

Furthermore, the robot can be structurally integrated into the energy supply unit as a structural unit, but it does not have to be. The robot can also be designed as a separately controllable movement device for the power supply interface of the power supply unit. Incidentally, "robot" in the sense of the invention means any device which is suitable for moving a power supply interface of the power supply unit and coupling it to a power supply interface of a motor vehicle. In concrete terms, therefore, a robot can already be understood as a simple actuator, but also as a complex industrial robot with multiple degrees of freedom.

According to the invention, the laser emits light beams in such a way that a projection pattern with at least two intersecting lines is produced on a projection surface lying parallel to an areal extent of the laser. Between the intersecting lines is in full angle (ie viewed at an angle of 360 °) always an equal angular distance (angle) before. In this case, the robot moves the light-detecting component in a plane on a predetermined path such that the light-detecting component passes through the light beams of the laser at several transit points of the web. In addition, the time interval between the passes is measured.

The invention is based on the consideration that can be concluded on the basis of the time interval of the transits best on the intersection of the intersecting lines. The crossing point represents the projection of the laser center on a plane that is defined by the predetermined path of the robot. However, this is sufficient for proper coupling of the power supply interfaces only if the power supply unit is also aware of the orientation (orientation) of the laser. "Orientation" is understood to mean an areal extent of the laser perpendicular to its emitted light beams. The surface extension of the laser and that of the power supply interface are ideally located in the same plane, but at least parallel to each other.

Once the crossing point of the intersecting lines has been determined, it is also possible to deduce the position of a reference point of the vehicle-side power supply interface using known methods of coordinate transformation. Because the relative position of the vehicle-side power supply interface relative to the laser is known.

It has proved to be very useful in this case when the laser generates such a projection pattern in which exactly two lines intersect at an angle of 90 degrees. Such a projection pattern can be inexpensively realized with commercially available lasers.

In a further embodiment, the web is a circular path. This makes it possible to reduce the control and evaluation algorithm for evaluating the passage of the light.

A contribution to the quick and easy determination of the position of the vehicle-side power supply interface can be made if, in another development of the method, the robot moves the light-detecting component on the predetermined path only in a plane which is parallel to the surface extension of the laser and executes a correction movement when the time interval of the measured transit points is unequal. In addition, in this case, the light detecting member is again moved on the web in said plane. A correction movement and a renewed movement of the light-detecting component on the web are performed so often until the time interval of the measured transit points is equal to or at least approximately equal.

If the energy supply unit should not know the orientation of the laser, the following procedure has proved to be reliable and expedient:
The robot moves the light detecting component from a first spatial position on the predetermined path. Subsequently, the robot moves the light-detecting component from at least one further spatial position on the predetermined path. In this case, from the respectively determined time intervals of the measured transit points in each case closed on a lying in the plane of the predetermined path crossing point of the intersecting lines of the laser. From the calculated crossing points of the intersecting lines, a directional vector pointing to the laser is formed or calculated. Again, it is then possible to deduce the position of a reference point of the vehicle-side power supply interface with known methods of coordinate transformation.

However, in order to arrive at a direction vector without the described time consideration, it is alternatively also possible if the positions of the transit points are respectively stored when driving through the circular paths. In the said coordinate systems, the actual position of the light-detecting component arranged on the robot is known at all times. Now, the intersection point of the routes of each two opposite transit points can be calculated. Accordingly, this process can be repeated for a different distance to the vehicle-side power supply interface and, analogously, a further crossing point can be formed. The directional vector pointing to the laser can in turn be formed from the crossing points.

As already mentioned, the invention also relates to a motor vehicle for carrying out the method according to the invention. This first has the features that is arranged on this at least one laser in the vicinity of a power supply interface whose light is emitted in the direction of a surface normal of the power supply interface. As a result, the basic requirement for carrying out the method according to the invention is created.

The motor vehicle is now characterized in that at least two intersecting lines can be generated by the emissable light of the laser on a projection surface, wherein there is always an equal angular distance (angle) between the lines at full angle.

According to another embodiment of the inventive concept, two lines intersect at an angular distance of 90 °. In this way, a good compromise between effort and accuracy can be achieved. The use of a commercial cross-line laser is thus possible.

Finally, the invention also relates to a power supply unit for carrying out the method according to the invention. This has at least one robot for moving at least one power supply interface of the power supply unit to a power supply interface of a motor vehicle.

The energy supply unit has the features that at least one light-detecting component is arranged on the robot and configured to detect light from a laser of a motor vehicle.

The robot is movable by a control unit on a predetermined path by the light of the laser. The energy supply unit is designed such that time intervals of light pulses detected by the light-detecting component can be detected and the execution of a correction movement of the robot and a renewed movement of the robot on a predetermined path can be generated as a function of these time intervals. In this case, the position of the laser can be derived from the energy supply unit due to the time intervals.

Additionally or alternatively, it is conceivable that the robot can be moved on at least two spatial positions on a predetermined path by the light of the laser and the power supply unit is designed such that from the respective time intervals of the detected light pulses, a directional vector can be derived which points to the position of the laser ,

In the power supply unit, it is also conceivable that the robot can be moved on at least two spatial positions on a given path by the light of the laser and the power supply unit is designed such that in each case a crossing point is calculated, which results from the intersection of distances measured transit points and off In turn, a directional vector pointing to the laser can be derived from the calculated crossing points.

The light-detecting component is expediently designed as a photodiode. A photodiode is a proven and mature device, which can aid the reliability of the process.

Preferred embodiments of the invention are illustrated in the figures and will be explained in more detail with reference to the figures in the following description. Here, the same reference numerals refer to the same, comparable or functionally identical components, with corresponding or comparable properties and advantages are achieved, even if a repeated description is omitted.

It show, each schematically

1 a power supply unit from above in a bird's-eye view,

2 the individual representation of a vehicle-side power supply interface in accordance with view II 1 .

3 a view of the power supply interface according to view III 2 .

4 an illustration of a projection pattern that can be projected onto a projection surface by the laser, two conceivable starting positions of a robot reference point for the implementation of a circular path being shown by way of example,

5 a diagram illustrating the generation of voltage signals as a function of the starting position of the robot reference point,

6 a flowchart to clarify the procedure,

7 a representation of a slightly different training of the method and

8th a flowchart to clarify the changed procedure.

In the 1 is a power supply unit 1 seen. Concrete is the power supply unit 1 designed as an electric vehicle accessible by a parking space for electrical charging of electric vehicles.

In front of the power supply unit 1 are two parking markings 12 it can be seen within which motor vehicles to be charged can be parked.

In the present embodiment, motor vehicles to be charged can be automatically parked within the parking space markings by means of an inductive guidance system LS and released for charging.

The power supply unit 1 has two identical charging stations 10 on, between which a robot 11 to operate both charging stations 10 is arranged. A different number of charging stations, as well as a different number of robots is conceivable.

The robot 11 is designed as a multi-arm and multi-jointed industrial robot. He has a gripping device 109 on, with which he has a power supply interface 100 a charging station 10 in the form of a charging plug and can move (see double arrows).

Specifically, the robot can 11 by means of the gripping device 109 the charging plug 100 together with a charging cable 101 from the charging station 10 pull out. The charging cable 101 can be wound up in a storage room 102 the charging station 10 held. A motor vehicle (electric vehicle) K1 to be charged can, due to the guidance system LS, have a tolerance of approximately five centimeters within the parking space marking 12 parked.

To perform a charging process is by the gripping device 109 of the robot 11 the charging plug 100 taken to a vehicle-side power supply interface 2 of the motor vehicle K1 to be charged is moved in the form of a charging socket (see position 100 ' ) and coupled with this. With K2 is a second, through the power supply unit 1 also to be supplied motor vehicle quantified, which is constructed identical to K1.

In order for such a coupling to be possible without any problems, however, the robot must first be used 11 the exact position of the charging socket 2 know.

This is the gripping device 109 with a light detecting component 110 equipped in the form of a photodiode. By contrast, the motor vehicle K1 is in the region of its charging socket 2 a laser 4 on. The laser 4 is formed in the embodiment as a commercial cross-line laser.

One the robot 11 controlling control unit 108 controls the robot 11 so on, that he first with a certain tolerance over the laser 4 is driven.

With KO1 are a coordinate system of the power supply unit 1 , with KO2 a coordinate system of the robot 11 and numbered KO3 such one of the motor vehicle K1.

If position coordinates of a point of interest within one of these coordinate systems are known, an evaluation and arithmetic unit can be used 107 the charging station 10 also, based on known methods of coordinate transformation, infer the relative position of such a point relative to each of the other coordinate systems. For example, are the position coordinates of a center of the laser 4 known, can also be on any reference point of the charging socket 2 getting closed.

Based on 2 is now the area of the charging socket 2 be explained in more detail. The charging socket 2 has electrical contacts 21 for an AC and electrical contacts 22 for a DC connection. With 20 is a central reference number quantified, the example. A ground contact of the charging socket 2 can be. The charging socket 2 has a surface extension F and is together with the laser 4 by means of a hinged cover 9 coverable.

It can be seen that in the nearer area of the actual charging socket 2 the already mentioned laser 4 is arranged. The laser 4 has a center point 40 and is able to emit light beams L in the form of intersecting beam lines L1 and L2. The beam lines L1 and L2 intersect at an angle α of 90 degrees. In particular, the laser sends 4 Light rays L in the direction or parallel to a surface normal FN of the surface extension F (see also 3 ). The laser 4 has a surface extension which lies with the surface extension F in a plane. At least the surface extensions are from the laser 4 and the charging socket 2 aligned parallel to each other.

Based on 4 will now explain how the robot 11 after approaching the laser 4 can determine whether he is with a defined reference point M - considered perpendicular to the surface extension F - at a crossing point K of the intersecting beam lines L1, L2 or not. It should be remembered that the point of intersection K is the center projected onto a projection plane 40 the laser 4 corresponds, wherein the projection plane is parallel to the surface extension F. The reference point M can be, for example, a point on the robot 11 located photodiode 110 be.

In the figure, PF denotes an imaginary surface onto which the laser is projected 4 his beams of light L projected. As already mentioned, a projection pattern P is generated with two beam lines L1 and L2 crossing at an angle α of 90 degrees.

After starting the robot 11 to the laser 4 the robot performs 11 around a position of its reference point M a fixed predetermined circular path KR. The circular path KR is parallel to the surface extension of the laser 4 and thus parallel to the surface extension F of the charging socket 2 , Upon completion of the circular path KR passes through the photodiode 110 the light beams L or the beam lines L1, L2 formed by these at five transit points D1 to D5. Instead of the circular path KR is also another, predetermined path conceivable, for example, an elliptical or a square path.

This is how the robot starts 11 For example, at a starting point S. From there in the direction of the arrow of the circular path KR further moving, it first passes to the transit point D1 and then successively to the transit points D2 to D4. Finally, it arrives at the transit point D5, which again corresponds to the transit point D1.

In the 5 is one of the photodiode 110 can be generated voltage U over the time t. As is clear from this figure (above), hits at each transit point D1 to D5 light of the laser 4 on the photodiode 110 , wherein in each case a voltage U is generated. Concretely, the voltage signals U (D1), U (D2), U (D3), U (D4) and U (D5) can be seen. Between the transit points D1 to D5 are each time intervals .DELTA.t1, .DELTA.t2, .DELTA.t3 and .DELTA.t4. These time intervals are determined by the evaluation and arithmetic unit 107 the charging station 10 measured and evaluated.

If the time intervals Δt1 to Δt4 are the same, then the evaluation and arithmetic unit goes 107 the charging station 10 assume that the reference point M of the robot 11 perpendicular exactly above the crossing point K of the beam lines L1, L2 or above the center 40 the laser 4 located.

The instantaneous position data of the reference point M (if necessary in the evaluation and arithmetic unit 107 to a suitable point of the gripping device 109 and / or to the reference point 20 the charging socket 2 transformed) are then stored in a memory unit 106 the charging station 10 (see. 1 ) saved. Then the robot takes hold 11 with his gripping device 109 the charging plug 100 and travels with its reference point M back to the stored position data. Based on the position data, the robot performs 11 then a movement in the direction of the charging socket 2 to a coupling between the charging plug 100 and the charging socket 2 bring about.

Is the robot located? 11 after approaching the laser 4 with its reference point M not exactly at the crossing point K of the beam lines L1, L2 of the laser 4 (compare M 'in 4 ), but at a distance a to it, as in the previously described equally the circular path KR is passed through. In this case, the beam lines L1, L2 are passed through at the transit points D1 'to D5'.

Due to the positional deviation (distance a), voltage signals U (D1 ') to U (D5') are now generated and measured. Their time intervals Δt1-Δt4 are different, but at least not all the same (see. 5 below).

Due to the differences in the time intervals Δt1-Δt4 are by the evaluation and processing unit 107 by means of a suitable evaluation algorithm, the coordinates for a correction movement KB (see. 4 ) for the robot 11 calculated and sent to the control unit 108 transmitted.

After execution of the correction movement KB, the robot performs 11 again the circular path KR with the already described measurements and evaluations. This is repeated until the time intervals .DELTA.t1-.DELTA.t4 are the same or at least approximately the same and it can be concluded that the reference point M at the crossing point K of the beam lines L1, L2 and thus over the center 40 the laser 4 located.

Only then is the already described coupling process between the charging plug 100 and the charging socket 2 carried out.

Based on 6 the illustrated embodiment of the method according to the invention is briefly summarized again:
It is therefore assumed that the power supply unit 1 the orientation of the laser 4 or the charging socket 2 and thus their areal extent F is known.

Thus, in a method step V1, first an automatic parking of the motor vehicle K1 within the parking space marking 12 with a centimeter tolerance of preferably 5 cm performed. Subsequently, the robot 11 to the charging socket 2 moved up and to the laser 2 prepositioned (step V2).

In a method step V3, the photodiode becomes 110 from the robot 11 moved in the plane parallel to the surface extension F circular path KR. The time intervals .DELTA.t1-.DELTA.t4 of the generated voltage pulses are measured and evaluated.

A query A1 queries whether the time intervals Δt1-Δt4 are the same or not. If not, the correction movement KB is generated in a method step V2 '.

If the time intervals .DELTA.t1-.DELTA.t4 are identical, in a method step V4 the Position data of the laser 4 the position data of the charging socket 2 derived.

Subsequently, the charging plug 100 from the robot 11 to the charging socket 2 guided and coupled with this (step V5).

After charging is finally in a step V6 of the charging plug 100 through the robot 11 from the charging socket 2 decoupled again and to the charging station 10 moved back.

In the 7 is shown how can be moved when the orientation of the laser 4 or the charging socket 2 are not known.

So are the ones from the laser 4 outgoing, perpendicular to each other ray lines L1 and L2 shown in perspective in space. The beam lines L1, L2 intersect at a crossing line KL.

The robot 11 first positions its already mentioned reference point M in the vicinity of the laser 4 , He then performs a first circular path KR1 to the reference point M and passes through the beam lines L1 and L2 at the transit points D1 to D5. From this it is concluded in the manner already described on the location of a crossing point KP1 of the beam lines L1, L2 in the plane of the circular path KR1.

Subsequently, the robot 11 positioned at a further position (see M ') and repeats the described process with a second circular path KR2, whereby transit points D1' to D5 'are formed. Here, too, the position of a crossing point KP2 of the beam lines L1, L2 in the plane of the circular path KR2 is closed in an analogous manner.

Thereafter, a direction vector RV passing through the crossing points KP1 and KP2 is calculated, which is the intersecting line KL of the beam lines L1, L2 from the laser 4 corresponds and to the center 40 the laser 4 has.

In an alternative procedure, it is also very useful if the positions of the transit points (D1-D4 or D1 'to D4') are stored when driving through the circular paths KR1 and KR2 respectively. In fact, in the coordinate systems mentioned, the actual position of the gripping device is 109 or the photodiode 110 from the robot 11 known at all times. Now, the crossing point of the routes of each two opposite transit points (ie D1 and D3 and D2 and D4) can be calculated. This corresponds to the crossing point KP1. Accordingly, for a different distance to the charging socket 2 this process is repeated and the crossing point KP2 formed by calculating the crossing point of the distances D1 'and D3' and D2 'and D4'. As described above, the points of intersection KP1 and KP2 turn on the laser 4 pointing directional vector RV formed.

Thus, already due to the movement of the robot 11 on two orbits KR1 and KR2 on the position and orientation of the laser 4 and thus the charging socket 2 getting closed. Deviating from the exemplary embodiment, further positions can also be approached and a circular path can be executed around each of these in order to obtain even more data for the calculation of the said direction vector.

Finally, the last-described embodiment of the method is based on 8th in short:
Thus, in a method step V1, first an automatic parking of the motor vehicle K1 within the parking space marking 12 with a centimeter tolerance of preferably 5 cm performed. Subsequently, the robot 11 to the charging socket 2 moved up and to the laser 2 pre-positioned in a first position (step V2).

In a method step V3, the photodiode becomes 110 from the robot 11 moved in the first circular path KR1. The time intervals .DELTA.t1-.DELTA.t4 of the generated voltage pulses are measured and evaluated. This closes the crossing point KP1.

In a method step V4, the photodiode is 110 from the robot 11 moved to a second position and starting in the second circular path KR2 moves. Again, the time intervals Δt1-Δt4 of the generated voltage pulses are measured and evaluated. This closes the crossing point KP2.

Subsequently, the direction vector RV passing through the crossing points KP1 and KP2 is calculated and thus to the position of the laser 4 and thus also the charging socket 2 closed (method step V5).

Then the charging plug 100 from the robot 11 to the charging socket 2 guided and coupled with this (step V6).

After charging is finally in a step V7 by the robot 11 the charging plug 100 from the charging socket 2 decoupled again and to the charging station 10 moved back.

LIST OF REFERENCE NUMBERS

1

Power supply unit

2

vehicle-side power supply interface; charging socket

4

laser

9

cover

10

charging station

11

robot

12

Parking markings

20

Reference point of the charging socket

21, 22

electrical contacts

40

Center of the laser

100

Power supply interface of a charging station; charging plug

101

charge cable

102

Storage space

106

storage unit

107

Evaluation and calculation unit

108

control unit

109

gripper

110

Light detecting component, photodiode

a

Distance of the robot reference point from the crossing point of the beam lines of the laser

A1

query

D1-D5, D1'-D5 '

Passage points of the light-detecting component by light beams of the laser

F

Area extension of the vehicle-side power supply interface or the laser

FN

Surface normal for surface extension

K

Crossing point of the beam lines from the laser

K1

motor vehicle

K2

motor vehicle

KB

correction movement

KL

Crossing line of the beam lines from the laser

KO 1

Coordinate system of the power supply unit

KO2

Coordinate system of the robot

KO3

Coordinate system of the motor vehicle

KP1, KP2

Crossing points of the beam lines from the laser

KR, KR1, KR2

circular paths

L

light rays

L1

beam line

L2

beam line

LS

inductive control system

M, M '

Reference point of the robot

P

Projection pattern of the light rays

PF

projection

RV

direction vector

S, S '

Starting point for the circular path

t

Time

U

tension

U (D1) -U (D5) or U (D1 ') -U (D5')

voltage signals

V1-V7

steps

α

angle

.DELTA.t1-Δt4

 time intervals

Claims (10)

Method for carrying out at least one energy supply operation between a power supply unit ( 1 ) and at least one motor vehicle (K1, K2) to be supplied with energy, wherein a position of a vehicle-side power supply interface ( 2 ) and an automated coupling between the vehicle-side power supply interface ( 2 ) and a power supply interface ( 100 ) of the power supply unit ( 1 ) in that the power supply interface ( 100 ) of the power supply unit ( 1 ) by a robot ( 11 ) to the vehicle-side power supply interface ( 2 ) and coupled to it, whereby at least one of the robots ( 11 ), light-detecting component ( 110 ) the emitted light radiation (L) of at least one laser located on the motor vehicle (K1, K2) ( 4 ) and thereby detecting the position of the laser ( 4 ) and the position of the laser ( 4 ) to the position of the vehicle-side power supply interface ( 2 ), characterized in that the laser ( 4 ) emits light beams (L) in such a way that, on a plane parallel to a surface extension (F) of the laser ( 4 ) projection pattern (P) with at least two intersecting lines (L1, L2) is generated, wherein between the lines (L1, L2) in the full angle is always an equal angular distance (α) and wherein the robot ( 11 ) the light detecting component ( 110 ) on a predetermined path (KR, KR1, KR2) is moved such that the light detecting component ( 110 ) the light beams (L) of the laser ( 4 ) at several transit points (D1-D5; D1'-D5 ') of the web (KR, KR1, KR2) and wherein a time interval (Δt1-Δt4) of the transit points (D1-D5; D1'-D5') is measured. Method according to claim 1, characterized in that the laser ( 4 ) generates such a projection pattern (P) in which two lines (L1, L2) intersect at an angle (α) of 90 degrees. Method according to one of the preceding claims 1 or 2, characterized in that the web (KR, KR1, KR2) is a circular path. Method according to one of the preceding claims 1 to 3, characterized in that the robot ( 11 ) the light detecting component ( 110 ) moves on the predetermined path (KR) only in such a plane, which parallel to the surface extension (F) of the laser ( 4 ) and performs a correction movement (KB) if the time interval (Δt1-Δt4) of the measured transit points (D1-D5; D1'-D5 ') is unequal and in this case the light-detecting component ( 110 ) is again moved on the web (KR) in said plane, wherein a correction movement and a renewed movement of the light-detecting component ( 110 ) are carried out on the web (KR) until the time interval (Δt1-Δt4) of the measured transit points (D1-D5; D1'-D5 ') is the same. Method according to one of the preceding claims 1 to 3, characterized in that the robot ( 11 ) the light detecting component ( 110 ) moves from a first position on the predetermined path (KR1) and the light detecting component ( 110 ) is then moved from at least one further position on the predetermined path (KR2), wherein from the respectively determined time intervals (Δt1-Δt4) of the measured transit points (D1-D5, D1'-D5 ') to one in the plane the predetermined path (KR1, KR2) crossing point (KP1, KP2) of the intersecting lines (L, L1, L2) of the light beams (L) of the laser ( 4 ) and from the calculated crossing points (KP1, KP2) to the laser ( 4 ) pointing direction vector (RV) is formed. Method according to one of the preceding claims 1 to 3, characterized in that the robot ( 11 ) the light detecting component ( 110 ) moves from a first position on the predetermined path (KR1) and the light detecting component ( 110 ) is then moved from at least one further position on the predetermined path (KR2), wherein in each case an intersection point (KP1, KP2) is calculated, which consists of the intersection of distances measured transit points (D1, D3 and D2, D4 and D1 ', D3 'and D2', D4 ') and from the calculated crossing points (KP1, KP2) to the laser ( 4 ) pointing direction vector (RV) is formed. Motor vehicle (K1, K2) for carrying out the method according to one of the preceding claims, wherein at least one laser ( 4 ) near a power supply interface ( 2 ) is arranged, the light (L) in the direction of a surface normal (FN) of the power supply interface ( 2 ) is emissable, characterized in that at least two intersecting lines (L1, L2) can be generated by the emissable light (L) on a projection surface (PF), wherein between the lines (L1, L2) at full angle always an equal angular distance ( α) is present. Motor vehicle (K1, K2) according to claim 7, characterized in that the two lines (L1, L2) intersect at an angular distance (α) of 90 degrees. Power supply unit ( 1 ) for carrying out the method according to one of the preceding claims 1 to 6, with at least one robot ( 11 ) for moving at least one power supply interface ( 100 ) of the power supply unit ( 1 ) to a power supply interface ( 2 ) of a motor vehicle (K1, K2), wherein on the robot ( 11 ) at least one light-detecting component ( 110 ) and is adapted to receive light (L, L1, L2) from a laser ( 4 ) of a motor vehicle (K1, K2), characterized in that the power supply unit ( 1 ) is designed such that in a power supply operation to be performed by the robot ( 11 ) by a control unit ( 108 ) on a given path (KR, KR1, KR2) by the light (L, L1, L2) of the laser ( 4 ) and time intervals (Δt1-Δt4) of light-detecting component ( 110 ) detected light pulses and in dependence of these time intervals (.DELTA.t1-.DELTA.t4) from the control unit ( 108 ) the execution of a correction movement (KB) of the robot ( 11 ) and a new movement of the robot ( 11 ) is generated on a predetermined path (KR), wherein the energy supply unit ( 1 ) due to the time intervals (Δt1-Δt4) the position of the laser ( 4 ) or that the robot ( 11 ) at at least two spatial positions on a predetermined path (KR1, KR2) by the light (L, L1, L2) of the laser ( 4 ) is moved and from the respective time intervals (.DELTA.t1-.DELTA.t4) of the detected light pulses, a directional vector (RV) is derived, which on the position of the laser ( 4 ) or that the robot ( 11 ) at at least two spatial positions on a predetermined path (KR1, KR2) by the light (L, L1, L2) of the laser ( 4 ) is moved and in each case a crossing point (KP1, KP2) is calculated, resulting from the intersection of routes measured transit points (D1, D3 and D2, D4 and D1 ', D3' and D2 ', D4') and from the calculated crossing points (KP1, KP2) to the laser ( 4 ) pointing directional vector (RV) is derived. Power supply unit ( 1 ) according to claim 9, characterized in that the light-detecting component ( 110 ) is a photodiode.

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