DE102020200292A1 - Device and method for the automatic charging of an electrically powered motor vehicle - Google Patents

Abstract

The invention relates to a device (12) for automatically charging a traction battery (6) of an electrically driven motor vehicle (4). This has a charging plug (14) for a charging socket (10) of the electrically powered motor vehicle (4), the charging plug (14) being attached to a support arm (16) by means of which the charging plug (14) is automatically adjustable. Furthermore, the device (12) has a first guide device (18), along which the support arm (16) can be moved, the first guide device (18) being intended to be arranged above a floor space (2) for the electrically powered motor vehicle (4) , and wherein the first guide device (18) is designed in such a way that the charging plug (14) for connecting to the charging socket (10) by moving the support arm along the first guide device (18) and / or by adjusting the charging plug by means of the support arm (16) can be arranged along the entire circumference of a surface (F) corresponding to the footprint (2). The invention also relates to a method for charging the traction battery (6) of the electrically driven motor vehicle (4).

Description

The invention relates to a device for automatically charging the traction battery of an electrically driven motor vehicle, the device having a charging plug attached to a support arm for a charging socket of the motor vehicle. The invention also relates to a method for automatically charging the traction battery of the driven motor vehicle by means of such a device.

An electrically driven motor vehicle typically has a traction battery (high-voltage battery, HV battery) which supplies an electric motor with energy to drive the motor vehicle. In this context, an electrically powered motor vehicle is in particular an electric vehicle that stores the energy required for propulsion only in the traction battery (BEV, battery electric vehicle), an electric vehicle with a range extender (REEV, range extended electric vehicle), a hybrid vehicle (HEV, hybrid electric vehicle), a plug-in hybrid vehicle (PHEV, plug-in hybrid electric vehicle) and / or a fuel cell vehicle (FCEV, fuel cell electric vehicle), which temporarily stores the electrical energy generated by a fuel cell in the traction battery.

Charging stations are often set up in parking lots to charge the traction battery. For example, a charging plug of the charging station is manually connected to a charging socket (charging socket) of the electrically powered motor vehicle.

Alternatively, devices for automatically charging the traction battery are known. These have, for example, a robot arm which is arranged stationary on the ground and has a charging plug attached to it. The charging plug is automatically moved using the robot arm and plugged into the charging socket of the motor vehicle. Such a robot arm has a range within which the charging socket of the motor vehicle must be arranged so that automatic charging can take place.

The charging sockets are arranged inconsistently on motor vehicles. Depending on the model of the motor vehicle, the charging socket is arranged in the area of the front, the rear or on a (longitudinal) side. Depending on the range of the robot arm, it is necessary that the driver has to park the motor vehicle in a correspondingly oriented manner on the parking space. Thus, when parking the motor vehicle, the driver must pay attention to where the device is arranged in the parking space, which is why the driver's comfort is comparatively low. In addition, a charging process can disadvantageously not take place if parking the motor vehicle with a charging socket arranged within the range of the robot arm is not possible due to its arrangement on the motor vehicle.

The invention is based on the object of specifying a suitable device for automatically charging the traction battery of the driven motor vehicle. In particular, the convenience of the user should be increased and charging should be made possible regardless of the position of the charging socket on the motor vehicle. Furthermore, a method for automatically charging the traction battery of the electrically driven motor vehicle by means of such a device is to be specified.

With regard to the device, the object is achieved according to the invention by the features of claim 1. With regard to the method, the object is achieved according to the invention with the features of claim 7. Advantageous refinements and developments are the subject of the subclaims. The statements in connection with the device also apply accordingly to the method and vice versa.

The device is provided and set up for automatically charging a traction battery of an electrically powered motor vehicle. For this purpose, the device has a charging plug for a charging socket, also referred to as a charging socket, of the electrically driven motor vehicle. The charging plug can therefore be coupled to the charging socket, in particular plugged into it, so that an electrical connection can be established between the charging plug and the traction battery by means of the charging socket. To charge the traction battery, a charging voltage or a charging current is provided by means of the charging plug.

The charging plug is attached to a support arm, particularly preferably designed as a robot arm. In particular, the charging plug forms the end effector of the support arm. At most, the charging plug can be adjusted automatically by means of the support arm.

Furthermore, the device comprises a first guide device, along which the support arm can be moved (automatically). For this purpose, the first guide device is designed, for example, as a cable guide or preferably as a rail (track). At most, the first guide device is provided and set up for arrangement over a parking space, that is to say over a single parking space, for the electrically driven motor vehicle.

In the following, the electrically driven motor vehicle is also referred to for short as a motor vehicle or as a vehicle.

The first guide device is also designed in such a way that the charging plug can be arranged, in particular continuously moved, along the entire circumference of a surface using a movement of the support arm along the first guide device and / or using an adjustment of the charging plug by means of the support arm to connect to the charging socket. The area corresponds to a floor space for the motor vehicle, in particular with regard to the extent (size).

In particular, the first guide device, designed for example as a rail or rope, extends above the surface in such a way that the charging plug can be arranged along the entire circumference of the surface, preferably over the entire area of the surface.

When the device is installed, the first guide device (with respect to the ground) is arranged above the parking space for the motor vehicle, so that the area along the circumference of which the charging plug can be arranged corresponds to the parking space and, if necessary, a motor vehicle parked on the parking space is arranged below the first guide device is. It is thus possible for the charging plug to move continuously around the circumference of the motor vehicle parked on the parking space and to be able to be arranged as desired in this circumferential area. As a result, the charging plug can advantageously be automatically connected to the charging socket regardless of the position of the charging socket on the motor vehicle and the position and / or orientation of the motor vehicle on the floor space. The charging plug can thus be arranged using the first guide device in such a way that the charging socket is always within reach of the support arm, even when a motor vehicle is parked slightly diagonally on the parking space.

In comparison to the device mentioned at the beginning with a robot arm fixed to the ground in a stationary manner, the driver of the motor vehicle does not have to orientate himself to the position of the robot arm when parking. A comfort for the driver is thus advantageously increased.

Due to the arrangement of the first guide device above, in other words above, the floor space and above the motor vehicle parked thereon, installation space for the robot arm on the ground is also advantageously not necessary. This can be used for additional parking spaces.

The device also suitably comprises power electronics, which are preferably arranged above the first guide device. Thus, when the device is in the assembled state, the first guide device is arranged between the power electronics and the floor space. For example, the power electronics include an inverter, with the aid of which an alternating voltage provided by the power grid is converted into a direct voltage.

According to a suitable embodiment, the first guide device forms an essentially rectangular or essentially elliptical travel path for the support arm. In other words, the travel path of the support arm is essentially rectangular or elliptical. When the first guide device is configured as a cable guide or as a rail, the cable or the rail accordingly extends essentially rectangularly or essentially elliptically. The first guide device particularly preferably forms a closed curve, it expediently spanning a plane parallel to the ground when the device is in the assembled state.

According to a suitable development of the device, it has an optical detection unit for determining the position of the charging socket of the electrically driven motor vehicle relative to the charging plug. The optical detection unit is expediently designed as a camera or as an infrared sensor. The optical detection unit is expediently attached to the support arm, in particular in the area of the charging plug. As a result, a comparatively precise detection of the position of the charging socket is made possible. Alternatively, the optical detection unit is arranged on the support arm in the area of the first guide device. Detection of an obstacle is then comparatively simple when the support arm is moved along the first guide device and / or when the charging plug is adjusted by means of the support arm.

According to an advantageous development, the device has a linear second guide device, along which the first guide device and thus also the support arm with the charging plug can be moved. In particular, the second guide device is intended to be arranged above the first guide device in the assembled state.

The second guide device expediently extends linearly over a number of parking spaces (individual parking spaces) of a parking lot. As a result, the first guide device and thus also the support arm with the charging plug can be arranged above several parking spaces, so that after the charging process of the traction battery of a first motor vehicle has ended, the traction battery of a second motor vehicle can be charged, even if the first motor vehicle is on its after the end of the charging process Parking space further. For example, the second guide device is on mounted on a ceiling of a parking garage. The first and the second device are expediently arranged at such a distance from the ground that a collision of the device with a motor vehicle is not possible.

For example, several devices share a common second guide so that the traction batteries of several motor vehicles that are parked in the row of parking spaces can be charged at the same time.

The second guide device is also designed, for example, as a cable guide or as a rail.

According to an expedient embodiment, the charging plug can be adjusted with at least six degrees of freedom by means of the support arm. The charging plug can thus be moved in three spatial directions oriented perpendicular to one another (translational degrees of freedom) and rotated with respect to these three spatial directions (rotational degrees of freedom).

In this way, the charging plug can be freely oriented. Consequently, a charging socket which is arranged inclined to the ground can also be connected to the charging plug.

According to an advantageous embodiment, the device has a communication device which is used for wireless communication with a control device of the electrically driven motor vehicle. In this way, data and / or signals can be exchanged between the control unit of the motor vehicle and the communication device of the device before the charging plug is connected to the charging socket. In particular, data can thus be received and evaluated by the device, which represents the position of the charging socket, so that a comparatively quick and targeted movement of the support arm along the first guide device and / or adjustment of the charging plug by means of the support arm enables the charging plug to be connected to the charging socket is. For example, a signal can also be output to the control unit of the motor vehicle, which signal causes a protective flap of the charging socket to open automatically, so that the driver does not have to act for this either.

For this purpose, the communication device suitably has an infrared or a Bluetooth interface.

According to a method for automatically charging the traction battery of an electrically powered motor vehicle parked on a parking space by means of the device in one of the variants shown above, the support arm is automatically moved in the area of the perimeter of the floor space and thus around the perimeter of the motor vehicle.

Image data of the motor vehicle are recorded by means of the optical detection unit and a position of the charging socket of the electrically driven motor vehicle is determined on the basis of this. For example, the approximate position is already known on the basis of wireless communication between the communication device and the control device and consequently the determination of the (exact) position of the charging socket is supported.

The charging plug is then automatically plugged into the charging socket and a charging current is provided for charging the traction battery of the electrically driven motor vehicle (4).

According to an expedient embodiment of the method, in order to insert the charging plug into the charging socket, a representation of the charging socket is generated on the basis of image data recorded by means of the optical detection unit. In particular, a so-called point-based representation of the charging socket and possibly an obstacle is generated, in which the charging socket or the obstacle are represented using individual points. For this purpose, the image data with regard to characteristic features of the charging socket, for example a relative arrangement of parts of the charging socket, the position, the size, the shape of the charging socket or a part thereof and, alternatively or additionally, the position, the size, the shape and / or a relative Position of a marking attached in the area of the charging socket and evaluated.

An adjustment or travel path of the charging plug for connecting to the charging socket is determined on the basis of the representation.

• 1 schematisch in einer perspektivischen Ansicht ein auf einer Stellfläche angestelltes elektrisch angetriebenes Kraftfahrzeug, dessen Traktionsbatterie automatisch mittels einer Vorrichtung geladen wird, wobei ein Ladestecker der Vorrichtung an einem Tragarm befestigt ist, und wobei der Tragarm entlang einer als Schienen ausgebildeten ersten Führungseinrichtung verfahrbar ist, welche oberhalb des elektrisch angetriebenen Kraftfahrzeugs angeordnet sind und welche im Wesentlichen rechteckförmig verlaufen,
• 2 schematisch die Vorrichtung in einer Draufsicht, wobei die erste Führungseirichtung anhand einer zweiten Führungseinrichtung linear über einer Reihe mehrerer Stellplätze verfahrbar ist, und
• 3 in einem Flussdiagram einen Verfahrensablauf zum automatischen Laden einer Traktionsbatterie eines elektrisch angetriebenen Kraftfahrzeugs mittels der Vorrichtung.

Exemplary embodiments of the invention are explained in more detail below with reference to a drawing. Show in it:

• 1 schematically in a perspective view an electrically driven motor vehicle parked on a parking space, the traction battery of which is automatically charged by means of a device, a charging plug of the device being attached to a support arm, and wherein the support arm can be moved along a first guide device designed as rails, which is above of the electrically powered motor vehicle are arranged and which are essentially rectangular,
• 2 schematically, the device in a plan view, the first guide direction using a second guide device can be moved linearly over a row of several parking spaces, and
• 3 in a flow diagram a method sequence for automatically charging a traction battery of an electrically driven motor vehicle by means of the device.

Corresponding parts and sizes are always provided with the same reference symbols in all figures.

In 1 is one on a footprint 2 parked electrically powered motor vehicle 4th shown which a traction battery 6th for supplying a drive (not shown) with electrical energy and a (battery) control unit 8th having. The motor vehicle also includes 4th a charging socket 10 which electrically with the traction battery 6th connected is.

Furthermore, in the 1 a device 12th for automatic charging of the traction battery 6th shown. This has a charging plug 14th for plugging into the charging socket 10 on, with the charging plug 14th on a support arm designed as a robot arm 16 is attached. The charging plug forms 14th the end effector of the support arm 16 .

The support arm 16 has multiple arm sections 16 ' on which are hinged together so that the charging plug 14th adjustable with six degrees of freedom and thus freely orientable.

In addition, the support arm is 16 along a first guide device 18th movable. This is formed by means of two rails, which extend along a rectangle with rounded corners and span a plane oriented parallel to the ground. The support arm shows how to move along the rails 16 electrically driven rollers or wheels 20th on.

In summary, the rails form an essentially rectangular travel path for the support arm 16 . The first guide device 18th is completely above the motor vehicle 4th arranged. As in particular in the 2 is recognizable, is the charging plug 14th consequently based on a method of the support arm 16 along the first guide device 18th and / or based on an adjustment of the support arm 16 - and thus the charging plug 14th - to connect to the charging socket 10 along the entire circumference of the motor vehicle 4th or along the entire circumference of the footprint 2 can be arranged and continuously moved there.

The device 12th has an optical detection unit designed as a camera 22nd which on the support arm 16 is attached in the area of the end effector. The optical detection unit 22nd is used to record image data 24 of the motor vehicle 4th so that the position of the charging socket 10 relative to the charging plug 14th can be determined.

In a manner not shown, the charging plug 14th and the charging socket has a so-called control line (pilot line), on the basis of which, when plugged in, data and / or signals for the charging process between the device 12th and the control unit can be exchanged. In addition, the device 12th a communication device 26th for wireless communication with the control unit 8th of the electrically powered motor vehicle 4th on. Consequently it enables data and / or signals between the device 12th and the control unit of the motor vehicle 4th even before connecting the charging socket 10 and the charging plug 14th to exchange.

The communication facility 26th is connected in terms of signal and / or data transmission technology to a control unit (not shown) of the device. According to a variant not shown further, the 26th into the control unit of the device 12th integrated.

In the 2 is a parking lot with three parking spaces arranged in a row 2 , each with an electrically powered motor vehicle parked on it 4th , shown, the charging socket 10 each in a different position on the motor vehicle 4th is arranged.

As continues, especially in the 2 can be seen, the device 12th a linear second guide device 28 on, which is above the first guide device 18th is arranged and spread over the three shelves 2 extends. The first

The first guide device 18th and thus also the support arm 16 with the charging plug 14th is along the linear two guide 28 movable so that the charging plug 14th in the charging socket 10 each of the on the shelves 2 parked motor vehicle 4th is pluggable.

The second guide device 28 is formed in a manner analogous to the first guide device by means of two rails, the first guide device 18th by means of a support frame 30th from the second guide device 28 will be carried. Here, the support frame 30th electrically driven rollers 20 ' on so that the support frame 30th and first guide means attached thereto 18th can be moved automatically.

For the sake of clarity, the 2 from the device 12th only the first guide device 18th , the second guide device 28 the support arm 16 and the Support frame 30th shown. The direction of travel of the support arm 16 along the first guide device 18th and the direction of travel of the first guide device 18th along the second guide device 28 are by means of an arrow V ₁ or. V ₂ represents.

The device 12th furthermore includes power electronics 32 with an inverter (not shown further), by means of which an alternating voltage provided by the power grid is converted into a direct voltage, cf. 1 . The power electronics 32 is by means of a power cable 34 with the support arm 16 and with the charging plug 14th electrically connected

The power electronics 32 is also connected in a manner not shown by means of a further power cable to the power grid. According to a variant not shown further, the rails serve the second guide device 28 or at least parts thereof as a conductor, the roles 20 ' be used as a pantograph. The power electronics 32 is in a space-saving manner between the first guide device 18th and the second guide device 28 arranged.

That in the 3 The flowchart shown represents an automatic charging process of the electrically powered motor vehicle 4th based on the device 12th .

The first step here is I. the support arm 16 with the optical detection unit mounted on it 22nd in the area of the perimeter of the footprint 2 and around the motor vehicle 4th move automatically.

Meanwhile, by means of the optical detection unit 22nd Image data 24 of the motor vehicle 4th recorded and the position of the charging socket 10 detected. Using the image data 24 is in a subsequent second step II a point-based representation of the charging socket 10 generated. For this purpose, the image data 24 with regard to the characteristic features of the charging socket 10 , for example a relative arrangement of parts of the charging socket, the position, the size, the shape of a component of the charging socket are evaluated.

Depending on the result of the evaluation, in one step III a travel or adjustment path for the charging plug 14th to connect to the charging socket 10 determined and the charging plug 14th adjusted accordingly. After the connection of the charging socket has been established 10 and the charging plug 14th becomes a charging current for charging the traction battery 6th from the device 12th provided and by means of the charging plug 14th to the traction battery 6th issued so that a charge level of the traction battery 6th (Step IV ) is increased.

The control of the support arm 16 , including its adjustment along the first guide device 18th , the method of the first guide device 18th along the second guide device 28 as well as controlling the registration unit 22nd and the evaluation of the image data 24 are thereby controlled by the device 12th carried out.

The invention is not restricted to the exemplary embodiments described above. Rather, other variants of the invention can also be derived therefrom by the person skilled in the art without departing from the subject matter of the invention. In particular, all of the individual features described in connection with the exemplary embodiments can also be combined with one another in other ways without departing from the subject matter of the invention.

List of reference symbols

2

Parking space for a motor vehicle

4th

electrically powered motor vehicle

6th

Traction battery

8th

Control unit of the electrically powered motor vehicle

10

Charging socket of the electrically powered motor vehicle

12th

contraption

14th

Charging plug

16

Beam

16 '

Arm section

18th

first guide device

20, 20 'roll 22

optical detection unit

24

Image data

26th

Communication facility

28

second guide device

30th

Support frame

32

Power electronics

34

Power cord

I.

Moving the support arm and grasping the charging socket

II

Creation of a representation and determination of an adjustment path

III

Connect the charging plug to the charging socket

IV

Providing a charging current

V1

Direction of travel along the first guide device

V2

Direction of travel along the second guide device

Claims (8)

A device (12) for automatically charging a traction battery (6) of an electrically powered motor vehicle (4), comprising - A charging plug (14) for a charging socket (10) of the electrically powered motor vehicle (4), the charging plug (14) being attached to a support arm (16) by means of which the charging plug (14) is automatically adjustable, - a first guide device (18) along which the support arm (16) can be moved, - wherein the first guide device (18) is provided for arrangement over a storage surface (2) for the electrically driven motor vehicle (4), and - wherein the first guide device (18) is designed in such a way that the charging plug (14) for connecting to the charging socket (10) by moving the support arm along the first guide device (18) and / or by adjusting the charging plug by means of the support arm ( 16) can be arranged along the entire circumference of one of the footprints (2). Device (12) after Claim 1 , characterized in that the first guide device (18) forms an essentially rectangular or essentially elliptical travel path for the support arm (16). Device (12) after Claim 1 or 2 , characterized by an optical detection unit (22) for determining the position of the charging socket (10) of the electrically driven motor vehicle (4) relative to the charging plug (14). Device (12) according to one of the Claims 1 to 3 , characterized by a linear second guide device (28) along which the first guide device (18) can be moved. Device (12) according to one of the Claims 1 to 4th , characterized in that the charging plug (14) can be adjusted with at least six degrees of freedom by means of the support arm (16). Device (12) according to one of the Claims 1 to 5 , characterized by a communication device (26) for wireless communication with a control device (8) of the electrically driven motor vehicle (4). Method for automatically charging the traction battery (6) of an electrically driven motor vehicle (4) parked on a parking space (2) by means of a device (12) according to one of the Claims 1 to 6th - in which the support arm (16) is moved in the area of the circumference of the footprint (2), a position of a charging socket (10) of the electrically powered motor vehicle (4) being determined, - in which the charging plug (14) automatically plugs into the Charging socket (10) is plugged in, and - in which a charging current for charging the traction battery (6) of the electrically driven motor vehicle (4) is provided. Procedure according to Claim 7 , wherein for plugging the charging plug (14) into the charging socket (10) a representation, the charging socket (10) is generated on the basis of image data acquired by means of the optical acquisition unit (22), and an adjustment path of the charging plug (14) is determined on the basis of the representation becomes.

Images