CN106574962A - 用于测位和用于定位的方法以及测位系统、充电站和充电系统 - Google Patents
用于测位和用于定位的方法以及测位系统、充电站和充电系统 Download PDFInfo
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
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- B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
用于对确定的对象进行测位的方法是一种用于借助于被检测到的测位信号对所述对象进行测位的方法。在所述方法中,对正好是所述对象的测位进行检查,使得具有至少一个时变的反射特性的这种对象被考虑作为对象而且所述反射特性对所述被检测到的测位信号的影响被检查。测位系统具有测位传感器以及分析装置,所述测位传感器用于借助于由测位传感器检测到的测位信号对对象进行测位,所述分析装置被构造用来检测所述对象的时变的反射特性对由所述测位传感器检测到的测位信号的影响。
Description
技术领域
本发明涉及一种用于对确定的对象进行测位(Ortung)的方法、一种用于使电动车辆定位在充电站处的方法、一种测位系统、一种充电站以及一种充电系统。
背景技术
为了在充电站处给电动车辆充电,可定期地使电动车辆适当地定位在所述充电站处。
为了使对象、比如运货箱(Container)或者车辆定位,公知的是采用测位方法、例如以激光测位或者雷达测位的形式的测位方法。
在此,使用渡越时间测量(Laufzeitmessung)和/或如下概念(Konzept),所述概念以FMCW概念(FMCW:英文:“frequency modulated continuous wave(调频连续波)”)为基础。在采用这种概念时,必须定期地考虑对象的形状,以便可以执行可靠的测位。此外, 反射常常损害测位的可靠性和精确度。特别的挑战总是在于对要测位的对象的可靠的标识(Identifizierung)。
发明内容
因而,本发明的任务是提供一种相对于现有技术改进的用于对确定的对象进行测位的方法。此外,本发明的任务还是提供一种相对于现有技术改进的用于使电动车辆定位在充电站处的方法、一种相对于现有技术改进的用于对对象进行测位的测位系统、一种相对于现有技术改进的充电站以及一种相对于现有技术改进的充电系统。
该任务利用一种具有在权利要求1中所说明的特征的用于对确定的对象进行测位的方法、利用一种具有在权利要求10中所说明的特征的用于使电动车辆定位在充电站处的方法、利用一种具有在权利要求11中所说明的特征的测位系统、利用一种具有在权利要求13中所说明的特征的充电站以及利用一种具有在权利要求14中所说明的特征的充电系统来解决。本发明的优选的改进方案从所属的从属权利要求、随后的描述以及附图中得到。
按照本发明的用于对确定的对象进行测位的方法是一种用于借助于所检测到的测位信号来对对象进行测位的方法。在按照本发明的方法中,对正好是(genau)所述对象的测位进行检查,使得具有至少一个时变的反射特性的这种对象被考虑作为对象而且该反射特性对所检测到的测位信号的影响被检查。因此,按照本发明,该对象可以借助于所述时变的反射特性来表征并且在进行测位时以这样来表征的方式明确地被识别。
优选地,在按照本发明的方法中,所述测位是无线电测位或者激光测位或者声学测位。这些被提到的测位方法是充分公知的并且用来测位广泛地(intensiv)被证实为有效(erproben)。有利地,之前提到的方法以对信号渡越时间的测量为基础。优选地,根据从文献公知的方法来实现对信号渡越时间的测量。适当地,通过观察所接收到的信号的频谱的复数值相位(komplexwertige Phase)或/和基于FMCW来实现对信号渡越时间的测量。
在按照本发明的方法的一优选的改进方案中,所述时变的反射特性是随时间循环的反射特性。在本发明的所述改进方案中,所述随时间循环的反射特性适当地以如下这种对测位信号的调制来反映出来(sich wiederschlagen),所述调制在测位信号的频谱中可以容易地依据附加的频谱成分来识别。如果所述频谱成分具有一个或多个离散的外加的(hinzutretend)频率或者为一个或多个(至少几乎)离散的频率,那么这可以特别简单地来识别。
在按照本发明的方法中,适宜地,所述时变的反射特性借助于以振荡的方式偏转的(ausgelenkt)反射面来形成。以这种方式,所述时变的反射特性可以特别容易地以机械方式、比如借助于可电操控的压电振荡器或者线性执行器(Linear-aktuator)来实现。尤其是,所述时变的反射特性可以借助于模块化(modular)附加件来实现,所述模块化附加件与其它部分(Teil)共同起作用地形成所述对象。对此,所述附加件可以简单地被布置在所述其它部分上。
在按照本发明的方法中,适当地,所述时变的反射特性借助于所述对象的至少一部分(尤其是表面)的至少一次以振荡的方式或者以转动的方式的振动(Bewegung)来形成。有利地,在所述对象的表面上可存在进行反射的转片(Rotor)。
在按照本发明的方法中,优选地,所述时变的反射特性借助于压电振荡器或者线性执行器的振动来形成。恰好在按照本发明的方法的所述改进方案中,所述时变的反射特性可以借助于模块化附加件来实现,所述模块化附加件与其它部分共同起作用地形成所述对象。对此,所述附加件可以简单地被布置在所述其它部分上。此外,压电振荡器的压电陶瓷相对于天气影响是稳健的而且此外还可以非常平地来设计。因而,尤其是这样来构造的附加件可以被构造为相对于如尤其是在电动车辆的情况下出现的天气影响或者行驶条件不那么易受干扰(wenig anfaellig)。
在按照本发明的方法中,优选地,所述测位是无线电测位、即雷达测位,和/或所述测位信号是雷达信号,和/或所述对象利用金属来形成、尤其是由金属来形成。恰好金属对象可以借助于雷达测位容易地被测位。尤其是,对用金属形成的对象、优选地比如电动车辆的测位在经济上是特别有意义的。
在按照本发明的方法的一优选的改进方案中,在频谱上检查对测位信号的影响。
在适当的改进方案中,在按照本发明的方法中检查所述可变的反射特性在最小300Hz、优选地最高1MHz的一个或多个频率的范围内对测位信号的影响。这些频率相对于通常在平日、尤其是在充电时在振动的情况下出现的频率已经是比较高的,使得借助于之前提到的频率可以可靠地识别对象。尤其是,可以可靠地排除可能会由其它振动的对象产生的频率。适宜地,使频率在时间上保持稳定。以这种方式,可以特别精确地确定所述可变的反射特性的影响。
在一有利的改进方案中,在按照本发明的方法中将如下对象考虑作为对象,所述对象与电动车辆一起来形成或者是电动车辆。
在按照本发明的用于使电动车辆定位在充电站处的方法中,借助于根据上述权利要求之一所述的用于测位的方法来检测电动车辆的位置,其中所述对象包括所述电动车辆的至少一部分和/或所述对象至少部分地被布置在所述车辆上。在执行按照本发明的方法时,以这种方式可以事先检查究竟(ueberhaupt)是否检测到所述电动车辆。如果确定目前没有检测到所述电动车辆,那么可以适宜地通过用户界面提醒(anhalten)车辆驾驶员占据预先确定的规定位置(Sollposition),用来执行按照本发明的用于使电动车辆定位的方法。接着,从所述规定位置出发,按照本发明的用于测位的方法可以辅助对电动车辆的更准确地被分辨的(aufgeloest)定位,用来给所述电动车辆充电。
按照本发明的测位系统具有测位传感器以及分析装置,所述测位传感器用于借助于由所述测位传感器检测到的测位信号来对对象进行测位。按照本发明,所述分析装置被构造用来检查所述对象的时变的反射特性对由所述测位传感器检测到的测位信号的影响。
在一优选的改进方案中,在按照本发明的测位系统中,所述分析装置被构造用来检查所述可变的反射特性的影响,如所述可变的反射特性的影响在执行如之前所描述的按照本发明的用于对确定的对象进行测位的方法时被检查的那样。
为了使电动车辆定位,按照本发明的用于给电动车辆充电的充电站包括如之前所描述的测位系统,其中所述充电站优选地被构造用于对所述电动车辆进行感应式充电。
按照本发明的充电系统具有如之前所描述的充电站和标识元件(Kennzeichnungselement)。该标识元件具有可相对于彼此、尤其是可周期性地相对于彼此振动的部分。所述可彼此振动的部分尤其是彼此可以以转动的方式来振动、比如以轮毂(Nabe)和绕着该轮毂转动的转片的方式来振动,或者可以以振荡的方式来振动。在一特别有利的改进方案中,所述部分是振荡器、尤其是压电振荡器的夹紧端和自由端。
在按照本发明的充电系统中,优选地,所述标识元件具有振荡器、尤其是压电振荡器,所述振荡器以振荡频率、尤其是至少300Hz的振荡频率来振动(schwingen)。
附图说明
随后,本发明依据在附图中所示出的实施例进一步来解释。
图1示出了按照本发明的具有按照本发明的充电站的充电系统以及以透视图示意性地示出了电动车辆,所述充电站用于实施按照本发明的用于使电动车辆定位在所述充电站处的方法,以及
图2以原理图图表式地(diagrammatisch)示出了在实施按照本发明的方法时由按照图1的充电站的测位传感器检测到的测位信号的频谱。
具体实施方式
在图1中所示出的按照本发明的充电系统5用于给电动车辆10充电。该充电系统包括按照本发明的充电站15,用于给电动车辆10的电动电池组(未示出)充电。
电动车辆10具有受电弓20,用于在导电轨25上引取电流(Stromabnahme)。导电轨25是充电站15的部分并且提供对于充电必要的充电电流。为了充电而使所述电动车辆定位为使得受电弓20适合于充电站15的导电轨25地来布置,使得可以开始充电过程。
为了适当的定位,充电站15具有按照本发明的无线电测位系统30。无线电测位系统30包括雷达传感器35。雷达传感器35被构造用来发出雷达信号40、在所示出的实施例中以24千兆赫兹(Gigahertz)的频率S0(参见图2)发出雷达信号40并且接收经反射的雷达信号作为测位信号45。此外,无线电测位系统30还包括分析装置50,所述分析装置50与雷达传感器35信号连接。
借助于按照本发明的无线电测位系统30来保证:确实是(tatsaechlich)检查所述电动车辆10的位置而不是比如检查另一对象的位置。 对此,充电系统5包括标识元件55,所述标识元件55被布置在电动车辆10上。所述标识元件55包括金属板(没有特意示出)和压电振荡器,借助于所述压电振荡器使所述金属板能偏转地接在电动车辆10上。对此,所述压电振荡器刚性地被夹紧(einspannen)在电动车辆10上。而所述金属板被接在所述压电振荡器的自由端上。借助于所述布置,使所述金属板朝向雷达传感器35的方向并且朝远离雷达传感器35的方向以三千赫兹的振荡频率进行振荡地偏转。借此,电动车辆10与标识元件55共同形成具有时变的反射特性的对象:在所示出的情况下,以振荡的方式偏转的金属板形成如下反射面,所述反射面导致反射相位的随时间的变化。在所示出的实施例中,压电振荡器被构造用于在加载有金属板时以3千赫兹的振荡频率进行振荡。
按照本发明的用于对确定的对象进行测位的方法利用按照本发明的充电系统5来执行,使得借助于无线电测位系统30来识别电动车辆10。该方法详细地按如下来执行:
雷达传感器35朝要测位的电动车辆10的方向发射雷达信号40。雷达信号40碰到电动车辆10并且在此尤其是也碰到所述标识元件55的以振荡的方式偏转的金属板。在此,雷达信号40被反射为由于以所述压电振荡器的振荡频率振荡的反射相位而被调制的测位信号45。因此,与雷达信号40相比,测位信号45利用3千赫兹的振荡频率来调制。在此,所述压电振荡器的振荡频率在时间上保持恒定。在其它未特意示出的实施例中,振荡频率是另一频率、例如来自从300赫兹直到超声范围(Ultraschallbereich)的范围的频率。
测位信号45被雷达传感器35检测到,而且被传送给分析单元50用来分析。借助于分析单元50进行对测位信号45的频谱分析:
在图2中所示出的频谱是测位信号45根据频率f的各个频率的数值。所提到的“数值”是测位信号45的傅里叶系数的相应的绝对值平方(Betragsquadrat)(在下文仅仅以缩写的方式使用术语“数值(Beitrag)”)。中央峰值(Peak)Z对应于雷达信号40在24千兆赫兹时的频率S0的占主导地位的数值B0。由于利用具有3千赫兹的振荡频率的压电振荡器的振荡频率来调制测位信号45,除了所述中央峰值Z之外,在频谱中还出现具有边带频率S1、S2的边带,其中所述边带频率S2等于雷达信号40的频率S0以及压电振荡器的振荡频率的和频率而所述边带频率S1等于雷达信号40的频率S0以及压电振荡器的振荡频率的差频率(也就是说在所示出的在S0 = 24GHz的情况下的实施例中,S2 = 24GHz + 3KHz而S1 = 24GHz - 3KHz)。
借助于分析单元50,测位信号45在频谱上被分解为雷达信号40的频率S0的数值B0以及测位信号45在边带频率S1、S2的情况下的数值B1、B2。首先,在所述边带频率S1、S2的情况下的数值B1、B2在数学上被求平均并且接着与雷达信号40的频率S0的数值B0求比值。如果该比值超过预先确定的阈值,那么分析单元50确定检测到由电动车辆10发射的测位信号45。如果在在所述边带频率S1、S2的情况下的数值B1、B2的值得一提的(nennenswert)、也就是说至少达到所述阈值的比值不存在,那么分析单元50确定所述测位信号45不曾由所述电动车辆10反射。在这种情况下,可以根据从文献中公知的方法,例如通过观察所接收到的信号的频谱的复数值相位或/和基于FMCW来实现渡越时间测量。
借助于按照本发明的用于对电动车辆10进行测位的方法,执行按照本发明的用于使电动车辆10定位的方法(也就是说此外还在该方法中进行位置检验):
雷达传感器35总是朝如下方向发射雷达信号40,在理想情况下,也就是说如果电动车辆10适合于充电地被定位,那么所述电动车辆10在理想情况下处在所述方向上。在此,借助于分析装置50总是关于压电振荡器的振荡频率对测位信号45进行监控。在此,如上面所实施的那样,如果确定所述测位信号45不曾由电动车辆10反射,那么分析装置50将信号传送给充电站15的控制装置(未示出)。于是,所述控制装置操控充电站15的用户界面(未示出),使得所述用户界面要求电动车辆10的驾驶员驶向所述电动车辆10的适合于充电的位置。如果所述要求被满足,那么所述测位信号45随后确实是由电动车辆10反射,这借助于分析装置50如所描述的那样来确定。
在已经确定所述测位信号45确实是由电动车辆10反射之后,借助于所述测位信号45进行对电动车辆10的持续的测位。现在,借助于所述测位信号45可以通过用户界面发出详细的导航信号,使得基于所述测位信号45可以优化电动车辆10的位置,用于在充电站15的导电轨25上引取电流。
易于理解的是,在上文所解释的实施例可以按如下地来适配:所述充电站15不必被构造用于以导电轨连接的方式(stromschienengebunden)给电动车辆10充电。在一个未特意示出的实施例中,比如可以在充电站15上设置一次充电线圈以及在电动车辆10上设置二次充电线圈,而不是导电轨25和受电弓20。接着,在最后提到的实施例中,使电动车辆10定位到所述电动车辆10的如下这种位置上,使得适合于充电地来实现一次充电线圈与二次充电线圈的相对定位。
原则上,代替雷达传感器,也可以考虑具有相对应地更高的激光频率、而不是雷达频率的激光传感器。
在一个未特意示出的实施例中,使用声学传感器而不是雷达传感器,所述声学传感器类似于雷达传感器地被构造用来借助于信号渡越时间测量进行测位。
Claims (15)
1.用于借助于被检测到的测位信号(45)对确定的对象(10)进行测位的方法,其中,对正好是所述对象(10)的测位进行检查,使得具有至少一个时变的反射特性的这种对象被考虑作为对象而且所述反射特性对所述被检测到的测位信号(45)的影响(B1、B2)被检查。
2.根据上述权利要求所述的方法,其中,所述测位是无线电测位或者激光测位或者声学测位。
3.根据上述权利要求之一所述的方法,其中,所述时变的反射特性是随时间循环的反射特性。
4.根据上述权利要求之一所述的方法,其中,所述时变的反射特性借助于以振荡的方式偏转的反射面来形成。
5.根据上述权利要求之一所述的方法,其中,所述时变的反射特性借助于所述对象(10)的至少一部分的、尤其是表面的至少一次以振荡的方式或者以转动的方式的振动来形成。
6.根据上述权利要求之一所述的方法,其中,所述时变的反射特性借助于压电振荡器的振动来形成。
7.根据上述权利要求之一所述的方法,其中,所述无线电测位是雷达测位,和/或所述测位信号是雷达信号,和/或所述对象(10)利用金属形成、尤其是由金属形成。
8.根据上述权利要求之一所述的方法,其中,在频谱上检查对所述测位信号(45)的影响。
9.根据上述权利要求之一所述的方法,其中,检查所述可变的反射特性在最小300Hz、优选地最高1Mhz的一个频率(S0 S1,S2)或多个频率(S1,S2)的范围内对所述测位信号(45)的影响。
10.用于使电动车辆定位在充电站(15)处的方法,其中,借助于根据上述权利要求之一所述的用于测位的方法来检测所述电动车辆的位置,其中所述对象(10)包括所述电动车辆的至少一部分和/或所述对象(10)至少部分地被布置在所述车辆上。
11.测位系统,其具有测位传感器(35)以及分析装置(50),所述测位传感器(35)用于借助于由测位传感器(35)检测到的测位信号(45)来对对象(10)进行测位,所述分析装置(50)被构造用来检测所述对象(10)的时变的反射特性对由所述测位传感器(35)检测到的测位信号(45)的影响。
12.根据上述权利要求所述的测位系统,其中,所述分析装置(50)被构造用来检查所述可变的反射特性的影响,如所述可变的反射特性的影响在执行根据权利要求1至9之一所述的方法时被检查的那样。
13.用于给电动车辆充电的充电站,为了使所述电动车辆定位,所述充电站包括根据上述权利要求之一所述的测位系统(30),其中,所述充电站(15)优选地被构造用于对所述电动车辆进行感应式充电。
14.充电系统,所述充电系统具有根据上述权利要求之一所述的充电站(15)和标识元件(55),所述标识元件(55)包括能相对于彼此、尤其是能周期性地相对于彼此振动的部分。
15.根据上述权利要求所述的充电系统,其中,所述标识元件(55)包括振荡器、尤其是压电振荡器,所述振荡器以振荡频率、尤其是至少300Hz的振荡频率来振动。
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CN111186318B (zh) * | 2020-03-18 | 2023-11-24 | 邬志卿 | 停车场移动充电系统、充电机器人 |
Also Published As
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US10459081B2 (en) | 2019-10-29 |
WO2016026624A1 (de) | 2016-02-25 |
CN106574962B (zh) | 2021-01-19 |
US20170269205A1 (en) | 2017-09-21 |
EP3146358A1 (de) | 2017-03-29 |
EP3146358B1 (de) | 2023-11-15 |
DE102014216525A1 (de) | 2016-02-25 |
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