EP3201038A1 - Assistance system and method for the positioning of an electric vehicle relative to a charging station, charging station and electric vehicle implementing said method - Google Patents

Assistance system and method for the positioning of an electric vehicle relative to a charging station, charging station and electric vehicle implementing said method

Info

Publication number
EP3201038A1
EP3201038A1 EP20150759670 EP15759670A EP3201038A1 EP 3201038 A1 EP3201038 A1 EP 3201038A1 EP 20150759670 EP20150759670 EP 20150759670 EP 15759670 A EP15759670 A EP 15759670A EP 3201038 A1 EP3201038 A1 EP 3201038A1
Authority
EP
Grant status
Application
Patent type
Prior art keywords
means
electric vehicle
charging station
coupling
characterized
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP20150759670
Other languages
German (de)
French (fr)
Inventor
Nicolas AFFRET
Marc DERRIEN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bluetram
Original Assignee
Bluetram
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LELECTRIC EQUIPMENT OR PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES, IN GENERAL
    • B60L11/00Electric propulsion with power supplied within the vehicle
    • B60L11/18Electric propulsion with power supplied within the vehicle using power supply from primary cells, secondary cells, or fuel cells
    • B60L11/1809Charging electric vehicles
    • B60L11/1824Details of charging stations, e.g. vehicle recognition or billing
    • B60L11/1827Automatic adjustment of relative position between charging device and vehicle
    • B60L11/1833Automatic adjustment of relative position between charging device and vehicle the vehicle being positioned
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LELECTRIC EQUIPMENT OR PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES, IN GENERAL
    • B60L11/00Electric propulsion with power supplied within the vehicle
    • B60L11/18Electric propulsion with power supplied within the vehicle using power supply from primary cells, secondary cells, or fuel cells
    • B60L11/1809Charging electric vehicles
    • B60L11/1816Charging electric vehicles by conductive energy transfer, e.g. connectors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LELECTRIC EQUIPMENT OR PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES, IN GENERAL
    • B60L11/00Electric propulsion with power supplied within the vehicle
    • B60L11/18Electric propulsion with power supplied within the vehicle using power supply from primary cells, secondary cells, or fuel cells
    • B60L11/1809Charging electric vehicles
    • B60L11/1816Charging electric vehicles by conductive energy transfer, e.g. connectors
    • B60L11/1818Adaptations of plugs or sockets for charging electric vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LELECTRIC EQUIPMENT OR PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES, IN GENERAL
    • B60L11/00Electric propulsion with power supplied within the vehicle
    • B60L11/18Electric propulsion with power supplied within the vehicle using power supply from primary cells, secondary cells, or fuel cells
    • B60L11/1809Charging electric vehicles
    • B60L11/1824Details of charging stations, e.g. vehicle recognition or billing
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LELECTRIC EQUIPMENT OR PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES, IN GENERAL
    • B60L11/00Electric propulsion with power supplied within the vehicle
    • B60L11/18Electric propulsion with power supplied within the vehicle using power supply from primary cells, secondary cells, or fuel cells
    • B60L11/1809Charging electric vehicles
    • B60L11/1824Details of charging stations, e.g. vehicle recognition or billing
    • B60L11/1825Charging columns for electric vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LELECTRIC EQUIPMENT OR PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES, IN GENERAL
    • B60L11/00Electric propulsion with power supplied within the vehicle
    • B60L11/18Electric propulsion with power supplied within the vehicle using power supply from primary cells, secondary cells, or fuel cells
    • B60L11/1809Charging electric vehicles
    • B60L11/1824Details of charging stations, e.g. vehicle recognition or billing
    • B60L11/1827Automatic adjustment of relative position between charging device and vehicle
    • B60L11/1835Automatic adjustment of relative position between charging device and vehicle with optical position determination, e.g. by a camera
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LELECTRIC EQUIPMENT OR PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES, IN GENERAL
    • B60L11/00Electric propulsion with power supplied within the vehicle
    • B60L11/18Electric propulsion with power supplied within the vehicle using power supply from primary cells, secondary cells, or fuel cells
    • B60L11/1809Charging electric vehicles
    • B60L11/1824Details of charging stations, e.g. vehicle recognition or billing
    • B60L11/1838Methods for the transfer of electrical energy or data between charging station and vehicle
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02JCIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02JCIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/90Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02JCIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0013Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging several batteries simultaneously or sequentially
    • H02J7/0021Monitoring or indicating circuits
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02JCIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/02Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
    • H02J7/022Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters characterised by the type of converter
    • H02J7/025Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters characterised by the type of converter using non-contact coupling, e.g. inductive, capacitive
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LELECTRIC EQUIPMENT OR PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES, IN GENERAL
    • B60L2200/00Type of vehicles
    • B60L2200/18Buses
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LELECTRIC EQUIPMENT OR PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES, IN GENERAL
    • B60L2240/00Control parameters of input or output; Target parameters
    • B60L2240/80Time limits
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LELECTRIC EQUIPMENT OR PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES, IN GENERAL
    • B60L2250/00Driver interactions
    • HELECTRICITY
    • H01BASIC ELECTRIC ELEMENTS
    • H01MPROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL INTO ELECTRICAL ENERGY
    • H01M2/00Constructional details or processes of manufacture of the non-active parts
    • H01M2/20Current conducting connections for cells
    • H01M2/30Terminals
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02JCIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J2007/0001Authentication, i.e. circuits for checking compatibility between one component, e.g. a battery or a battery charger, and another component, e.g. a power source
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/70Energy storage for electromobility
    • Y02T10/7005Batteries
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/70Energy storage for electromobility
    • Y02T10/7072Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies related to electric vehicle charging
    • Y02T90/12Electric charging stations
    • Y02T90/121Electric charging stations by conductive energy transmission
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies related to electric vehicle charging
    • Y02T90/12Electric charging stations
    • Y02T90/125Alignment between the vehicle and the charging station
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies related to electric vehicle charging
    • Y02T90/12Electric charging stations
    • Y02T90/128Energy exchange control or determination
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies related to electric vehicle charging
    • Y02T90/14Plug-in electric vehicles
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies related to electric vehicle charging
    • Y02T90/16Information or communication technologies improving the operation of electric vehicles
    • Y02T90/163Information or communication technologies related to charging of electric vehicle

Abstract

The invention relates to a method for assisting the positioning of an electric vehicle (V), provided with energy storage means, relative to a charging station (S), said electric vehicle (V) and said charging station (S) being arranged to achieve a temporary electromagnetic coupling to one another enabling a transfer of electrical energy from the charging station (S) to the storage means. Said method comprises, on the charging station (S), a detection phase of a positioning of the electric vehicle (V) appropriate for a temporary coupling and, on the vehicle (V), a phase of sending a charge command to the station (S), the processing of the charge command by the station (S) being conditional on the detection of the positioning and commanding an achievement of a temporary coupling and then an energy transfer.

Description

"Method and system to assist positioning of an electric vehicle to a charging station, charging station and the electric vehicle implementing this method"

Technical area

The present invention relates to a method and support system for the positioning of an electric vehicle to a charging station. It also seeks a charging station and electric vehicle implementing this method.

The affected electric vehicles may be of guided or not, such as a tram or a bus, or even individual mobility systems to personal or shared use. State of the art

Electric vehicles require an on-board electrical energy storage for powering their electric drivetrain. Reloading onboard energy storage systems require that these systems receive electric power from a charging station. Among the energy transfer techniques currently available, those known implementing electromechanical coupling systems.

EP 1938438 discloses the principle of an arm arranged on the roof of a bus / trolley and intended to connect to a jack on the station to perform a load.

It is also known from EP 2393165 a charging connector system implementing various concentric tubes which emerge on entering the reception cone to leave out that the bottom in socket receptacle cone only.

All these electromechanical coupling and connection devices involve a vehicle positioning control to recharge with respect to the charging station. already known several mechanical solutions to optimize the positioning of a vehicle to a station. including documents include US 8,324,858, US 2013/0197803 and US 2014/0084859.

But the technical solutions proposed and disclosed in these documents are complex to implement and costly. They involve particularly large investments because they require changes to existing infrastructure.

Disclosure of the invention

The object of the present invention is to overcome the difficulties currently encountered by providing a method for assisting the positioning of an electric vehicle provided with energy storage means with respect to a charging station, the electric vehicle and the station charging being arranged to provide between them a temporary electromechanical coupling allowing a transfer of electrical energy from the charging station to the storage means.

According to the invention, this method comprises, at the charging station, a step of detecting a positioning of the electric vehicle suitable for temporary coupling, and at the vehicle, a transmission phase of a control load to the station, the processing of the charge control by the station being conditioned to the positioning and controlling of detecting an embodiment of a temporary coupling and energy transfer.

More particularly, there is provided an assistance method according to the invention wherein the charging station comprising a supply of electrical power device with first means of electromechanical coupling and means for actuating the first coupling means, and the electric vehicle comprising a receiving electric power device having second means of electromechanical coupling, the first and second means are arranged to be coupled so as to provide a transfer of electrical energy from the charging station to the electric vehicle .

According to the invention, this particular form of the method comprises, from the charging station, a detection timing said electric vehicle substantially along a predetermined spatial position relative to the charging station, the detection authorizing receiving a control signal load transmitted from the electric vehicle, the load control signal so received is then processed to generate a connection command applied to said actuating means.

The charging station is arranged to permit: (i) a wedging of said electric vehicle substantially along a predetermined spatial position relative to the charging station, (ii) a command, called a connection, actuator means so that the first means coupling come into electromechanical connection with the second coupling means, (iii) a control, referred to as disconnection of the actuator means so that the first coupling means disconnects the second coupling means.

Thus, with the present invention, has a robust system, reliable, inexpensive and easy to install on existing infrastructure.

The method according to the invention may further advantageously comprise a charging end detection of the electric vehicle, detection authorizing reception of a running control signal, the driving control signal so received is then processed to generate the disconnect command.

In an advantageous version of the invention, the method may further comprise an end detection of the first in disconnecting the coupling means, the limit of detection authorizing a rolling of the electric vehicle.

In a preferred version of the invention, the method may also include a signaling whether to allow rolling of the electric vehicle from the charging station, this signaling being modified according to the timing detection, charge end and limit switches.

The method according to the invention may further advantageously comprise a control travel of the electric vehicle, depending on the timing of detections end of charge and end of stroke.

According to another aspect of the invention, there is provided a support system for the positioning of an electric vehicle provided with energy storage means with respect to a charging station, for the implementation of assist according to the invention, the electric vehicle and the charging station being arranged to provide between them a temporary electromechanical coupling allowing a transfer of electrical energy from the charging station to the storage means.

According to the invention, the support system includes:

- at the charging station,

o means for detecting a positioning of the electric vehicle suitable for temporary coupling,

o means for controlling a temporary electromechanical coupling, and

o means for controlling an energy transfer from the station to the vehicle, and

- at the level of the vehicle,

o means for transmitting a control load to the station,

the implementation of the control means of a temporary electromechanical coupling and energy transfer means being conditioned by the position sensing.

In a particular embodiment of the invention, there is provided a support system for which the charging station comprises a supply of electrical power device with first means of electromechanical coupling and means for actuating the first coupling means and the electric vehicle comprises a reception electric power device having second means of electromechanical coupling, the first and second means being arranged to be coupled so as to provide a transfer of electrical energy from the charging station to the electric vehicle.

According to this particular embodiment of the invention, the support system comprises, in the charging station, means for detecting a timing of said electric vehicle substantially along a predetermined spatial position relative to the charging station and transmitting information timing, means for receiving a load control signal transmitted from the electric vehicle, and means for processing said timing information and the charge control signal thus received so as to generate a connection command applied to the means of actuation.

The support system according to the invention may also advantageously comprise means for receiving an end of charge information of the electric vehicle, means for receiving a running control signal transmitted from the electric vehicle, and means for processing the driving control signal thus received so as to generate a disconnection command applied to the actuating means.

One can also provide a support system of the invention further comprising means for detecting an end position of the first in disconnecting the coupling means, the limit of detection authorizing a rolling of the electric vehicle.

The help system of the invention can also comprise means to signal whether to allow rolling of the electric vehicle from the charging station, the signaling means are connected to the setting information processing means, of end load and limit switches.

According to yet another aspect of the invention there is provided a station for charging an electric vehicle comprising an electric power supply device provided with first means of electromechanical coupling and means for actuating the first coupling means the electric vehicle comprising a receiving electric power device having second means of electromechanical coupling, the first and second coupling means being arranged to be coupled so as to provide a transfer of electrical energy from the charging station to the electric vehicle.

According to this yet further aspect of the invention, the charging station comprises means for detecting a timing of said electric vehicle to the charging station, means for receiving a load control signal transmitted from the electric vehicle, and means for processing the charging control signal to control, under stall condition, the actuating means of the first coupling means until the first coupling means come into connection with the second coupling means. The charging station and is arranged to permit:

i) a wedging of said electric vehicle substantially along a predetermined spatial position relative to the charging station,

ii) a command, called access, actuator means so that the first coupling means come into electromechanical connection with the second coupling means, iii) a control, referred to as disconnection of the actuator means so that the first means of disconnect coupling of second coupling means.

The charging station according to the invention may further advantageously comprise means for receiving a charge termination signal transmitted by means of transmission in the electric vehicle, and means for processing the signal charge end so controlling disconnection in the actuating means of the first coupling means until detection of an end stroke of the first coupling means emitted by the limit detection means.

It is also possible that the docking station further comprises means for signaling an authorization or not driving of the electric vehicle from the charging station, the signaling means being connected to means for processing the timing information, end load and limit switches.

According to yet another aspect of the invention there is provided an electric vehicle designed to be recharged with electrical energy from a charging station according to the present invention, the charging station comprising means for supplying electrical energy with first means of electromechanical coupling and means for actuating the first coupling means, the electric vehicle comprising a receiving electric power device having second means of electromechanical coupling, the first and second coupling means being arranged to be coupled so as to provide a transfer of electrical energy from the charging station to the electric vehicle.

According to the invention, this vehicle is characterized in that it further comprises means for transmitting a control load to the charging station, means for detecting an end of load and generating information of the end of charging, means for transmitting said information to the end of charging to the charging station, and means for outputting a driving command to the Base station.

This electric vehicle according to the invention may further advantageously comprise moving means for detecting a timing of said electric vehicle substantially along a predetermined spatial position relative to the charging station, the moving means timing detection cooperating with static means charging station-related timing detection so as to generate a timing information.

It is also possible that the movable means timing detection include a scheduled reflector for receiving and reflecting a light beam emitted by a photocell equipping the static means of timing detection, the reflector and the photoelectric cell is disposed on the or at within said electric vehicle and the charging station so as to provide a longitudinal wedging detection substantially on a predetermined longitudinal position.

In a particularly interesting embodiment of the invention, the vehicle may further comprise a cockpit provided with a man-machine interface including in particular the respective controls charging and rolling, the respective constitutions of these commands, and the respective information timing and charge termination.

The vehicle according to the invention may also comprise means for receiving information of end of stroke of the first coupling means, and means for locking the roll of said electric vehicle station as said limit information was not received. The man-machine interface can integrate further limit information.

In a particular version of the invention, the electric vehicle according to the invention may further comprise means for detecting a presence of the first proximity to coupling means of the second coupling means, and means for locking the roll of said electric vehicle station in response to a detection by the presence detection means.

The man-machine interface can also integrate presence detection information.

The second electro-mechanical coupling means may advantageously comprise a female coupling receiver cone oriented substantially laterally with respect to the longitudinal axis of said electric vehicle and arranged to receive a male coupling part arranged at the end of the first electro-mechanical coupling means associated with the recharging station.

This provides a support system for positioning that is secured since the arm of the inlet cone on the electric vehicle roof has a wider tolerance than the reflector. Description of figures and embodiments

We shall now describe detailed possible embodiments of the invention with reference to the figures set out below:

- Figure 1 is a rear view of an electric vehicle positioned in front of a charging station according to the invention;

- Figure 2 is a bottom view of the electric vehicle and the charging station of Figure 1;

- Figure 3 is a block diagram of a positioning assistance system according to the invention within an electric vehicle and a charging station according to the invention; and

- Figure 4 illustrates the different steps of a process of charging an electric vehicle according to the invention implementing the method for assisting the positioning of the invention.

These embodiments are in no way limiting, of particular consider variants of the invention comprising only a selection of isolated features described below of other features described (although this selection is isolated within a sentence comprising these other characteristics), if the selected characteristic is sufficient to impart a technical advantage or to differentiate the invention compared to the state of the prior art. This selection comprises at least one functional characteristic preferably without structural details, or with only some of the structural details if only this portion is sufficient to impart a technical advantage or distinguish the invention over the state of the prior art.

Referring to FIGURES 1 and 2, an electric vehicle V, e.g., electrical bus type or electric tram, joined a station S provided with a charging function. The electric vehicle V is provided on its upper part of a device 20 of electromechanical coupling of female type, arranged to receive electrical energy which will be stored in an onboard electric storage unit (not shown in these figures). The vehicle shown in Figures 1 and 2 corresponds to a left-hand drive, it is important to note that the present invention is not limited to this configuration and can be either implemented for the ducts to the left or right.

The electric vehicle V is further provided on its side portion in vis-à-vis the station S, a reflector 24 for reflecting detection light beam.

S recharge station comprises on its upper part a 100 device for actuating a movable part of electromechanical coupling 11 of male type, adapted to be coupled to the coupling device 20 secured to the electric vehicle V.

For a detailed description of a practical embodiment of the electromechanical coupling system used in the presently described example, one may usefully refer to the teachings of EP 2 393 165.

Station S is also equipped with a signaling system 16 to traffic lights arranged to be visible from the driver of the electric vehicle V, and a photoelectric cell 14 provided for detecting the positioning of the vehicle V.

An essential condition for the charging process is that the vehicle V is positioned appropriately with respect to the station S, both longitudinally (X axis) and lateral (Y axis). For lateral positioning, the floor 17 along the station S may be provided with two strips 180, 181 parallel to the driver to position his vehicle V on a predetermined lateral position Yo.

For the longitudinal positioning, a marker may be provided on the sidewalk bordering the station S. The driver of the vehicle V considers the position of the mark on the center of the front wheel, using a mirror. One can also provide the use of a camera or a lens disposed on a side window of the vehicle.

Two transverse bands 170, 171 may be provided on the floor 17 to assist the driver of the vehicle V in its longitudinal positioning by placing the front wheels V between the two transverse bands (Figure 2).

The floor 17 may thus be equipped with:

- marks painted to help align the vehicle laterally Y,

- physical wedges enabling the driver to feel good longitudinal position X of the vehicle.

Note that the X positioning tolerance is gradual: visual cue: approximately +/- 50mm

- optical sensor: +/- 80mm

- coupling cone: +/- 100mm

This gradual tolerance normally prevents a poor positioning in X.

Since the reflector 24 reflects the light beam emitted by the photoelectric cell 14, the optimal longitudinal positioning Xo is reached.

Referring to Figure 3, the system 1 for positioning assistance to the invention is distributed between the vehicle V and the charging station S.

Thus, the vehicle V comprises, in the context of this support, besides the reflector 24, a unit 23 for transceiving wireless to communicate with the station S, a unit 27 for detecting the presence of the movable portion of the male coupling 110 near a receiver cone 28 of the coupling device 20, a unit 25 for detecting the end load associated with a device 200 for storing energy (FSD), a 21 operable by the remote control driver for driving a load and for controlling a rolling, and a man-machine interface 26 provided in the cockpit of the vehicle V.

Station S comprises, under the assistance system 1 according to the invention, in addition to the signaling system 16 and the photocell 14, a unit 15 for detecting the end of stroke associated with the actuating device 100, a unit 13 of wireless transceiver for communicating with the vehicle V, and an infrared receiving unit 18 for receiving infrared signals from a remote control.

The vehicle V comprises a functionally electric drivetrain (CTE) 210 connected to power storage device 200 with which energy transfer are performed, and a control and processing unit (CPU) 22 receiving an end signal DC load from the unit for detecting the end load 25, a presence detection signal PR from the presence detection unit 27, and a CF limit signal transmitted from station S via transmission-reception units 13, 23. It should be noted that it is also possible, within the framework of the present invention, a station that is not transmitting. The unit of control and processing on the vehicle will then deals with signals generated by onboard equipment or transmitted by remote communication systems.

The control unit and processing 22 is provided for generating graphic information such as icons, representative information of interest for positioning operations and load and configured to be displayed on the man-machine interface 26, and a rolling blocking BR signal to the electric power train 210.

Station S functionally comprises, besides the electric power supply device 10, the actuator 100 and the signaling system 16, a control and processing unit 12 receiving at its input:

- longitudinal calibration signal CX emitted by the photocell 14, - SC and SR rolling load control signals from, via the infrared receiving unit 18, the remote control 21 operable by the driver of the vehicle V,

- the end of charge detection signal DC from the energy storage device 200 via the transmission-reception channel wireless 13, 23 established between the station S and the vehicle V, and

- FC end signal of the movable coupling part 11 after return stroke in the actuating device 100, from the end unit detection switch 15.

The unit of control and processing 12 is provided for generating, in response to processing of said signals:

- to a charge control signal CC of the actuator 100 for controlling the deployment of the movable coupling part 11,

- a CD disconnection control signal to the actuating device 100, for controlling disengagement of the movable coupling part 11, and

- an activation signal of the AC power supply device 10, when the electromechanical coupling has been established and that the unit of control and processing station 12 has received a load command from the vehicle V. it is also possible to integrate the automatic withdrawal of the movable arm coupling the end of charging. This secures the operation because there is no waiting time between the action of the driver and the total withdrawal of the arm. This delay was not natural, and possibly variable. The driver and waits for the signal to fire, conditioned by the end of the arms race.

We will now maintain described with reference to FIGURE 4 and to the aforementioned figures, different steps of the support method of the invention, at the same time as the functional relationships between the various units and components of the station and the vehicle. The table below summarizes the different situations, the associated codes for the traffic light and interpretation for the driver of the vehicle.

The general rules for the control of the traffic lights are:

5 - every station alarms back flashing orange

- flashing orange is deleted in case of failure vehicle,

- flashing orange is activated in the event of an alarm station persistent even after acknowledgment by the remote driver,

- the light is red as the arm is not fully retracted.

1 0

fire code signaling station

In a phase 1, the vehicle V is approaching the station S. The driver laterally positions his vehicle so as to achieve an appropriate lateral positioning Yo relative to the station S. The signaling system 16 is off indicating to the driver that it can still roll on the floor 17.

In Phase 2, the vehicle V approaches its maximum longitudinal position Xo, the driver is assisted by the visual cue by means of the mirror. When the reflector 24 is located in front of the photocell 14 (phase 3), the latter emits a signal CX detection timing X that is processed by the control and processing unit of the station S with consequent modification the displayed signal on the signaling system 16 which flashes in green. The driver is thus warned that proper positioning is achieved and he can stop his vehicle.

The driver may then activate (phase 4) the load control knob from its remote control 21. The infrared signal SC load control is then received by the infrared receiving unit 18 and processed by the control unit and processing 12 which in turn generates a DC load control signal to the actuator 100. This has the effect of initiating the lateral deployment of the mobile arm of coupling 11 which will engage in the connecting cone 28 of the coupling device 20 of the vehicle V. Since the beginning of the deployment phase 5 and the setting in motion of the arm, the signaling system turns red and will remain so throughout the loading phase that follows and the complete withdrawal of the arm .

When the end 110 of the movable arm of coupling 11 is correctly engaged in the receiver cone 28, the electrical connection is made and the electrical energy transfer from the station S to the energy storage device 200 of the vehicle is engaged ( Phase 6). On the duration of this phase, the signaling system 16 is held red.

When the target charge level for the energy storage device 200 has been reached (step 7), the unit charge end detection 25 transmits a completion signal DC load which is locally transmitted to the control unit and processing 22 within the vehicle V. This signal is also transmitted via the wireless communication channel 13, 23, to the charging station S. the signaling is maintained red, signifying the driver no rolling n is still allowed at this stage. The end of charge information is displayed on the man-machine interface 26 of the vehicle V and is treated at station S by its control unit and treatment with 12 turns off the power supply. In an integrated management mode of the charging process, the achievement of the time level setpoint causes automatic disconnection at the end of loading, and the disengagement of the movable arm coupling.

In one embodiment involving the driver, the latter being informed of the end of the charging process, can then actuate (stage 8) button "rolling demand" on the remote control 21 which then emits an infrared signal driving request SR which is received by the S charging station via the infrared receiving unit 18 and then processed by the control unit 12 and processing for transmitting a CD disconnection control signal to the actuator 100.

The latter then undertakes the disengagement of the coupling arm 11 which leaves the coupling cone 28 (step 9). During this phase 9 and the last, the signaling is maintained red because the movable arm coupling is still deployed and premature rolling may damage the vehicle.

A timeout after disconnection is scheduled to vehicle level: rolling is prohibited during this time to ensure that the driver does not blow the fire.

When the movable arm of coupling 11 reaches the end of stroke (Phase 10) in the actuating device 100, a FC limit signal is issued by the limit detector 15, received and processed by the unit control and processing 12 which then emits a signal to green, signifying that the driver can resume the running of the vehicle V.

Beyond the solution involving manual intervention by the driver using a remote control, we can consider other modes of implementation of the assistance process of the invention, based on other control interfaces or a process automation.

Thus, the use of the remote control 21 may be replaced by an action of the driver on a dashboard or on a man-machine interface. This may for example implement a touch screen type or non-contact gesture recognition.

Moreover, security can be enhanced positioning method by providing a mechanical locking system and / or electrical as the coupling arm is detected near the receiver cone installed on the vehicle roof.

We can also provide other embodiments, such a realization by implementing a simplified fire codes, to facilitate understanding by the driver.

Of course, the invention is not limited to what has been described and many other embodiments than those described above are possible. Thus, the invention is not limited to particular configurations and geometries vehicles or charging stations. Vehicles may include combining different energy sources or different modes of traction. The charging stations can also provide additional services beyond the charging function.

Claims

1. Method for assisting the positioning of an electric vehicle (V) provided with energy storage means (200) relative to a charging station (S), said electric vehicle (V) and said charging station ( S) being arranged to provide between them a temporary electromechanical coupling allowing a transfer of electrical energy from said charging station (S) to said storage means (200), said method comprising:
- at said charging station (S), a step of detecting a position of said electric vehicle (V) suitable for temporary coupling, and
- at said vehicle (V), a transmission phase of a load to said control station (S), the processing of the charge control by said station (S) being conditioned to said position sensing and controlling a temporary coupling and energy transfer;
characterized in that the positioning detection phase comprises a detection timing (CX) of said electric vehicle (V) on a predetermined spatial position with respect to said charging station (S).
2. A supporting method according to claim 1, wherein said charging station (S) comprising a device (10) for supplying electrical energy provided with first means (11) and electromechanical coupling means (100) for actuating said first coupling means (11), and the electric vehicle (V) comprising means (200) for receiving electrical energy provided with second means (20) of electromechanical coupling, said first and second means (11, 20) being arranged to can be coupled so as to provide a transfer of electrical energy from said charging station (S) to the electric vehicle (V), characterized in that the timing detection allows receiving a load control signal (SC ) outputted from the electric vehicle (V), the charge control signal (SC) so received is then processed to generate a connection controller (CC) which is applied to said actuating means (100 ).
3. A method according to claim 2, characterized in that it further comprises a detection means (DC) of the end of charging of the electric vehicle (V), said sensor causing an automatic disconnection of the first coupling means (11) so that temporary electromechanical coupling is deleted.
4. A method according to claim 2, characterized in that it further comprises a detection means (DC) of the end of charging of the electric vehicle (V), said detection authorizing reception of a running control signal (SR), the driving control signal (SR) so received is then processed to generate a disconnect command (CD) which is applied to the actuating means (100).
5. Method according to one of Claims 3 or 4, characterized in that it further comprises an end detection means (FC) of the first coupling means (11) disconnecting said limit of detection (CF ) allowing a travel of the electric vehicle (V).
6. A method according to claim 5, characterized in that it further comprises a signal (SI) of the authorization or non-rolling of the electric vehicle (V) relative to the charging station (S), this signaling ( IF) is modified according to the timing of detections (CX), end of charge (DC) and limit switch (CF).
7. Method according to one of claims 5 or 6, characterized in that it further comprises a control travel of the electric vehicle (V), according to one or more of timing detections (CX) of end load (DC) and limit switch (CF).
8. The method of claim 7, characterized in that the run control includes, in the electric vehicle (V), a time delay of the taxi clearance which is predetermined from the detection end of the disconnected race.
9. System (1) support the positioning of an electric vehicle (V) provided with energy storage means (200) relative to a charging station (S) for implementing the method of support according to any one of the preceding claims, the electric vehicle (V) and said charging station (S) being arranged to provide between them a temporary electromechanical coupling allowing a transfer of electrical energy from said charging station (S) to said storage means (200), said system comprising:
- at said charging station (S), means for detecting a positioning of said electric vehicle (V) suitable for temporary coupling means for controlling a temporary electromechanical coupling and means for controlling a transfer of energy from said station (S) to the vehicle (V), and
- at said vehicle (V), means for transmitting a load control (SC) to said station (S), the implementation of said control means of a temporary electromechanical coupling and transfer means of energy being conditioned to said position sensing;
characterized in that said system comprises, in said charging station (S), means (14) for detecting a timing of said electric vehicle (V) on a predetermined spatial position with respect to said charging station (S) and transmitting a timing information (CX).
10. Support system (1) according to claim 9, wherein said charging station (S) comprising a device (10) for supplying electrical energy provided with first means (11) and electromechanical coupling means (100) for actuating said first coupling means (11), and the electric vehicle (V) including a receiving electric power device (to 200) with second means (20) of electromechanical coupling, said first and second means (11, 20) being arranged to be coupled so as to provide a transfer of electrical energy from said charging station (S) to said electric vehicle (V), characterized in that said system further comprises means (13) for receiving a signal load control (SC) output from said electric vehicle (V), and means (12) for processing timing information (CX) and said load control signal (SC) so received to generate a control of connection (CC) applied to said actuation means (100).
11. Support system according to claim 10, characterized in that the control means of a temporary electromechanical coupling are arranged to cause automatic disconnection of the first coupling means (11) in response to a detection (CD) end charging of the electric vehicle (V).
12. Support system (1) according to any one of claims 9 to 11, characterized in that it further comprises means (13) for receiving an end of load information (DC) of the electric vehicle (V ), means (13) for receiving a driving control signal (SR) emitted from said electric vehicle (V), and means for processing (12) said driving control signal (SR) and received so as to generate a disconnect command (CD) which is applied to said actuating means (100).
13. Support system (1) according to claim 12, characterized in that it further comprises means (15) for detecting a limit switch (CF) of the first coupling means (11) disconnecting said detection limit switch (CF) allowing a travel of the electric vehicle (V).
14. Support system (1) according to claim 13, characterized in that it further comprises driving control means of the electric vehicle (V) arranged to apply a predetermined delay to the rolling authorization from detecting disconnection in end of stroke.
15. Support system (1) according to one of claims 13 or 14, characterized in that it further comprises means (16) for signaling (SI) whether to allow rolling of the electric vehicle (V ) with respect to the charging station (S), said signaling means (SI) being connected to the processing means (12) of the timing information (CX), end of charging (DC) and limit switch (CF ).
16. station (S) for charging an electric vehicle (V), comprising a device (10) for supplying electric power with the first electro-mechanical coupling means (11) and means (100) for actuating said first coupling means (11), said electric vehicle (V) comprising means (200) for receiving electric energy with the second electro-mechanical coupling means (20), said first and second coupling means (11, 20) being arranged to be coupled so as to provide a transfer of electrical energy from said charging station (S) to said electric vehicle (V), characterized in that said charging station (S) further comprises means (14) for detecting a timing (CX) of said electric vehicle (V) on a predetermined spatial position with respect to said charging station (S), means (13) for receiving a load control signal (SC) output from said vehicul electric e (V), and means (12) for processing said charge control signal (SC) so as to control, under stall condition (CX), the actuator means (100) of the first coupling means (11) until said first coupling means (11) come into connection with said second coupling means (20).
17. Charging station (S) according to claim 16, characterized in that the control means of a temporary electromechanical coupling are arranged to cause automatic disconnection of the first coupling means (11) in response to a detection (CD) end of charging of the electric vehicle (V).
18. Charging station (S) according to one of claim 16 or 17, characterized in that it further comprises means (13) for receiving a charge termination signal (DC) issued by transmission means in the electric vehicle (V), and means (12) for processing said end of charge signal (DC) so as to control in disconnection (CD) the actuator means (100) of the first coupling means (11) until 'to detection of a limit switch (FC) of said first coupling means (11) emitted by means (DF) to the limit of detection.
19. Charging station (S) according to claim 18, characterized in that it further comprises means (16) for signaling authorized or not driving of the electric vehicle (V) relative to said charging station (S ), said signaling means (16) being connected to the means (12) for processing the timing information, the end of charge and end of stroke.
20. An electric vehicle (V) designed to be recharged with electrical energy from a charging station (S) according to any one of claims 16 to 19, said charging station (S) comprising a supply device electrical power (10) provided with first electro-mechanical coupling means (11) and means (100) for actuating said first coupling means (11), said electric vehicle (V) comprising a receiving device for electrical energy (200) with second electro-mechanical coupling means (20), said first and second coupling means (11, 20) being arranged to be coupled so as to provide a transfer of electrical energy from said charging station (S) to said vehicle electrical (V), said vehicle (V) further comprising means (21) for transmitting a load control (SC) to said charging station (S), means (25) for detecting an end of charge e t generate an end of load information (DC), means (IC) for transmitting said termination load information (DC) to said charging station (S), and means (21) for transmitting a control rolling (SR) to said charging station (S);
characterized in that it comprises further movable means (24) for detecting a timing of said electric vehicle (V) on a substantially predetermined spatial position (Xo, Yo) in relation to said charging station (S), said movable means timing detection (24) co-operating with static means (14) detecting timing related to said charging station (S) so as to generate timing information (CX).
21. An electric vehicle (V) according to claim 20, characterized in that the movable means timing detection (24) comprises a reflector provided for receiving and reflecting a light beam emitted by a photocell means equipping the static timing detection (14), said reflector and said photocell being arranged respectively on said or within said electric vehicle (V) and said charging station (S) so as to provide a longitudinal wedging detection (X) substantially at a longitudinal position predetermined (Xo).
22. An electric vehicle (V) according to any one of claims 20 or
21, characterized in that it further comprises a cockpit provided with a man-machine interface (26) in particular integrating the respective controls charging and rolling, the respective constitutions of these commands, and the respective timing information and end load.
23. An electric vehicle (V) according to any one of claims 20 to
22, characterized in that it further comprises means (23) for receiving an end information (FC) of the first coupling means (11), and means (22, 210) for controlling the driving of said vehicle electrical (V), said driving control means being arranged to lock said electric vehicle (V) in station as said limit information (FC) has not been received.
24. An electric vehicle (V) according to claim 23, characterized in that the driving control means is arranged to apply a predetermined delay to the rolling authorization from the detection end of the disconnected race.
25. An electric vehicle (V) according to claims 22 and 23, characterized in that the man-machine interface (26) further incorporates the limit information (CF).
26. An electric vehicle (V) according to any one of claims 20 to 25, characterized in that it further comprises means (27) for detecting a presence (PR) of the first coupling means (11) near second coupling means (20), and means (22, 210) for locking the roll of said electric vehicle (V) station in response to a detection by said presence detection means (27).
27. An electric vehicle (V) according to claims 22 and 26, characterized in that the man-machine Interface (26) further includes detecting the presence of the information (RA).
28. An electric vehicle (V) according to any one of claims 20 to 27, characterized in that the second electro-mechanical coupling means (20) comprises a female coupling receiving cone (28) substantially laterally oriented with respect to the axis longitudinal (X) of said electric vehicle (V) and arranged to receive a male coupling portion (110) disposed at the end of the first electro-mechanical coupling means (11) connected to said charging station (S).
EP20150759670 2014-09-30 2015-08-18 Assistance system and method for the positioning of an electric vehicle relative to a charging station, charging station and electric vehicle implementing said method Pending EP3201038A1 (en)

Priority Applications (2)

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FR1459305A FR3026355B1 (en) 2014-09-30 2014-09-30 Method and system for assistance in positioning an electric vehicle compared to a charging station, charging station and electric vehicle implementing such process
PCT/EP2015/068952 WO2016050410A1 (en) 2014-09-30 2015-08-18 Assistance system and method for the positioning of an electric vehicle relative to a charging station, charging station and electric vehicle implementing said method

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KR (1) KR20170070078A (en)
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CA (1) CA2961838A1 (en)
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US5272431A (en) * 1991-11-27 1993-12-21 Nee Patrick W Automatic power connector for recharging electric vehicles
US8368348B2 (en) * 2007-09-20 2013-02-05 Semaconnect, Inc. Automated recharging system
DE102011082092A1 (en) * 2011-09-02 2013-03-07 Bayerische Motoren Werke Aktiengesellschaft An apparatus for automated preparation and separation of a charging connection in a plug-in vehicle
US9701209B2 (en) * 2012-07-09 2017-07-11 General Electric Company Charging device and method of delivering current to a power storage device

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JP2017533689A (en) 2017-11-09 application
WO2016050410A1 (en) 2016-04-07 application
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CN107148299A (en) 2017-09-08 application
CA2961838A1 (en) 2016-04-07 application
US20170305287A1 (en) 2017-10-26 application
FR3026355B1 (en) 2017-12-29 grant

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