EP3758975A1 - Procédé et dispositif destinés à connecter automatiquement une borne de recharge à une prise de borne de recharge d'un véhicule, en particulier d'un véhicule terrestre - Google Patents

Procédé et dispositif destinés à connecter automatiquement une borne de recharge à une prise de borne de recharge d'un véhicule, en particulier d'un véhicule terrestre

Info

Publication number
EP3758975A1
EP3758975A1 EP19708816.4A EP19708816A EP3758975A1 EP 3758975 A1 EP3758975 A1 EP 3758975A1 EP 19708816 A EP19708816 A EP 19708816A EP 3758975 A1 EP3758975 A1 EP 3758975A1
Authority
EP
European Patent Office
Prior art keywords
image
vehicle
charging
charging port
unit
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
EP19708816.4A
Other languages
German (de)
English (en)
Inventor
Andreas Schoob
Simon Aden
Jens DR. KOTLARSKI
Norbert Settele
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.)
Matthias Dagen Jens Kotlarski Tobias Ortmaier Forwardttc Ip Holding Gbr
KUKA AG
Original Assignee
Forward Ttc GmbH
KUKA AG
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
Application filed by Forward Ttc GmbH, KUKA AG filed Critical Forward Ttc GmbH
Publication of EP3758975A1 publication Critical patent/EP3758975A1/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0007—Measures or means for preventing or attenuating collisions
    • B60L3/0015—Prevention of collisions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
    • B60L3/0038—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0092—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption with use of redundant elements for safety purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/22—Driver interactions by presence detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/91—Electric vehicles
    • Y—GENERAL 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Definitions

  • the present invention relates to a method for automatically connecting a charging connection with a charging connection receptacle of a vehicle, preferably a land vehicle, according to claim 1, an apparatus for carrying out such a method according to patent claim 17 and a computer program product for carrying out such a method according to claim 18.
  • the vehicle can also be used for example. overnight to Flause, be connected during working hours or during shopping in a parking garage to an electric charging station located there, in order to use as possible any interruption of use for charging.
  • Charging may require the user to go to the electrical charging station, pick up an electrical charging cable, open a shutter of the charging port of the vehicle, insert the charging plug of the electrical charging cable into the charging port of the vehicle, and thus make an electrically conductive connection to the charging station To perform charging. After charging has been completed, repeat these steps mutatis mutandis in the reverse order. This on wall and the time required for this can disturb the user and thus preclude the purchase and use of such an electrically operable vehicle.
  • the goal of the joint project AUTOPLES Automated Parking & Charging of Electric Vehicle Systems
  • the corresponding charging station has an actuated mechanical system which can move the charging plug in height and in width and extend to the parked vehicle and drive away from the parked vehicle
  • the charging plug is a camera is arranged, which is aligned obliquely in the direction of the charging connector.With the camera and corre sponding process for image processing and image recognition of the charging port of the vehicle can be recorded op table and recognized and the charging plug of the charging station in this egg be led to self-establishing an electrically conductive connection and perform the charge. After completion of the charging process, the separation can also be done automatically.
  • a similar objective is pursued by the GINKO initiative ("Generic Infrastructure for the Seamless Energetic Coupling of Electric Vehicles - Chemnitz"), with a charging plug from the end effector of a six-axis articulated robot is performed. At the end effector, a camera is also arranged, which is oriented obliquely in the direction of the charging connector.
  • DE 10 2012 014 936 Al describes a charging system for a motor vehicle, in particular a Perso nenkraftwagen, with a robot with a control means, with a force detecting means and with a robot attached to the plug, which is adapted to a vehicle-side mating connector a detachable Plug connection for charging an electrical energy storage of the motor vehicle produce.
  • the control means is adapted to communicate with the force sensing means and to connect the robotized connector to the mating connector based on a force detected by the force sensing means.
  • the charging system further includes, in particular roboterge led, position detecting means for detecting a position of the mating connector, wherein the STEU erstoff is adapted to communicate with the position detecting means and pre-position the roboterge led plug based on a detected by the position detecting means position of the mating connector.
  • the position detection means may in particular comprise an image recording and processing means, in particular a camera, preferably a CCD camera, and a Jardinken tion, which is adapted to identify the mating connector of the motor vehicle in a camera image.
  • an image-based pre-positioning of the robot-guided plug takes place, which is followed by a force-controlled insertion of the robot-guided plug.
  • US 79999506 Bl describes a system that automatically feeds the power into a vehicle with a rechargeable electrical energy storage with minimal human intervention using an automatic docking system.
  • the system consists of a robot manipulator with a camera and a processing unit.
  • the system uses the camera and image processing to identify the position of the vehicle and thus the position of the vehicle's cargo container.
  • the robot manipulator then directs the plug of the charging cable into the receptacle of the vehicle. Once charging is complete, the robotic manipulator removes the plug from the vehicle.
  • It is a CCD camera used, which can be fixed to the base of the Robotermanipula sector or arranged at the end effector. Alternatively, a LIDAR system is also used.
  • US Pat. No. 9,056,555 B1 describes a robotic charging device for an electric vehicle which is drivable so that it automatically has an electric charging connection for charging the battery pack an electrically powered vehicle inserted. When charging is complete, the unit disconnects from the vehicle and moves away from the vehicle. The robotic charging device can move over a substrate to the electric vehicle automatically. At a base of the robotic loading device on a three-membered arm is arranged, the charge has on its end effector to the electrical charge. Near and on both sides of the electrical charging port, a pair of cameras are arranged so that the vehicle and the shutter of the charging port can be detected.
  • At least one camera in particular at least one CCD camera, or at least one other image capture unit are used to capture a two-dimensional image of a starting situation, which at least a part of the vehicle and its charging socket or the cover of the charging socket comprises. From this image, the position and orientation of the charging socket or its cover is then detected and determines the removal of the charging plug or the end effector to Ladean circuit. Based on this, the trajectory is then calculated, on which the charging tracker is to be moved by the charging device to intervene at the end of the trajectory in the charging socket of the vehicle.
  • Position is the location within a Cartesian coordinate system where an object is located in a geometric space. Positioning is the assumption of a concrete spatial location. Orientation refers to the orientation of an object to the axes of the Cartesian coordinate system. Taking an orientation is understood to be the change in the current orientation by rotation about the respective axes of the Cartesian coordinate system into a desired orientation. Position and orientation can be called a pose together.
  • the localization of the charging socket is made particularly difficult by the fact that the charging socket as the target object usually has to be recognized from a comparatively large distance, which results in a low image resolution of the relevant area, i. the charging socket leads. This is due to the fact that the charging device is usually outside of its operation in a compact as possible to avoid collisions with the approaching vehicle or with people and derglei surfaces.
  • the image recognition can be supported in that the charging socket is artificially set off from the background or highlighted relative to the background as a target object to be recognized. This can be done, for example, by markers, a contrast ring and the like, which are mounted on or around the charging socket around on the body of the vehicle visible, differ very clearly from the background and thus are comparatively easy to identify for image recognition.
  • the charging device can also be supplemented with additional lighting elements in order to improve the quality of the captured image and thus to support the image recognition. This means but also an additional effort with corresponding costs. Furthermore, an additional illumination of the body of the vehicle can also lead to additional reflections, which can be more disturbing than conducive to image acquisition and image recognition.
  • An object of the present invention is to provide a method and a device of the type described above, so that the disadvantages described above can be reduced or avoided.
  • a charging process should be carried out automatically even with a comparatively large distance between the charging device and the vehicle or its charging socket. Additionally or alternatively, this should also be possible for as different positioning and / or orientations of the vehicle or its charging socket relative to the charging device. In particular, this should be as simple, reliable and / or cost-effective he can follow. This should be done in particular for a land vehicle. At least an alternative to such known methods and devices should be created.
  • the present invention relates to a method for automatically connecting a Aufladean circuit with a Aufladean gleichfact a vehicle, preferably a land vehicle.
  • the charging port can also be used as a charging plug and the corresponding charging port Also known as charging socket or mating connector. Under this automatically is the connection of a charging port with a Aufladean gleichfact a vehicle completely or whats the best to understand without the assistance of a user; For example, the triggering of this method can be carried out by the user, but the method itself can then be carried out without the assistance of the user.
  • the vehicle may be any type of vehicle, in particular any type of land vehicle, aircraft, spacecraft or watercraft.
  • the present invention is directed to a land vehicle such as a bus, a truck or a passenger car.
  • a connection between a charging port of a corresponding device, as will be described below, and a korrespondie-generating Aufladean gleichfact the vehicle understood such that an energy storage of the ve hicle by means of energy can be charged or filled.
  • This energy can e.g. an electrical cal energy but also a fluid such as a liquid such. Kerosene, oil, diesel or petrol or a gas.
  • the energy storage device can be a rechargeable battery or a liquid tank or a gas tank depending on the energy to be absorbed.
  • the charging port and the Aufla dean gleicheau may be an electrical connector and a corresponding electrical connector receptacle or a filler neck and a tank opening depending on the energy to be transmitted.
  • the present invention is directed to the electrical charging of at least one rechargeable electric accumulator of a land vehicle so that a charging plug is used as a charging port and a charging socket or a mating plug as a charging terminal receptacle.
  • the method according to the invention has at least the steps:
  • the first image acquisition unit may preferably be a camera such as a CCD camera.
  • exactly one image acquisition unit and in particular exactly one camera is used in order to enable the implementation of the method as simply and inexpensively as possible.
  • the first image acquisition unit is arranged to be movable with the charging connection, it is to be understood that movements of the positioning unit which affect the position and / or the orientation of the charging connection also affect the position and / or the orientation affect the first image acquisition unit.
  • the first Jardinfas is sung unit as close as possible and fixed to the charging port, so that a common movement preferably due to a fixed or separable mechanical coupling rule of the first image capture unit and charging port can be done.
  • the first image capture unit and the charge port may be arranged in common on an end effector of the positioning unit to allow a common movement.
  • the detection area of the first image acquisition unit is preferably aligned with the charge connection and the area along a longitudinal axis of the charge connection in front of it, so that the charge connection and the charge connection receptacle or the vehicle can be optically detected by the first image acquisition unit.
  • the viewing direction of the first image acquisition unit may correspond as far as possible to the joining direction or the joining axis of the charging connection in order to be able to carry out the optical detection as directly as possible in the direction of merging the charging connection and the charging connection receptacle.
  • the first image acquisition unit AS POSSIBLE arranged close to the charging port and be aligned with their gaze or detection direction in Rich tion of the longitudinal axis of the charging port as a joining axis and parallel to this, as will be described in more detail below.
  • the first image acquisition unit can also have at least two, preferably exactly two, cameras, so that a stereoscopic image acquisition can be made possible. This may allow the determination of depth information from two simultaneously captured images that are at least substantially aligned in the same direction. Taking into account the depth information, a more accurate and robust depth estimation and thus also the determination of the position of the charge connection receptacle and / or of the vehicle based on the first image, which is formed from the two simultaneously recorded images of the two cameras, can be improved. If two comparatively low-cost cameras with low resolution are used as cameras, then the cost increase can be kept low by using the second camera of the first image capture unit. Also, the image processing can continue to be implemented with relatively low computer power. Also, the first image capture unit may be configured as a multiview camera, i. have more than two individual cameras.
  • any means are understood to change the position of the charging connection in space at least two-dimensional, preferably three-dimensional.
  • the orientation of the charging connection in space can be changed at least two-dimensionally, preferably three-dimensionally.
  • a positioning unit driven serial kinematics such as an articulated robot and the like can be used, which can move the charging port, preferably together with the first image acquisition unit.
  • the positioning unit may be fixed, for example by the fixed arrangement on a substrate, on a wall, on a column, under a ceiling and the like.
  • the positioning unit can also be designed to be movable on the ground as a whole in order to obtain a larger operating radius and, for example, to be able to reach more than one vehicle.
  • the charging port is detachably attached to the positioning unit is arranged, so that the positioning unit after connecting a first charging port with the Aufladean gleichfact a first vehicle record a second charging port and the inventive method with the Aufladean gleichfact a second vehicle he neut can perform. This can increase the flexibility of using the positioning unit and further reduce costs.
  • the charging port and preferably also the first image acquisition unit, is / are preferably arranged on an end effector of the positioning unit, which can be implemented by a detachable but firm connection as well as the gripping of the charging port by a gripper or the like of the end effector.
  • the latter has the advantage that the charging connection can be handled both by the positioning unit and by a user, so that such a charging connection can be used to implement the method according to the invention, which reduces the costs of a corresponding device compared to a charging connection integrated in the device can.
  • a plurality of charging ports can be manipulated one after the other by the same positioning unit to perform the inventive method with one and the same positioning unit multiple times.
  • the implementation of the method according to the invention procedural by the permanent and defined connection between the positioning unit and the charging on easier, more robust and / or safer.
  • the present invention is based on the finding that so far in such methods, only a single optical detection of the Aufladean gleichage and or the vehicle as the first image by means of at least one first image detection unit. Based on this single image, the position and orientation of the charge port receptacle are then determined. At closing, the Aufladeanschluß technique by means of a single movement as direct drive as possible, preferably in the direction of the initially detected Troladean gleicheffort, and made the connection between the charging port and the Aufladean gleichfact. This requires, as described above, a correspondingly high quality of the only recorded image in order to reliably detect, recognize and correctly orient the charge connection receptacle even from an initially comparatively large distance of the first image capture unit or of the charge connection. to be able to approach.
  • the basic idea of the present invention is therefore to first only take a determination of the position of the charge connection receptacle and / or of the vehicle based on the first image and then to connect the charge connection together with the first image capture unit by means of the positioning unit closer to the charge connection receptacle and / or the Move the vehicle.
  • Flier the distance of the first image detection unit, which is indeed mitbeweglich with the charging port, be reduced to Aufladean gleichfact or to the vehicle.
  • the reduction of the distance takes place, on the one hand, to such an extent that the second image has a larger representation of the charging connection receptacle and / or of the vehicle, but on the other hand so low that a collision of the charging connection, the first image detection unit and / or the positioning unit with the Aufladean final recording and or or can be safely avoided with the vehicle.
  • the Aufladean gleiching or the vehicle in the second image are displayed larger and are therefore more reliable to recognize by the image recognition.
  • a reduction of the resolution-related detection error of the charge connection receptacle can take place.
  • the robustness and reliability of the image recognition and the further steps based thereon can be improved without increasing the costs of the device and in particular without the costs for the first image acquisition unit, since comparatively expensive and thus expensive imaging systems or scanning systems such as For example, laser scanner, depth cameras and the like can be dispensed with.
  • image capture units with conventional image resolutions which are available at a good cost / performance ratio, can be used to provide accurate and robust localization of a charge port from a single image capture.
  • Another advantage of a comparatively low image resolution can also be the reduction in the computational load during detection, which can lead to significantly higher detection rates than when using a higher resolution.
  • the plug-in process can also run much faster, as shorter Zero downtime for the images of the detection are required. This can avoid causing a user dissatisfaction by waiting.
  • an optical detection can comprise at least one double-repeating optical measurement with the search position remaining the same, so that an increase in the detection accuracy and / or the detection robustness, for example by averaging over a plurality of measurements, can be achieved.
  • the first optical detection of the charging terminal and / or of the vehicle takes place at an initial distance of the charging connection to the charging connection receptacle and / or to the vehicle.
  • the implementation of the method according to the invention can be started, if the corresponding device is as far away from the Aufladean gleichany or the vehicle to a collision of the charging port, the first image capture unit and / or the positioning unit with the Aufladean gleichfact and or to safely avoid with the vehicle.
  • the method comprises the further steps of: Determining the position of the charging port and / or the vehicle based on the second image,
  • This aspect of the present invention is based on the recognition that e.g. due to a comparatively low resolution of the first image acquisition unit, a first approaching step to the charge connection receptacle or to the vehicle may not be sufficient to sufficiently accurately detect the charge connection in the second image, as required for the connection. Therefore, an iterative stepwise approximation of the charging port together with the first image acquisition unit to the charge port receptacle can take place in two or more steps until an image can be detected which has a sufficient quality, so that based on this image the further steps, e.g. Aligning the orientation of the charging port can be performed for Aufladeanschluß technique to perform the connection can, as will be described in more detail below. These process steps can thus be repeated several times depending on the application. Iterative can also comprise continuously, i. a detection is simul tan to the movement of the end effector.
  • the first optical detection and / or the second optical detection and / or the third optical detection is changed in the position and / or orientation of the first image acquisition unit with respect to the charging terminal receptacle and / or the Vehicle ahead by means of the positioning unit and or or follows this.
  • the fact that e.g. due to reflections, solar radiation and the like a position of the first Jardinfas sungsaku from which an image is to be detected this may be unsuitable. If detection of the charge port fails, i.
  • the position and / or the orientation of the first image acquisition unit relative to the Aufladean final recording and or or the vehicle by means of the positioning unit automatically ver so often ver changes and the capture of the image are repeated in each case, until an image with a sufficient quality can be detected, which can then be used as a first, second or third image.
  • the capture of the image can be repeated in each case until the image has been taken in sufficient quality that a successful detection of the charging connection, in particular with regard to its special orientation, is possible.
  • These changes in the position and / or the orientation of the first image acquisition unit can preferably be effected by sideways movements, movements in the fleas and by pivoting movements, in order thereby to adjust the distance to the charging device. connection or to the vehicle not or only insignificantly to change and thereby avoid collisions.
  • the method comprises the further step:
  • the distance of the charging port to the Aufladean gleichage and or or to the vehicle by at least one distance sensor he summarizes, which is arranged to be movable with the charging port, wherein determining the positi on and or or the orientation of the Aufladean gleichfact and or the vehicle in the first image and / or in the second image and / or in the third image taking into account the distance detected by means of the distance sensor.
  • a distance sensor may preferably be an ultrasonic sensor are used, so that the implementation of this additional function can be done easily, reliably and / or cost.
  • This aspect of the present invention is based on the finding that the distance between the charging port and the charging port receptacle or the vehicle can additionally be detected by means of a distance sensor movable with the charging port.
  • the distance between the charging connection and the charging connection receptacle or the vehicle which results from the image recognition of the respective image, can be compared with the distance between the charging connection and the charging connection receptacle or the vehicle, which is detected by the distance sensor.
  • the process reliability can be increased in order to avoid a collision of the charging connection with the charging connection receptacle or with the vehicle as safely as possible.
  • This can also be achieved by the redundancy of the distance information be ensured in the sense of a failure protection, if either the first Marsh conductedssein unit or the distance sensor should fail.
  • the failure or the defectiveness of the first image acquisition unit or of the distance sensor can be detected at all and even early if the two distance information deviate too clearly from one another. This can increase the security of the method, since in this case the inventive method can be interrupted and a user can be alerted.
  • the determination of the position and / or the orientation of the charging connection receptacle and / or of the vehicle takes place in the first image and / or in the second image and / or in the third image, taking into account the prior art gene position change and or or orientation change of the positioning unit.
  • the steps can be counted, so that this information can be obtained very easily and directly.
  • This position and / or orientation of the charging connection and the first image acquisition unit can then be compared with the position and / or orientation of the charging connection together with the first image acquisition unit, which results from the image recognition, in order to be able to carry out the plausibility of the result of the image recognition. If the two positions and / or orientations deviate significantly from one another, the method can be interrupted in this case and a user can be alerted. This can increase the safety of carrying out the method according to the invention. If there is additional information from a distance sensor, as described above, then this information can also be taken into account for the plausibility check or as failure protection.
  • At least one optical detection of the charging connection receptacle and / or of the vehicle takes place with illumination of the charging connection receptacle and / or of the vehicle by means of at least one illumination unit, which vorzugswei se is mitbeweglich arranged with the charging port.
  • at least one illumination unit which vorzugswei se is mitbeweglich arranged with the charging port.
  • the illumination unit with the charging connection to be moved along with it may favor the fact that the detection area of the first image acquisition unit is reliably illuminated without having to illuminate its surroundings, which could represent an additional expense without any benefit. This can thus keep the costs and the effort to implement the lighting unit low.
  • the lighting unit is mounted eccentrically on the end effector.
  • the lighting unit has at least two LEDs, which can be used at the same time low cost due to their power. In particular, in dark light conditions is the use of a lighting unit as a light source advantageous.
  • the method comprises the further steps of:
  • Alignment is understood to mean that the charging port is positioned along a joining or connecting axis with respect to the charging connection receptacle and is rotated around the joining axis in such a way that it can be subsequently connected as a connection by means of a rectilinear movement along the joining axis Joining or connecting axis can be done. In this way, a connection or a merging can be achieved and jamming and tilting avoided as possible.
  • the alignment of the charging port with respect to the charging port receptacle comprises the sub-steps:
  • the first Please speak the charging connection for the menammen Congress me, that is positioned and oriented, as must run the charging connection for the menammen Congress Office.
  • the charging connection receptacle can be completely visible in the detection range of the first image detection unit as a compensating movement, so that the charge connection receptacle can be completely optically captured as an image.
  • the charging port to the first image sensing unit is positioned spaced apart from the charging port receiving and may be arbitrarily aligned.
  • the determination of the final orientation of the charging port with respect to the charging port acceptance can be achieved by knowing the fixed kinematic relationship between the first image acquisition unit and the charging port. In particular, this can be facilitated by a viewing axis of the first image acquisition unit being aligned parallel to a joining axis or connecting axis of the charging port. This may simplify the orientation of the charging port relative to the charging port receptacle or increase the quality of the alignment in order to avoid jamming and tilting during the merging as far as possible. For the method e.g. be used in height to a corresponding actuated Z-axis of the corresponding device.
  • the merging of the charging connection and the charging connection receptacle takes place by means of a linear movement of the charging connection, wherein the linear movement of the charging connection preferably takes place by means of an actuated linear axis of the positioning unit.
  • This can simplify merging in order to avoid jamming and tilting as much as possible.
  • This can preferably be done with simultaneous determination or fixation of the other axes and drives of the positioning unit in order to exclude their influence on the movement of the Caribbeanachess.
  • Performing the merging by means of an additional actuated linear axis of the positioning unit can be advantageous in that in a purely one-dimensional movement fewer deviations in the positioning and in the orientation may occur than in a Kidimen sional movement in space, which are performed by the positioning unit as a whole could.
  • a multi-axis kinematics and in particular in a six-axis articulated robot such a combined movement of multiple axes and drives for imple mentation of a linear movement to merge the charging port and Aufladean gleich recording lead to strong deviations in the positioning and in the orientation of the Aufladeanschlus ses, especially at a far out of the base of the positioning unit extended position of the end effector with the charging port.
  • the method comprises the further steps of:
  • This aspect of the present invention is based on the insight that information can be collected in order to monitor the process of merging and to detect faults.
  • this can be done by means of the first image acquisition unit by continuously recording or comparing images of the charge connection and / or the charge connection receptacle and / or the vehicle during the merger or at regular intervals close to one another. If it is found in this comparison that, despite the continuous movement of the merging, there is no optical change in the captured images relative to one another, it can be concluded that the merging, for example, is carried out. jammed or jammed and not performed as intended. The merging can then be abhal ten, if necessary, even canceled and reversed and informed the user.
  • This can additionally or alternatively be performed by means of a distance sensor, in which case the reduction of the distance is considered. If no reduction of the distance takes place despite the continuous movement of the merging, it can also be concluded on this basis that the merging, e.g. blocked by jamming or jamming and not performed as intended. If both state changes are detected, they can also be compared with one another in order to check the plausibility of the conclusions drawn therefrom and to provide fail protection of this function by the respective other state detection.
  • the motor currents of those drives of the positioning unit can be considered, which are involved in the process of merging. If at least one motor current rises, without at the same time a movement of the charging port and / or a reduction of the distance can be detected, can also in this way a blockade of the charging And then react to this. This information can also be used to check the plausibility of the other state changes as well as failover protection, as described above.
  • the method comprises the further steps of:
  • This aspect of the present invention is based on the recognition that information can be detected in order to monitor the merged state and to detect faults.
  • this can be done by means of the first image acquisition unit by continuously recording or interleaving images of the charge transfer port and / or the charge port receptacle and / or the vehicle in the merged state or at regular intervals close to each other. If it is determined in this comparison that, despite the completed movement of the merging, optical changes of the captured images take place relative to one another, then it can be concluded that at least one of the connection partners is being moved, although no further movement is to take place on the part of the method according to the invention.
  • the vehicle can be taken in operation and moved, which can lead to damage of the charging port and the charging port recording and endanger the environment.
  • the positioning unit may be e.g. be touched and moved by one user, another vehicle and the same, which may also jeopardize the safety of the connection between charging port and charging port receptacle. This can be recognized in each case as a failure of the connection, for security reasons e.g. the charging process is aborted and the charging connection is separated from the charging connection receptacle by means of the positioning unit. Also, the user can be informed.
  • the method comprises the further steps of:
  • the first image detection unit and / or by means of at least one distance sensor of the positioning unit which is preferably arranged with the charge connection, at least temporarily, preferably continuously, monitoring the surroundings of the positioning unit and / or the Aufladean gleiches.
  • the already existing elements can be used in addition to increasing the security who the. For example, persons, vehicles and the like can be detected, which during the execution of the method and during the charging process the charging port, the positioning tion unit and or come close to the vehicle so that endangers the safety of persons, the vehicle and the like and the device could be.
  • the positioning unit by means of at least one second image acquisition unit, at least temporarily, preferably continuously, optical detection of a Ar beitsraums the positioning unit, based on at least one optically captured image of the second image capture unit tioning collision of the workspace and or or Vorposi tion the charging connection to the charging connection receptacle and / or to the vehicle takes place by means of the positioning unit.
  • the second image acquisition unit can be made equal to the first image capture unit, in order to cause the lowest possible costs.
  • the second image acquisition unit can also be a CCD camera, preferably with a comparatively low resolution.
  • the second image capture unit can be configured as a 180 ° camera or as a 360 ° camera in order to be able to optically capture the entire workspace as far as possible without having to move and, in particular, to turn. This can ensure the optical detection of the relevant area.
  • the second image capture unit may be stationary, e.g. arranged on a wall or on a ceiling and be aligned towards the working space of the positioning unit.
  • the second image capture is arranged elevated, i. spaced to a substrate, so that the working space can be detected as possible from obliquely above. This can interfere with the optical detection of the working space, e.g. avoid or minimize by the positioning unit.
  • the second image sensing unit may also be movably disposed with the positioning unit, e.g. at a member of the posi tioning unit, which is not the same member which carries the first image detection unit.
  • the second image detection unit can be arranged on a member of the positioning unit, which is farther away from the charging connection than the first image detection unit, so that a larger area and preferably the entire working space of the positioning unit can be optically detected by the second image detection unit.
  • the present invention also relates to a device for automatically connecting at least one charging connection to a charging connection receptacle of a vehicle, having at least one positioning unit which is designed to position the charging connection, preferably to further orient it, with at least one first image detection unit which cooperates with the charging connection is movably arranged and adapted to at least the charging terminal receptacle of the vehicle op table to detect, and with at least one control unit, which is designed to carry out a method as described above.
  • the positioning unit may preferably have a rotatably actuated axis of the charging port or of an end effector, which can grip the charging port or to which the charging port can be fixedly connected. Flier barn can take place a simple and direct adjustment of the orientation of the charging port about its vertical axis to the current orientation of the charging port recording depending on the respective parking position of the vehicle.
  • the positioning unit may also include a manual adjustment and / or an actuation of the direction of the charging port to adjust the orientation of the charging port to the vehicle-specific tendency of the Aufladean gleichfact.
  • the device according to the invention can use a comparatively low-resolution and thus pondere güns term first image capture unit, which on the one hand can keep the cost of acquisition of the first Bil acquisition unit low. In this way, at the same time, the requirements for the control unit can be reduced, since no high-resolution image data has to be processed. As a result, it is also possible to use a favorable control unit and particularly preferably embedded hardware architec tures, which at the same time can be compact and energy-saving.
  • the present invention also relates to a computer program product having a program code stored on a computer-readable medium for carrying out a method as described above.
  • the computer-readable medium may be an internal memory of a computer as well as a removable memory such as a floppy disk, a CD, a DVD, a USB stick, a memory card, and the like.
  • the method according to the invention can be used by a computer, wel- Rather, it may be provided as a control unit of a device according to the invention.
  • Figure 1 is a first schematic side view of a device according to the invention in the execution of a method according to the invention.
  • FIG. 2 shows a second schematic side view of a device according to the invention in the execution of a method according to the invention
  • FIG. 3 shows a third schematic side view of a device according to the invention when carrying out a method according to the invention
  • FIG. 4 shows a fourth schematic side view of a device according to the invention when carrying out a method according to the invention
  • FIG. 5 shows a fifth schematic side view of a device according to the invention when carrying out a method according to the invention
  • FIG. 6 is a sixth schematic side view of a device according to the invention in carrying out a method according to the invention.
  • FIG. 7 shows a schematic flow diagram of a side view of a device according to the invention when carrying out a method according to the invention.
  • the o.g. Figures are considered in Cartesian coordinates. It extends a longitudinal direction X, which may also be referred to as depth X. Perpendicular to the longitudinal direction X extends a transverse direction, which may also be referred to as width (not shown). Perpendicular to both the longitudinal direction X and the transverse direction extends a vertical direction Z, which may also be referred to as height Z.
  • a device 1 for automatically connecting a charging connection 12 to a charging connection receptacle 21 of a vehicle 2 which is to be referred to as charging device 1 for short in the following, has a positioning unit 10 which acts as a robot arm 10 is executed.
  • the Rotoberarm 10 is fixedly disposed on a substrate 3 at one end of its kinemati rule chain, which is its base. From this base as the first member of the robot arm 10, this extends over a plurality of actuated joints as well as members towards its opposite end, which has an end effector 11.
  • At the Endef maschineor 11 of the aforementioned charging port 12 is arranged, which may also be referred to as a charging connector 12.
  • the charging plug 12 is adapted to be so electrically connected by merging in the form of a plug-in with the aforementioned charging terminal receptacle 21 so that a transfer of electrical energy can take place.
  • the charging connection receptacle 21 can also be referred to as a charging socket 21 or as a mating connector 21.
  • the area which can be reached by the robot arm 10 represents its working space B.
  • the charging socket 21 is arranged on the previously mentioned vehicle 2, which is an electrically operable vehicle 2 in the form of a passenger vehicle 2 and therefore in addition to a rule electrical drive also has a rechargeable electric energy storage (not shown).
  • This rechargeable electric energy storage can be electrically powered by the charging device 1 and thereby charged when the charging plug 12 is inserted in the charging socket 21 and a charging operation is operated.
  • the charging socket 21 is for this purpose electrically conductively connected to the rechargeable electric energy storage device (not shown) and arranged externally accessible in the Ka rosserie 20 of the vehicle 2.
  • the charging socket 21 may be charged outside the charging process by means of a cover such as e.g. Covered by a gas cap (not shown), protected and closed ver.
  • the fuel cap may be used to release the charging socket 21, e.g. Released by means of a verriegelba ren spring mechanism by the vehicle 2 or by the user and the charging socket 21 are thereby made available for the charging connector 12.
  • the end effector 11 has, in addition to the charging connector 12, a first image acquisition unit 13 in the form of a first camera 13, which is designed as a CCD camera with a comparatively low resolution of single Lich 640x480 pixels, which makes the implementation of the first image acquisition unit 13 comparatively inexpensive.
  • the first image acquisition unit 13 may also include a pair of cameras 13 which may be aligned adjacent to one another and in substantially the same direction so as to allow stereoscopic image capture.
  • the first camera 13 is arranged close to the charging connector 12 above this fixed and aligned with its detection range C in the direction of the charging connector 12.
  • the viewing direction or the axis of the first camera 13 substantially corresponds to the joining direction or the joining axis of the charging plug 12, so that they are aligned substantially parallel to each other.
  • a lighting unit 14 is fixedly arranged, the Ausleuchtbe rich D is aligned in the direction of the detection range C of the first camera 13 to capture a capture of the image as well as possible and thereby increase the contrast of the captured image.
  • the lighting unit 14 preferably has the strongest possible LEDs as the light source in order to effect the greatest possible illumination with the least possible outlay.
  • the lighting unit 14 can therefore also be referred to as LED light 14.
  • a distance sensor 15 is fixedly arranged, which is formed as an ultrasonic sensor 15.
  • the detection range E of the distance sensor 15 is in the direction of the Alignment area C of the first camera 13 aligned to detect the distance of the charging plug 12 in the direction of its joining direction or joining axis.
  • a second fixedly arranged image capture unit 17 which is fixed and aligned above half of the robot arm 10 on a wall or ceiling, to optically detect the working space B of the robot arm 10.
  • the charging device 1 also has a control unit 16, which may also be referred to as a computer unit 16.
  • the control unit 16 is signal transmitting or energy transmitting with the first camera 13, connected to the illumination unit 14 and the distance sensor 15 to operate them, if necessary, to control or regulate and to obtain their data. Furthermore, the control unit 16 is connected to the drives of the robot arm 10 in order to operate them, wherein the drive information of the drives of the robot arm 10 is also detected by the control unit 16 in this case. Furthermore, the control unit 16 can also control or regulate the electrical energy transmission via the charging plug 12 to the charging socket 21.
  • control unit 16 a method according to the invention for automatically connecting the charging plug 12 with the charging socket 21 of the vehicle 2 as followsstoffproof ren, cf. Flow chart of Figure 7:
  • the first optical detection 100 takes place from an initial position of the robot arm 10, so that the end effector 11 with the charging connector 12 has an initial maximum to maximum distance to the vehicle 2 and to its charging socket 21, see Figure 1. This can cause a collision of the vehicle 2 when parking with the charging device 1 are avoided as safe as possible.
  • a determination 200 of the position of the charging socket 21 and the vehicle 2 based on the first image This can be carried out by known methods for image processing and image or pattern recognition, so that the position of the charging socket 21 and the vehicle 2 can be calculated in relation to the charging plug 12. This also results in the removal of the charging plug 12 to the charging socket 21 and the vehicle. 2
  • the present invention is based on the finding that due to the comparatively ge wrestle quality of the first camera 13 with respect to their resolution and the initial large distance of the first camera 13 to the vehicle 2, the charging socket 21 to carry out a Ver binding of charging connector 12 and charging socket 21 only insufficient or even impossible to recognize. Therefore, the detection and recognition of such information from the first image is not the goal of this step of the method according to the invention.
  • a determination 410 of the position of the charging socket 21 or of the vehicle 2 can be based on the second image, but its quality can not be sufficient for the following steps, as described below, see FIG Then a renewed reduction 420 of the distance of the charging plug 12 to the charging socket 21 or to the vehicle 2 can take place, so that from this further approximated position, a third optical detection 430 of the charging socket 21 or the vehicle 2 as a third image by means of the first camera 13 can be carried out. This can be repeated so often until the currently captured image has sufficient quali ity for the subsequent steps, see dotted arrow of Figure 7. If this iterative approach is not needed, steps 410 to 430 can be skipped, see the arrow in the figure 7th
  • a determination 500 of the position and orientation of the charging socket 21 based on the second image or based on the third image can be performed, see Figure 3. Since now the Ori orientation of the charging socket 21 are detected can, what is required for the implementation of a connection between rule charging connector 12 and charging socket 21, now align 600 of the charging plug 12 relative to the charging socket 21 by means of the robot arm 10.
  • Aligning 600 may have the sub-steps, that first aligning 610 of the first camera 13 relative to the charging socket 21 by the first camera 13 positioned immediately in front of the charging socket 21 and with its line of sight exactly on the joint axis of the connection between charging 12th and charging socket 21 is aligned, see Figure 4. Then, a method 620 of the first camera 13 in height Z away from the charging socket 21, wherein the orientation is maintained. In this case, in the case that the first camera 13 is arranged laterally to the charging connector 12 in the transverse direction Y, the method 620 also take place laterally accordingly. Furthermore, the alignment 600 preferably combined with the approach of the charging plug 12 to the charging socket 21 to save time.
  • the method is carried out by a distance which corresponds to the distance of the viewing axis of the first camera 13 to the joining axis of the charging plug 12, which run essentially parallel to one another. This at least nearly parallel alignment of the optical axis of the first camera 13 and the joining axis may favor that the charging socket 21 is completely visible in the detected image when aligning 600.
  • the orientation of the first camera 13 to the joining axis of the charging socket 21 does not have to be identical or ideally parallel to the orientation of the charging plug 12 to the charging socket 21, the remaining Ori ent michsabweichung in the aligned position and orientation of the alignment 600 as the last search position in which the first camera 13 is located exactly in front of the charging socket 21, determined image-based and then taken into account in the method 620 of the first camera 13 in order to align the charging plug 12 with high precision to the charging socket 21 so that no jamming occurs during subsequent joining.
  • the charging socket 12 in the final search position can be oriented significantly rotated relative to the viewing axis of the first camera 13, i. because the vehicle 2 was parked at an angle. As long as the charging socket 12 is completely detected in the camera image, however, the orientation deviation can then be determined and the orientation of the charging plug 12 corrected to the inclination of the vehicle 2 in the process 620 of the end effector 11 before the insertion process is initiated.
  • a merging 700 of the charging plug 12 and the charging socket 21 by means of the robot arm 10 take place.
  • the robot arm 10 has an actuated linear axis on the end effector 11 (not shown), which can move the charging plug 12 along its joining axis to the charging socket 21 and into it, see Figure 6.
  • Hier can be as pure linear movement of the charging plug 12 to the charging socket 21, so that tilting and clamping when merging 700 constructive and thus pos as easy and reliable can be avoided.
  • the charging plug 12 is connected to the charging socket 21, so that now there is an electrically conductive connection, which for charging the rechargeable electrical energy storage of the vehicle 2 can be used.
  • This charging process can now be started, controlled or regulated, for example, by the charging device 1 and also stopped.
  • a repeated optical detection 710a of the charging plug 12 and the charging socket 21 or of the vehicle 2 by means of the first camera 13 can additionally take place. Furthermore, in each case a comparison 720a of a currently acquired image with the preceding detected image can be performed. If it is recognized that there is no or less change in the images than before, it can be concluded that the merging 700 is not carried out as desired, because e.g. the charging plug 12 against the charging socket 21 has jammed or jammed or blocked in any other way. In this case, merge 700 can be aborted and the user alerted. Also, the charging plug 12 can be pulled out of the charging socket 21 and re-inserted.
  • repetitive detection 710b of the distance of the charging plug 12 to the charging socket 21 or to the vehicle 2 during the merging 700 by means of the distance sensor 15 can be performed in parallel. From a respective comparison 720b of the currently detected distance with the previous detected distance, it can also be recognized whether the merging 700 is performed as desired or not.
  • a repetitive optical detection 800a of the charging plug 12 and the charging socket 21 or of the vehicle 2 can be carried out as further images by means of the first camera 13. Furthermore, in each case a comparison 900a of the currently acquired image with or with the preceding captured image can be carried out. In this way, it can be detected whether there are movements of the charging plug 21, the vehicle 2 and or or the robot arm 10, which are excluded in this state by the charging process sen. Nevertheless, if relative movements are detected, an external disturbance can be closed and, for safety reasons, the charging process interrupted and the user alarmed.
  • repeated detection 800b of the distance of the charging plug 12 to the charging socket 21 or to the vehicle 2 in the merged state can take place by means of the distance sensor 15.
  • a comparison 900b of the currently detected distance can be carried out with one or the preceding the detected distance. Also changes in the distance can be concluded on external disturbances of the charging process, as described above.
  • the first camera 13 can also be used, in the merged state, to perform optical detection 800c of the charging plug 12 and the charging socket 21 or of the vehicle 2 as a further image. Then, a comparison 900c of the further image with the second image or with the third image, which were acquired before merging 700, can take place. This comparison makes it possible to check whether the merging 700 has damaged the charging socket 21 or the vehicle 2, which is then damaged, for example. an operator of the charging device 1 and / or the user can be notified.
  • the distance of the charging plug 12 to the charging socket 21 or to the vehicle 2 can be detected by means of the distance sensor 15, wherein the determination 200, 410, 500 of the position of the charging socket 21 or of the vehicle 2 in the first image, in the second image and / or in the third image, taking into account the distance detected by means of the distance sensor 15.
  • the detected distance to the plausibility check of the optically determined position of the charging socket 21 or the resulting remaining distance of the charging plug 12 from the charging socket 21 can also be used. This can increase the safety at the approximation of the charging connector 12 to the charging socket 21 and to the vehicle 2.
  • the determination 200, 410, 500 of the position of the charging socket 21 or of the vehicle 2 in the first image, in the second image and / or in the third image taking into account the previous position change and / or orientation states tion of the robot arm 10 takes place.
  • the respective steps or step changes can be counted and the position and orientation of the end effector 10 or of the charging plug 12 can be calculated via a kinematic model of the robot arm 10. This also makes it possible to carry out a plausibility check of the optically determined position of the charging socket 21 or of the remaining distance of the charging plug 12 resulting therefrom to the charging socket 21.
  • This can improve the image recognition in each case.
  • collision monitoring of the surroundings of the robot arm 10 and of the charging plug 12 can be carried out continuously by means of the first camera 13 and by means of the distance sensor 15. This can increase the security of the implementation of the method steps described above without the need for additional sensors and the like.
  • a collision monitoring of the working space B can take place by means of the second image detection unit 17.
  • a pre-positioning of the charging plug 12 can take place by means of the second image acquisition unit 17, in which the steps 100 to 400 are carried out in advance based on at least one image acquired with the second image acquisition unit 17.
  • the steps 100 to 400 can take place from an already close to the charging socket 21 position of the charging connector 12, which can verbes the quality of the optical image capture means of the first camera 13 fibers.
  • connection of the connection partners can be carried out automatically even with a comparatively large distance between the charging plug 12 and the charging socket 21, in order subsequently to carry out a charging process.
  • this can be done with different positions and or orientations of the vehicle 2 and the charging socket 21 against the charging connector 12.
  • This can be done with comparatively simple and inexpensive means, in particular with regard to the resolution of the first camera 13 by an iterative approach of the first camera 13 together with charging plug 12 to the charging socket 21 takes place until the charging socket 21 with the first camera 13 with comparatively lower Resolution can be detected sufficiently high enough that the merging 700 can be performed.
  • first image capture unit first camera; first stereo camera couple

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

La présente invention concerne un procédé destiné à connecter automatiquement une borne (12) de recharge à une prise (21) de borne de recharge d'un véhicule (2), de préférence d'un véhicule terrestre (2), dont les étapes consistent au moins : à procéder à une première détection optique (100) de la prise (21) de borne de recharge et/ou du véhicule (2) en tant que première image au moyen d'au moins une première unité de détection d'images (13), laquelle est agencée de manière à pouvoir se déplacer avec la borne (12) de recharge ; à déterminer (200) la position de la prise (21) de borne de recharge et/ou du véhicule (2) sur la base de la première image ; à réduire (300) la distance entre la borne (12) de recharge et la prise (21) de borne de recharge et/ou le véhicule (2) au moyen d'une unité de positionnement (10) ; et à procéder à une deuxième détection optique (400) de la prise (21) de borne de recharge et/ou du véhicule (2) en tant que deuxième image au moyen de la première unité de détection d'images (13).
EP19708816.4A 2018-03-02 2019-02-27 Procédé et dispositif destinés à connecter automatiquement une borne de recharge à une prise de borne de recharge d'un véhicule, en particulier d'un véhicule terrestre Pending EP3758975A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018104759.2A DE102018104759A1 (de) 2018-03-02 2018-03-02 Verfahren und Vorrichtung zum selbsttätigen Verbinden eines Aufladeanschlusses mit einer Aufladeanschlussaufnahme eines Fahrzeugs, insbesondere eines Landfahrzeugs
PCT/EP2019/054913 WO2019166519A1 (fr) 2018-03-02 2019-02-27 Procédé et dispositif destinés à connecter automatiquement une borne de recharge à une prise de borne de recharge d'un véhicule, en particulier d'un véhicule terrestre

Publications (1)

Publication Number Publication Date
EP3758975A1 true EP3758975A1 (fr) 2021-01-06

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EP19708816.4A Pending EP3758975A1 (fr) 2018-03-02 2019-02-27 Procédé et dispositif destinés à connecter automatiquement une borne de recharge à une prise de borne de recharge d'un véhicule, en particulier d'un véhicule terrestre

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US (1) US11745606B2 (fr)
EP (1) EP3758975A1 (fr)
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WO2019166519A1 (fr) 2019-09-06
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US11745606B2 (en) 2023-09-05
US20210001736A1 (en) 2021-01-07

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