DE102016212890A1 - Method for operating a charging device - Google Patents

Abstract

The present invention relates to a method for operating a charging device for charging an energy storage device of a vehicle, preferably an electric or hybrid vehicle. The charging device comprises a control system, a measuring device and a loading robot, wherein the loading robot has a charging plug. In a first step A, the vehicle enters the guidance system, wherein at least two wheels of the vehicle are fixed in a second step B by the guidance system. In a third step C, the loading device determines a first position P1 of a vehicle axle and positions the measuring device in an axial center of the vehicle axle. In a fourth step D, the charging device determines a second position P2 of a charging socket of the vehicle and moves the loading robot in a fifth step E to the second position of the charging socket. In a sixth step, the loading robot inserts the charging plug into the charging socket and finally begins charging the traction battery in a seventh step G.

Description

The present invention relates to a method for operating a charging device for charging traction batteries of vehicles, preferably electric or hybrid vehicles.

State of the art

Electric vehicles usually have an electrical energy storage, such as a traction battery, which provides the electrical energy for the drive. If this electrical energy store is completely or partially discharged, then the electric vehicle has to control a charging station, at which the energy store can be recharged. So far, it is customary for this purpose that the electric vehicle is connected to the charging station by means of a cable connection at such a charging station. This connection must be made disadvantageously by a user usually manually. It is also necessary that charging station and electric vehicle have a mutually corresponding connection system. The disadvantage, however, is that the nationwide infrastructure for charging stations is largely non-existent (except isolated pilot projects) and is currently under construction. According to a DLR study, electric and hybrid vehicles in Germany are predominantly charged at home, whereby disadvantageously in private households usually only charging power between 3 (1-phase) and 11 kW (3-phase) are possible. Due to the existing plugs (applied standardization at the OEM), the conductive systems can disadvantageously only transfer limited charging power, although with more than 100 kW of power they are still significantly higher than in the inductive charging mentioned below.

Furthermore, occasionally wireless charging systems for electric vehicles are known. When inductive charging of electric vehicles, one or more coils (transmitting coils) are installed in or on the floor. Furthermore, one or more coils (receiving coil) are also arranged in the electric vehicle. If an electric vehicle is parked above the transmitter coil, it sends out an alternating magnetic field. The magnetic alternating field is absorbed by the receiving coil within the vehicle and converted into electrical energy. By means of this electrical energy, a traction battery of the vehicle can then be charged by the contactless energy transfer. Furthermore, the energy storage of the electric vehicle can also be used for feeding back. For this purpose, if necessary, a cable connection or an inductive power transmission can be used. The inductive charging systems can currently transmit only small charging power (eg for electric vehicles in the passenger car segment), since the dependencies on the air gap and the positioning of the vehicle to the coil have great influence. The publication DE 10 2011 010 049 A1 discloses such a system for charging a vehicle battery, in which the energy is transmitted inductively.

Regardless of the particular charging method - whether conductive (wired) or inductive (wireless) - the driver expects a fast charging process (so-called "fast charging") to keep the waiting time during charging as short as possible The high charging power disadvantageously requires a larger cable cross-section and thereby makes the charging cable bulky and inflexible This disadvantage is eliminated by automated plugging or automated charging (in which the plugging of the charging plug takes place automatically). In automated charging systems, in principle, a charging socket can be attached to the vehicle on all sides (front, rear, side, roof, underbody) Among other things, an automated system from VW in almost factory-ready condition was presented by robotic arm in 2015. Access to the vehicle takes place doing so from the side (preferably in the back right) u nd works with the park assistant of the vehicle. This system is intended for commercial and public use. Other systems or system approaches exist as a study or patent with features such as underbody robots, wall rail systems for front or rear loader, ground rail and overhead line pantograph principles.

When it comes to automated loading, the challenge is to position the vehicle as exactly as possible to the charging station. Technically feasible tolerances are currently disadvantageous at +/- 5cm. For connector systems, however, a small tolerance is required in order to carry out plugging operations with a high number, which are as low-wear as possible and include a long service life of the plug-in system.

There is therefore a need for a method by which the positioning of the vehicle to be loaded is facilitated and less sensitive to tolerances.

Disclosure of the invention

The inventive method with the characterizing part of claim 1 has u.a. the advantages that the positioning of the vehicle to be loaded easier and less tolerable.

According to the invention for this purpose a method for operating a charging device for charging an energy storage device of a vehicle, preferably one Electric or hybrid vehicle provided. The charging device comprises a control system, a measuring device and a loading robot, wherein the loading robot has a charging plug. In a first step A, the vehicle enters the guidance system, wherein at least two wheels of the vehicle are aligned and fixed in a second step B by the guidance system. In a third step C, the loading device determines a first position P1 of a vehicle axle and positions the measuring device in an axial center of the vehicle axle. In a fourth step D, the charging device determines a second position P2 of a charging socket of the vehicle and moves the loading robot in a fifth step E to the second position of the charging socket. In a sixth step, the loading robot inserts the charging plug into the charging socket and finally begins charging the traction battery in a seventh step G. An advantage of this method is that the positioning of the vehicle relative to the charging station for the driver or the vehicle significantly easier and thus tolerances insensitive. The positioning accuracy of the vehicle side is improved and achieved significantly smaller tolerances than the currently valid tolerances of +/- 5 cm. In addition, it is also advantageous that known and standardized plugs and connectors that are currently used in the automotive industry can also be used. Furthermore, it is advantageous that the angle error between the vehicle and the loading device is kept small by the method. In addition, the method is independent of the gauge of the vehicle to be loaded and also - compared to charging methods of the prior art - safer from vandalism. Furthermore, the method allows the use of short construction and connection technology; This applies in particular to power cables with a large cross section between the power input (eg charging socket) and the battery. This leads to an advantageous reduction in the power loss, which can assume values in the double-digit kilowatt range, in particular during rapid charging. Another advantage results for the driver or driver in terms of increased comfort during charging. By means of the guidance system according to the invention (mechanical, electrical and electronic), the parking and positioning at a charging station is supported or carried out automatically. This eliminates a factory installed in the vehicle parking assistant or is not mandatory.

The measures mentioned in the dependent claims advantageous refinements of the method specified in the independent claim are possible.

Advantageously, the control system has at least two recesses into which the at least two wheels of the vehicle are retracted in the first step A. For example, comparable to a conventional brake test bench, the driver drives forwards with the front wheels into two recesses or depressions, whereby an advantageous orientation of the wheels takes place. The depressions are just made so deep that a secure fixing of the front wheels is advantageously ensured. The individually considered recess for each one front wheel can also be mirror images for the other front wheel and advantageously suitable for all gauges and tire widths to be loaded vehicles. Furthermore, both recesses can have a fixed connection to one another and form a stable unit.

Furthermore, it is advantageous that the control system has wedges, by which the vehicle is fixed in the second step B. The wedges fix the wheels whereby the vehicle is advantageously prepared for wheel alignment. This is particularly advantageous for the loading of vehicles, the charging socket are located on the underbody and where the loader is installed in the ground.

The determination of the first position P1 of the vehicle axle advantageously takes place by measuring the track width at the wheels or by multiple scanning or contour detection of the vehicle. As a result, the measuring device can be positioned exactly in the center of the axle of the fixed vehicle axle and is therefore calibrated exactly for the longitudinal position. With this information, the loader robot can be moved to the center of the vehicle's longitudinal axis and calibrated.

The loading robot advantageously runs along a vehicle longitudinal axis on rails. This type of locomotion allows a high-precision positioning of the loader robot with the desired low position tolerance.

Advantageously, the loading robot has at least one charging cable or a current-transmitting rail system. The flexible charging cable enables advantageous control of the charging robot. The design by means of current-transmitting rail systems is characterized by increased robustness and low wear. In addition, in a current-transmitting rail system, the charging cable must not be dragged by the loading robot.

Furthermore, it is advantageous that the second position P2 of the charging socket is determined by reading out a vehicle-specific RFID or transferring corresponding position data via WLAN or Bluetooth. Since the position of the charging socket varies from vehicle to vehicle, the locating of the charging socket for the charging device is thus advantageously facilitated. A more elaborate Measurement of each vehicle to find the charging socket is thus eliminated.

Advantageously, the position data of the second position P2 of the charging socket can also be entered at a terminal or via app control. This is advantageous in the case in which a transmission of the position via RFID, WLAN or Bluetooth fails.

Furthermore, it is advantageous that a protective device of the charging socket is opened by communication of the charging device with the vehicle. The protection device may be a loading flap, a closure or similar protection devices (e.g., sliding mechanisms) to protect the charging socket. If the protective device is provided on the vehicle side, it is advantageous if the protective device is only opened or closed by the vehicle. If the loading robot is to perform the function of opening and closing the protective device, a device for opening and closing the protective device is advantageously provided on the loading robot.

Advantageously, the charging device determines a spatial coordinate RK of the charging socket. Thus, the distance of the charging socket to the charging connector can be determined precisely regardless of the ground clearance of the vehicle, whereby the charging robot can accurately connect the charging plug with the charging socket with low tolerance. In the case of the arrangement of the charging socket in the underbody of the vehicle, the charging device determines the height coordinate of the charging socket. According to the determined spatial coordinate RK, the charging plug is now inserted by the loading robot accurately into the charging socket. If the charging socket on the underbody of the vehicle, the charging plug is inserted in the correct position vertically upwards in the charging socket.

Advantageously, the loading device determines the spatial coordinate RK by means of laser measurement, whereby the laser measurement (for example by means of LIDAR) ensures high precision.

Other features and advantages of the present invention will become apparent to those skilled in the art from the following description of exemplary embodiments, which are not to be construed as limiting the invention with reference to the accompanying drawings.

Brief description of the drawings

Show it:

1 FIG. 3 is a schematic diagram of the different steps relating to the method of operating a charging device according to an embodiment of the invention; FIG.

2 a schematic representation of a cross section through a charging device according to an embodiment of the invention;

3 a schematic representation of a cross section through a charging device according to an embodiment of the invention;

The drawings shown in the figures are not necessarily drawn to scale for the sake of clarity. Like reference numerals generally designate like or equivalent components.

1 shows a schematic representation of the method for operating a charging device 10 for charging an energy store 11 of a vehicle 12 , The energy storage 11 is preferably a battery or traction battery and in the vehicle 12 it is preferably a hybrid or electric vehicle. The loading device 10 further includes a guidance system 13 and a measuring device 15 and a loading robot 16 , measuring device 15 and loading robots 16 preferably form a single load measuring unit 23 , The measuring device 15 as well as the loading robot 16 or the load measuring unit 23 is on rails 25 movably arranged. The loading robot 16 has a charging plug 20 and leads the charging plug 20 Power via a cable or alternatively via a current-transmitting rail system, which is electrically decoupled to the loading robot. At the beginning of the procedure the vehicle drives 12 in a first step A in the control system 13 one. The control system 13 has at least two wells 21 or hollows, in the example, the front wheels 14 or rear wheels (wheels) 14 of the vehicle 12 retract. By entering the depressions 21 become the vehicle wheels 14 aligned (comparable to a brake tester) and at least partially fixed. The wells 21 are running just so deep that a secure fixing of the wheels 14 (Front or rear wheels) is guaranteed. The wells have 21 to each other a firm connection and can form a stable unit. Between the wells 21 in which the wheels 14 fixed, runs a measuring device 15 and the loading robot 16 , In an alternative embodiment, the measuring device form 15 and the loading robot 16 a common unit or load measuring unit 23 , Stands the vehicle 12 quiet, at least two wheels 14 of the vehicle 12 through the control system 13 fixed. For this purpose, additional wedges 22 (or alternatively rollers) erected the wheels 14 fix or pinch. This fixation can be either on the front wheels 14 or rear wheels 14 of the vehicle 12 or at the same time Front and rear wheels are running. After fixation is the vehicle 12 or its vehicle axle 17 (Longitudinal and / or transverse axis) prepared for surveying. In a third step C of the method determines the charging device 10 a first position P1 of a vehicle axle 17 (Longitudinal and / or transverse axis). In this case, the position of the transverse axis of the vehicle 12 determined, for example, by measuring the track width at the wheels. For this purpose, a measuring head 27 the measuring device 15 put something up to the position of the wheels 14 to measure approximately in the middle of the tire height (between wheel tread and rim). Alternatively, a multiple scan or contour detection can be used in order to be able to determine a clear distance (eg in the case of unequal tire air pressure). The measurement of the positions can be carried out by scanning the tires between the front and rear axle according to the same pattern as in the gauging measurement and thereby the center of the vehicle 12 be determined. The measuring device 15 gets in the axle center 18 positioned the fixed vehicle longitudinal axis and is thus accurately calibrated for the longitudinal position. With the obtained information can the loading robot 16 be moved to the middle of the transverse axis and calibrated accordingly. The loading robot 16 runs along the vehicle's longitudinal axis 17 on tracks 25 , Alternatively, the rails 25 be aligned along the vehicle transverse axis and run as long as desired, so that several vehicles can be loaded side by side. With one or more charging devices 10 Thus, several vehicles can be partially or fully loaded simultaneously (or delayed in succession). When positioning and driving the loader robot 16 This carries the charging cable, for example, in the middle of the rails 25 With. As an alternative to the charging cable, the loader robot can also have a current-transmitting rail system, the loader robot 16 is electrically decoupled. In a fourth method step, the loading device mediates 10 a second position P2 of the charging socket 19 of the vehicle 12 , This is the transmission of the coordinates of the charging socket 19 necessary on the vehicle side. For this purpose communicate vehicle 12 and loader 10 and it is based on the reading of a vehicle-specific RFID or the transmission of data, eg via WLAN or Bluetooth, the position of the charging socket 19 to the loader 10 passed. Alternatively to the transmission of the position coordinates of the charging socket 19 For example, the position data / coordinates can be entered at a terminal or via app control, eg via smartphone. After receiving the exact coordinates of the charging socket 19 moves the charger 10 the loading robot 16 in the fifth step E in the direction of the charging socket 19 , By communication between loader 10 and vehicle 12 will open the guard 26 (Loading flap, shutter, sliding mechanism, etc.) of the charging socket 19 initiated. The charging socket 19 can on the vehicle underbody 28 or alternatively at the front or back or laterally on the vehicle 12 be provided. Ideally, the opening of the protection device 26 from the vehicle 12 self-initiated. Alternatively, the loader robot 16 the opening of the protection device 26 make. To the distance of the charging socket 19 to the charging plug 20 of the loader robot 16 To determine, a measurement of the spatial coordinate RK is necessary. Is the charging socket on the underbody 28 of the vehicle 12 provided, the measurement of the altitude coordinate is necessary accordingly. To measure a laser measurement or alternative methods for distance measurement are made. After detection, the charging plug 20 in the charging socket 19 introduced in the sixth method step F. In the embodiment of an underbody 28 attached charging socket 19 becomes the charging plug 20 vertically upwards into the charging socket 19 introduced. The advantage of vertical insertion is the favorable compensation of the insertion forces. Vehicle mass and support of the loader robot 16 on the ground do not allow evasive movements when plugging. Inserted under angle charging plug 20 lead to reaction forces that need to be supported. About the sequence control is the locking of the connector, the state detection of the battery and energy transmission paths. Finally, in a seventh step G, the charging process of the traction battery 11 began. After completion or termination of the charging process, the connector is in the loading robot 16 recycled. Before the loading robot 16 returns to its original position, the protection device must 26 closed and secured. The status message "Charging completed" unlocks the vehicle 12 by removing the wedges 22 from the wheels 14 be solved, causing the vehicle 12 can drive away. Depending on the embodiment of the respective charging station, the charging device 10 includes (as drive-through solution or parking and parking solution), the vehicle can leave the charging station.

2 shows a schematic representation of a cross section through a loading device 10 according to an embodiment of the invention. Same elements in terms of 1 are provided with the same reference numerals and are not explained in detail.

2 shows a schematic representation of a cross section through a loading device 10 from the front according to an embodiment of the invention. Same elements in relation to the 1 and 2 are provided with the same reference numerals and are not explained in detail.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102011010049 A1 [0003]

Claims (11)

Method for operating a charging device ( 10 ) for charging an energy store ( 11 ) of a vehicle ( 12 ), preferably an electric or hybrid vehicle, with a guidance system ( 13 ), with a measuring device ( 15 ) and a loading robot ( 16 ), whereby the loading robot ( 16 ) a charging plug ( 20 ), characterized in that - the vehicle ( 12 ) in a first step (A) in the control system ( 13 ) enters; In a second step (B) at least one wheel ( 14 ) of the vehicle ( 12 ) by the control system ( 13 ) is fixed; In a third step (C) the loading device ( 10 ) a first position (P1) of a vehicle axle ( 17 ) and the measuring device ( 15 ) in one axle center ( 18 ) of the vehicle axle ( 17 ) is positioned; In a fourth step (D) the loading device ( 10 ) a second position (P2) of a charging socket ( 19 ) of the vehicle ( 12 ) determined; In a fifth step (E) of the loading robots ( 16 ) to the second position (P2) of the charging socket ( 19 ); In a sixth step (F) the loading robot ( 16 ) the charging plug ( 20 ) into the charging socket ( 19 ) introduces; In a seventh step (G) the charging process of the traction battery ( 11 ) is started. Method for operating a charging device ( 10 ) according to claim 1, characterized in that the control system ( 13 ) at least two depressions ( 21 ) into which the at least two wheels ( 14 ) of the vehicle ( 12 ) are retracted in the first step (A). Method for operating a charging device ( 10 ) according to claim 1 or 2, characterized in that the control system ( 13 ) Wedges ( 21 ) through which the vehicle ( 12 ) is fixed in the second step (B). Method for operating a charging device ( 10 ) according to one of the preceding claims, characterized in that the first position (P1) of the vehicle axle ( 17 ) by measuring the track width at the wheels ( 14 ) or by multiple scanning or contouring of the vehicle ( 12 ) he follows. Method for operating a charging device ( 10 ) according to one of the preceding claims, characterized in that the loading robot ( 16 ) along a vehicle longitudinal axis ( 24 ) on tracks ( 25 ) runs. Method for operating a charging device ( 10 ) according to one of the preceding claims, characterized in that the loading robot ( 16 ) has at least one charging cable or a current-transmitting rail system. Method for operating a charging device ( 10 ) according to one of the preceding claims, characterized in that the second position (P2) is determined by a vehicle-specific RFID is read or corresponding position data is transmitted via WLAN or Bluetooth. Method for operating a charging device ( 10 ) according to one of the preceding claims 1 to 6, characterized in that the position data of the second position (P2) are input to a terminal or via app control. Method for operating a charging device ( 10 ) according to one of the preceding claims, characterized in that a protective device ( 26 ) of the charging socket ( 19 ) by communication of the charging device ( 10 ) with the vehicle ( 12 ) is opened. Method for operating a charging device ( 10 ) according to one of the preceding claims, characterized in that the loading device ( 10 ) a spatial coordinate (RK) of the charging socket ( 19 ). Method for operating a charging device ( 10 ) according to one of the preceding claims, characterized in that the loading device ( 10 ) determines the spatial coordinate (RK) by means of laser measurement.

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