EP4175849A1

EP4175849A1 - Method for interaction, more particularly energy exchange, between a first device and a second device, and first module and second module therefor

Info

Publication number: EP4175849A1
Application number: EP21739530.0A
Authority: EP
Inventors: Christian FLECHL
Original assignee: Volterio GmbH
Current assignee: Volterio GmbH
Priority date: 2020-07-03
Filing date: 2021-06-22
Publication date: 2023-05-10
Also published as: WO2022000006A1

Abstract

The invention relates to a method for interaction, more particularly energy exchange, between a first device, such as a charging apparatus, and a second device, such as an electric vehicle, wherein the first device comprises a first module (1) having a first interaction element (2) and the second device comprises a second module (16) having a second interaction element (17), and wherein, after the devices have assumed an interaction position for rough positioning of the interaction elements (2, 17), the interaction elements (2, 17) are moved relative to each other for fine positioning of the interaction elements (2, 17) in order for said elements to interact with each other, characterized in that, for the control of the fine positioning, a relative position between the interaction elements (2, 17) is determined by means of a positioning system. The invention also relates to a method for controlling an approach of the devices by means of such a positioning system. The invention additionally relates to a first module (1) for carrying out said method and to a module system comprising such a first module (1) and second module (16).

Description

Method for interaction, in particular for exchanging energy, between a first device and a second device and a first module and a second module for this purpose

The invention relates to a method for interaction, in particular for exchanging energy, between a first device, such as a charging device, and a second device, such as an electric vehicle, the first device having a first module with a first interaction element and the second device having a second module with a having second interaction element, wherein after taking an interaction position of the devices for coarse positioning of the interaction elements, the interaction elements for a fine positioning of the interaction elements are moved relative to one another, in particular moved closer to one another, in order to interact with one another.

The invention also relates to a first module of a modular system for interaction, in particular for the exchange of electrical energy, between a first device, such as a charging device, with the first module, and a second device, such as an electric vehicle, with a second module, the first module a first interaction element and the second module has a second interaction element, wherein after taking an interaction position of the devices for coarse positioning of the interaction elements, the first interaction element for fine positioning of the interaction elements is movable relative to the second interaction element in order to interact with the second interaction element.

The invention also relates to a module system for interaction, in particular for the exchange of electrical energy, between a first device, such as a charging device, comprising a first module with a first interaction element, and a second device, such as an electric vehicle, comprising a second module with a second interaction element, wherein, after the devices have assumed an interaction position for coarse positioning of the interaction elements, the interaction elements for fine positioning of the interaction elements can be moved relative to one another in order to interact with one another.

It is known from the prior art to arrange electric vehicles in the area of a charging device in an interaction position or charging position in order to then exchange electrical energy with an energy exchange system between the electric vehicle and the charging device. A customary energy exchange system comprises interaction elements in the form of a contacting plug arranged on the charging device and a contacting plug receptacle arranged on the electric vehicle, which are contacted in order to transmit electrical energy via them.

Depending on the specific design of the energy exchange system used for this purpose, its degree of automation, in particular when establishing a contact, as well as a specific implementation of a contacting plug / contacting plug receptacle system used here, an energy exchange process or charging process is differently complex and can be differentiated from the charging station and / or or the electric vehicle can be monitored or controlled.

Often, the control and monitoring of the energy exchange process is limited to a measurement and control of the amount of energy or electrical power transmitted via the contacting plug and contacting plug receptacle in a contacted state. A monitoring or control of an energy exchange process in relation to a positioning process or parking process of the vehicle at the energy exchange position or in relation to a subsequent bringing together of contacting plug and contacting plug receptacle for contacting the same is usually not given.

This is where the invention comes into play. The object of the invention is to provide a method of the type mentioned at the outset with which an interaction, in particular an energy exchange, can be carried out practically and with a high degree of reliability.

Another aim is to specify a first module of an energy exchange system of the type mentioned at the outset, with which an interaction, in particular an energy exchange, can be carried out practically and safely. In addition, a further aim is to specify a modular system of the type mentioned at the beginning with which an energy exchange can be carried out practically and safely.

The object is achieved according to the invention by a method of the type mentioned at the outset when at least one relative position between the interaction elements is determined with a positioning system to control the fine positioning.

The background of the invention is the idea, in the case of an interaction, in particular carrying out an energy exchange, between two devices, in particular between a charging device as the first device and an electric vehicle as the second device, which - in particular in view of often not very practical energy exchange systems or interaction elements with simultaneously high transferred amounts of energy and power - is usually associated with a not insignificant risk potential, including a process of approaching the modules or their interaction elements in order to then carry out an interaction with them or via them, such as energy transfer, monitoring or control accessible in a workable way.

By determining at least one relative position between a first interaction element of the first module and a second interaction element of the second module with a positioning system, a movement, especially an approach, of the interaction elements can be monitored and in particular precisely controlled. In this way, potential misalignments or incorrect positioning of the interaction elements can be identified at an early stage and risks of incorrect interaction, such as incorrect connection, can be avoided, so that, in addition to high practicability, security can also be increased or a potential hazard can be reduced. In particular, an automated or automatically carried out approach process or interaction process of the interaction elements can be optimized, in particular monitored, controlled and, in particular, integrated into a control infrastructure of one or both devices. It goes without saying that during the movement or approach of the interaction elements relative to one another, as a rule, a plurality of relative positions are determined, in particular one after the other, in order to monitor or adapt the movement accordingly. In particular, can on In this way, an energy exchange, for example between a charging device and an electric vehicle, can be carried out completely automatically or at least with reduced user involvement by arranging one of the modules on the charging device and the other module on the electric vehicle.

For example, in the case of an electric vehicle positioned in an interaction position or charging position on a charging device, a relative position of the interaction elements to one another can be recognized and an approach of the interaction elements can be controlled in a coordinated manner to a respective specific relative position of the interaction elements. The interaction elements are then often designed as contacting elements which, for an interaction in the form of an energy transfer, are brought closer to one another or guided to one another and, in particular, are contacted with one another in order to transfer this energy. The first interaction element can then be designed as a first contacting element and the second interaction element as a second contacting element. The relative position can expediently be determined by triangulation, in particular if a relative position determination is carried out by at least one sensor at measurement positions that are defined relative to one another. The measuring positions can be assumed by several sensors, in particular in parallel, and / or at least one, in particular individual, sensor which is moved into the different positions one after the other.

Relative position between two devices or the modules or the interaction elements denotes a position of a device or module or interaction element relative to or in relation to a position of the other device or module or interaction element. Interaction position refers to a position of the devices or modules or interaction elements in which the devices or modules or interaction elements are arranged in such a way that the interaction elements can be moved relative to one another as intended, in particular can be guided to one another and can often also be contacted, i.e. in the Usually without changing the position of the devices or modules themselves, in order to carry out an interaction with the interaction elements, in particular to transmit energy or power via the interaction elements. This is often referred to as the loading position. It is usually provided that the interaction position is assumed as part of a rough positioning of the interaction elements or modules - for example, by an electric vehicle having the second module Charging device, having the first module approaching and assuming a parking position as interaction position - and in the interaction position within the scope of fine positioning a movement, in particular approach, of the interaction elements relative to one another in order to carry out an intended interaction with the interaction elements. The interaction position can be, for example, a parking position of the electric vehicle in the vicinity, preferably above the charging device or the first module. The intended interaction can be an energy transfer between the charging device and the electric vehicle.

Depending on the application, the interaction can be an interaction between the interaction elements, in which the interaction elements come into contact or touch one another, in particular are pressed against one another, or a contactless interaction that can be carried out with the interaction elements spaced apart, such as information transmission. The interaction can preferably be an, in particular electrical, energy exchange or charging process. The interaction elements can then be designed to carry out a contactless, for example inductive or capacitive, and / or contacting energy exchange or contacting energy transfer, in which the interaction elements are contacted with one another.

As a rule, it is provided that the interaction elements for the interaction approach one another and, in particular, come into contact or are contacted with one another. For an efficient energy exchange, it has proven useful if the interaction elements are designed as contacting elements, the contacting elements being guided and contacted to one another in the interaction position for fine positioning in order to transmit, in particular electrical, energy via the contacting elements.

The first device usually has a first module with a first interaction element and the second device has a second module with a second interaction element corresponding to the first interaction element in order to carry out an interaction by means of the interaction elements, for example for energy transfer via the interaction elements to bring them closer to one another and preferably to contact each other. The respective interaction elements are usually connected to a base of the respective module. It is advantageous if, for the rough positioning of the interaction elements, the devices or modules are brought closer to one another in order to assume the interaction position, with at least one relative position between the devices or modules being determined with the positioning system to control the rough positioning of the interaction elements. It is therefore expedient if at least one relative position between the devices or modules is determined with the positioning system for one or during an approach of the modules or the first module relative to the second module for taking up the interaction position. As a result, an approach of the devices or modules to one another can be monitored and, in particular, precisely controlled. In this way, potential misalignments or incorrect positioning of the devices or modules can be identified at an early stage and, in particular, control of the devices can be adapted when the devices approach according to the determined at least one relative position, usually a plurality of determined relative positions. In this way, in particular, the interaction position or an interaction position that is considered to be advantageous with little effort with regard to an interaction process can be precisely controlled and assumed. This makes it possible, for example, to precisely control a positioning process or parking of an electric vehicle at a charging device in accordance with the determined relative position, usually a plurality of determined relative positions. Since the positioning system is used to determine the respective relative positions both for an approach of the modules to take up the interaction position and for a subsequent approach of the interaction elements in the interaction position, the interaction, in particular the energy exchange, can be carried out practically and safely. It goes without saying that, as a rule, a large number of relative positions are determined during the approach, in particular one after the other, in order to monitor or adapt the approach accordingly.

The positioning system usually comprises at least one, in particular several, sensors or receivers and usually at least one, in particular several, transmitters as at least one measuring arrangement or as part of such, with a positioning signal being transmitted between the at least one transmitter and the at least one sensor is to determine a respective relative position in the context of fine positioning or coarse positioning. A positioning signal is usually transmitted between the modules or interaction elements from the transmitter in a manner known in the art and detected by one or more sensors. A detection of the positioning signal with the sensor can take place with regard to an arrival time or transit time and / or angle of incidence dependency of the positioning signal in order to determine a relative position between the sensor and the transmitter and in particular a relative position between the interaction elements therefrom or modules to be determined. In particular, a transmitter can be designed or act as a sensor at the same time, the positioning signal usually being generated in a transmission mode and the positioning signal being detected in a sensor mode. Depending on the accuracy or precision to be achieved, a determination of the relative position can be based on the fact that the positioning signal is transmitted from a transmitter to one device or module, reflected on the other device or module and the reflected positioning signal is detected by at least one of the sensors. For a high accuracy or precision and high reliability of the determination of the relative position, however, it is advantageous if a transmitter is arranged on one device or module or interaction element and at least one sensor is arranged on the other device or module or interaction element in order to be able to to detect the positioning signal generated by the transmitter with the sensor. Depending on a particular transmitter type or sensor type or a corresponding transmitter-sensor measuring arrangement used, the positioning signal can be a sound signal, in particular an ultrasonic signal, an electromagnetic signal, in particular a radio signal or a light signal. In particular, transmitter-sensor-measuring arrangements based on transmitted radio waves or laser beams are known, which would also be suitable for a particular application. It has been found to be particularly practicable for a robust and practicable design with regard to a relevant application purpose if the transmitter-sensor system is based on ultrasonic waves. Accordingly, it is advantageous if the positioning system comprises one or more ultrasonic transmitters or one or more ultrasonic sensors in order to transmit an ultrasonic signal as a positioning signal between the modules or interaction elements and to detect this in order to determine their relative position. It goes without saying that, as a rule, a relative position between the transmitter and the sensor is determined, although based on the known dimensions of devices or modules or interaction elements connected to them, a relative position between the devices or modules or interaction elements is readily deduced can be. the The relative position can be determined based on a distance determination and / or direction determination, in particular the sensor can be designed accordingly. For this purpose, for example, using the “Angle-Of-Arrival” method, also referred to as the AoA method, a direction can be determined from which the positioning signal impinges on the receiver, possibly its antenna. This can be implemented, for example, with several receivers or possibly several antennas, often antenna arrays, of a single receiver, with phase differences between the respective positioning signals detected by the receivers or antennas being evaluated.

It is particularly advantageous if the positioning system or the transmitter-sensor system is based on UWB radio signal transmission (ultra-broadband radio signal transmission). Accordingly, it is advantageous if the positioning system has one or more UWB determination elements, in particular UWB receivers and / or UWB transmitters, or if the transmitter of the positioning system is designed as a UWB transmitter and the sensor of the positioning system is designed as a UWB sensor. As a rule, a frequency range with a bandwidth of more than 500 MHz is used. Accordingly, on the first module, in particular the first interaction element, a UWB determination element, in particular a UWB transmitter or UWB receiver, and / or on the second module, in particular the second interaction element, a UWB determination element, in particular a UWB receiver or UWB transmitter. A UWB radio signal can thus be transmitted as a positioning signal between the UWB determination element of the first module and the UWB determination element of the second module. UWB receiver and UWB transmitter are usually constructed using the same UWB determination elements and differ only in their functional use as a transmitter or receiver or whether the UWB radio signal is received or transmitted with its respective antenna.

The UWB determination elements, in particular UWB receivers or UWB transmitters, can be arranged on the modules or interaction elements corresponding to the ultrasound determination elements described here, in particular ultrasound transmitters or ultrasound receivers. A relative position is usually determined based on a transit time measurement of a between UWB transmitter and UWB- Receiver transmitted UWB radio signal. In particular, for example, a UWB transmitter can be arranged on the first interaction element and a UWB receiver on the second interaction element, or vice versa. A pronounced accuracy can be achieved if the UWB transmitter or UWB receiver is located within the respective interaction element, preferably in a cross section through the respective interaction element in a central area of the respective interaction element.

However, it has been shown that, in a practical application, a relative position determination with the transmission of a positioning signal and, in particular, transit time measurement is often associated with pronounced inaccuracies or deviations, for example caused by contamination. It is favorable if a relative position between the interaction elements is checked with a magnetic measuring device in the interaction position. For this purpose, one of the interaction elements can have a magnetic sensor, in particular a Hall sensor, and the other interaction element can have a magnet, for example a permanent magnet or an electrical coil generating a magnetic field, the magnetic sensor being designed to have a presence, alignment and / or a distance to detect the magnet when the interaction elements are relatively approaching. As a result, security can be increased when the interaction elements approach, in particular in a close range. With this combination of relative position determination with transmission of a positioning signal and an additional measuring arrangement with a magnetic sensor, a high level of accuracy and measurement reliability can be achieved, so that reliable fine positioning of the interaction elements can be guaranteed, especially in the case of pronounced weather influences and / or contamination. This is especially true if the measuring arrangement is formed with UWB determining elements. For example, the first interaction element can have the magnetic sensor and the second interaction element the magnet, or vice versa.

The accuracy usually relates to a deviation of a measured value from the true value of a variable to be measured. A precision usually refers to a spread between measured values. The Hall sensor is preferably designed as a 3-D Hall sensor, so that in particular a three-dimensional vector of a magnetic flux density can be measured. For a high level of accuracy, it is advantageous if several such magnetic sensors, in particular several Hall sensors, and / or magnets are provided. These can expediently be evaluated differentially to determine the relative position. In this way, the influence of magnetic interference fields can be minimized. For example, several Hall sensors can be arranged on the first or second interaction element, preferably integrated therein, and signals from the Hall sensors can be evaluated differentially to determine the relative position between the interaction elements. In an analogous manner, one or more magnets can be arranged on the respective other interaction element. In particular, it has proven useful if the determination of the relative position by means of UWB radio signal transmission is implemented in combination with magnetic detection by means of magnetic sensors. This makes it possible to achieve a high level of accuracy, in particular if a 3-D Hall sensor is used as the magnetic sensor.

The UWB determination element, in particular the UWB receiver or the UWB transmitter, usually has at least one antenna in order to transmit, in particular to receive or transmit, a UWB radio signal. For an accuracy of the relative position determination, it is favorable if the antenna is oriented inclined to a horizontal or to the base of the respective module, the base preferably being oriented essentially horizontally. It is particularly favorable if an angle of inclination is between 20 ° and 40 °, in particular 25 ° and 35 °, preferably about 30 °. In particular, this can reduce runtime errors. The antenna of the respective UWB determination element usually has a non-uniform antenna characteristic. As a result of the inclination of the antenna, a more uniform antenna characteristic can be achieved, in particular in a relevant area, such as on the antenna of the UWB transmitter or UWB receiver. It goes without saying that, as a rule, a specified positioning of the respective UWB determination element relates to its antenna, via which the positioning signal is sent or received. The antenna can be designed as a circuit board antenna or advantageously as a ceramic antenna. It is advantageous if the first and / or second module has at least one absorber element for absorbing electromagnetic radiation from the antenna of the transmitter or receiver. This has proven particularly useful for UWB determination elements. The absorber element is usually designed to dampen a frequency range of the radio signal transmitted with the antenna, in particular UWB radio signal, at least partially, preferably essentially completely, by absorption. Undesired reflections of the positioning signal transmitted by the antenna can thereby be avoided. The absorber element can practically be designed as a film. The absorber element can expediently be arranged on a side of the antenna facing away from a transmission path of the positioning signal. Transmission path here usually denotes a route, usually the shortest, along which the positioning signal is transmitted between the transmitter and the receiver. The absorber element can be arranged, for example, on a side of the respective antenna on the respective module that faces an underside or the base of the respective module. Several such absorber elements can advantageously be present on the first and / or second module.

It is favorable if at least one of the UWB determining elements has a plurality of spaced apart antennas with which the positioning signal can be transmitted, in particular received or transmitted. The UWB determination element can be a UWB transmitter or UWB receiver. It is useful if the antennas have an average distance from one another of 5 cm to 30 cm, in particular 10 cm to 20 cm. The UWB determination element can expediently have a switching unit, also referred to as a switch, in order to activate one or more of the antennas, in particular selectively controllable, for transmission, in particular reception or transmission, of the positioning signal. The UWB determination element usually has a control module for controlling the switchover unit or the antennas or the transmission of the positioning signal. In this way, one or more of the antennas for receiving or transmitting the positioning signal can be selectively operated with a single control module. For example, the antennas can be operated, in particular controlled, alternately in order to receive or transmit a positioning signal in each case. It is practical if the UWB determination element with a base unit, having the control module and a first antenna for receiving or transmitting the Positioning signal is formed. It is advantageous if the UWB determination element has an aforementioned switching unit in order to connect further second antennas to the base unit, in particular the control module, in a controllable manner. This means that a modular structure can be implemented. The antennas are usually connected to the switchover unit and / or the control module in such a way that they can be transmitted. This can be implemented with, in particular flexible, printed circuit boards. This means that larger distances can practically be bridged. It is practical if the base unit is arranged on a rigid printed circuit board, further antennas, in particular the aforementioned second antennas, being connected to the base unit in a signal-transferable manner via flexible printed circuit boards. The flexible printed circuit board can be formed with a film on which electrical line structures are applied, in particular printed. The antennas can be formed in that an antenna structure is applied, in particular printed, to a circuit board, in particular a flexible circuit board. The flexible printed circuit board or antenna can be implemented, for example, with Flexiprint, also called FPC (flexible printed circuit). It is practical if the antennas, for example star-shaped or cross-shaped, are arranged along a circumference around the control module. The respective antenna can be aligned inclined, as stated above.

For a high level of accuracy, it is advantageous if the positioning signal for determining the relative position is detected with a plurality of, preferably at least three, antennas spaced apart from one another. If there are more than three antennas, for example four antennas, the system is overdetermined, so that the accuracy of the relative position determination can be optimized. This can expediently be implemented, for example, by a UWB determination element, such as a UWB receiver, with several spaced apart antennas or several UWB determination elements, such as several UWB receivers, each with at least one antenna, the at least one antenna of the different UWB Determination elements are spaced from each other.

Usually, several positioning signals are transmitted one after the other between the transmitter and receiver. For small measurement deviations, it is advantageous if positioning signals transmitted one after the other are transmitted on different, preferably spaced apart, frequency bands. Will be expedient alternating between different frequency bands. This applies in particular to positioning signals transmitted in direct succession.

It is advantageous if, in particular when the interaction elements are approaching, more than 20 positioning signals per second, in particular more than 50 positioning signals per second, preferably more than 100 positioning signals per second, are transmitted and evaluated to determine the relative position. This is especially true when the positioning signals are UWB radio signals.

For a time-stable relative position determination, it is expedient if an ambient temperature is determined with at least one temperature sensor in order to take the ambient temperature into account when determining the relative position. For example, the transit time of the positioning signal can be evaluated taking into account the ambient temperature. At least one of the modules, in particular one of the interaction elements, for example the first module, in particular the first interaction element, can practically have such a temperature sensor.

As a rule, it is provided that at least one of the two or both interaction elements are movably connected to the base relative to a base of the respective module in order to move the interaction elements for fine positioning for an interaction, in particular contacting, relative to one another, usually to guide them to one another or to approach each other. It is useful if the first module and / or second module has a movement device which connects the first and / or second interaction element to a base of the respective module, in particular controllably, movably relative to the base. As a rule, however, it is sufficient if only one of the modules, usually the first module, has a movement device in order to approach the first interaction element with the movement device for fine positioning to the second interaction element in the interaction position. This makes it possible to design the second module with a smaller size, which is why it is advantageous if, if necessary, the second module is arranged on a mobile device, such as an electric vehicle, or is designed as part of this, and the first module on a stationary or stationary device , is arranged or formed as part of this. The movement device can be designed, for example, as a, in particular controllable, movable arm or lifting device. A high level of practicability and security can be achieved if the interaction elements for rough positioning can be or are positioned vertically one above the other in the interaction position and for fine positioning, in particular with the preferably vertically movable movement device, are guided to one another. A module is preferably arranged on an upper side and a module on a lower side of the respective device, with the devices for fine positioning for approaching, in particular contacting, the interaction elements being or being able to be arranged vertically one above the other. This is particularly true in the case of a charging device as the first device and an electric vehicle as the second device, with the second module preferably being arranged on an underside of the electric vehicle so that the interaction elements can be or are positioned vertically one above the other in the interaction position or charging position by the first module is arranged below the electric vehicle.

It is advantageous if the movement device is designed to move the respective, in particular first, interaction element along different, in particular orthogonally oriented axes relative to the base of the respective module. It has proven useful if the respective, in particular first, interaction element with the movement device in a direction orthogonal, in particular vertical, and / or in a direction lateral or parallel, in particular horizontal, to a base plane of the module or the base of the module, in particular vertically and / or horizontally, is movable relative to the base. Depending on the accuracy of a relative positioning of the interaction elements when assuming the interaction position or rough positioning, it can be advantageous if the movement device is designed with the respective interaction element along one axis or along several, in particular two, preferably three, axes oriented orthogonally to one another relative to the base of the respective module. In particular, if a rough positioning or assumption of the interaction position can be carried out with high accuracy, it may be sufficient if the movement device is designed to move the respective interaction element only along one axis, in particular vertically, relative to the base of the respective module or the other interaction element approximate. Such positioning with sufficient accuracy when taking the interaction position is generally enabled if one of the devices, usually the second device, is a self-driving or autonomous vehicle.

It is correspondingly advantageous if one of the devices, in particular the second device, is a self-driving or autonomous vehicle and the movement device is designed, in the interaction position the respective interaction element, usually the first interaction element, only along one direction, preferably only vertically, to move relative to the respective base, usually to approach the other interaction element. In this way, particularly robust and inexpensive interaction between the devices can be implemented. This is particularly true if the other device, in particular the first device, is a charging device. It can then advantageously be provided that one of the devices is designed as a self-driving vehicle and the other device as a charging device, the devices for taking up the interaction position or for coarse positioning being positioned vertically one above the other, after which the first in the interaction position or for fine positioning Interaction element with the movement device, in particular only, is moved vertically relative to the base of the first module in order to bring the interaction elements closer to one another and usually to contact one another, for example to transmit electrical energy via the interaction elements between the devices.

It is favorable if the first interaction element is moved with the movement device with a defined movement path in the interaction position or for fine positioning, with a distance between the interaction elements being determined with the positioning system before and after moving the first interaction element Distances and the movement path a relative position between the interaction elements is determined. The relative position between the interaction elements is thus practicable, in particular based on distance determinations with the positioning system, can be determined or optimized. In particular, this makes it possible to carry out a relative position determination with a single sensor in a practical manner, in that the distance between the interaction elements is determined with the sensor before and after the interaction elements are moved relative to one another with the movement device according to the movement path. For example, the sensor on the first interaction element and one or more transmitters on the second interaction element, or reversed, be arranged. This has proven particularly useful when the sensor is a UWB receiver or the transmitters are UWB transmitters. Appropriately, a respective position of the first interaction element before or after moving the first interaction element with the movement device or the travel path for determining the relative position can be stored in a memory. It is preferred if a direction between the interaction elements with the sensor is also determined.

A low measurement uncertainty of the relative position determination can be achieved if a Kalman filtering is carried out to determine the relative position. This can expediently be carried out with a computer-aided analysis unit, for example the evaluation unit. Kalman filtering is a mathematical method for the iterative estimation of parameters on the basis of measured quantities subject to uncertainty. This method has proven to be particularly efficient in determining the relative position, in particular with UWB determining elements, in order to increase accuracy. It is favorable if a large number of measurement data determined with at least one sensor, in particular in different relative positions between the interaction elements, are used as input data for the Kalman filtering. Further input data for the Kalman filtering can be movement data, such as acceleration and / or speed, of the interaction element, which are measured, for example, with a movement sensor.

It is advantageous if several successive measurement signals or detected positioning signals are compared with one another in order to identify incorrect signals. A plausibility of a measurement signal can expediently be checked in this way. For example, amplitudes of the measurement signals or detected positioning signals can be compared with one another. In this way, incorrect positioning signals, such as reflection signals, for example positioning signals reflected from an environment, can be determined and preferably not taken into account for the determination of the relative position. This can expediently take place while the interaction elements are approaching, with preferably an approaching movement, in particular an approaching speed, of the interaction elements to one another for the comparison or the plausibility check is taken into account. For example, measurement signals that occur with implausibly large amplitudes compared to previous measurement signals, in particular taking into account the approaching movement of the interaction elements, can be found and not used to determine the relative position. Channel impulse response tracking, also called CIR tracking, can advantageously be used for this purpose.

It is advantageous if, in the interaction position or for fine positioning, a first measuring arrangement is formed with at least one first determination element connected in a fixed position or rigidly to the first interaction element and at least one second determination element connected in a fixed position or rigidly to the second interaction element, with one of the determination elements is designed as a transmitter, preferably as an ultrasound transmitter, and the other determination element as a sensor, preferably as an ultrasound sensor, a positioning signal being transmitted between these in order to determine a relative position between the interaction elements for their approach. In this way it is possible for the determination elements of the first measuring arrangement to move with the interaction elements in the interaction position when they approach. As a result, the relative position between the interaction elements can be precisely determined. This is important insofar as the accuracy or precision of a transmitter-receiver measuring arrangement usually increases as the distance between transmitter and receiver decreases. As a result, it can be achieved that as the interaction elements in the interaction position get closer together, the relative position between the interaction elements can be determined with ever greater accuracy. A high degree of practical application can be achieved if the first measuring arrangement is formed with a plurality of first determination elements and / or a plurality of second determination elements. In particular, it can be advantageous for this purpose if several first measuring arrangements are provided.

It is favorable if, when the modules approach to take the interaction position or for rough positioning, a second measuring arrangement is formed with at least one third determination element connected in a fixed position or rigidly to the base of the first module and at least one fourth determination element of the second module, one of the Determination elements as a transmitter, preferably as a Ultrasonic transmitter, and the other determination element is designed as a sensor, preferably as an ultrasonic sensor, a positioning signal being transmitted between them in order to determine a relative position between the devices or modules for their approach. The fourth determination element is preferably connected to the base of the second module, in particular in a fixed or rigid manner. In particular, the fourth determination element can be formed with the second determination element. As a result, the relative position between the modules can be determined with a high degree of accuracy when the modules are relatively approaching to take up the interaction position. In particular, a fine positioning or determination of the relative position between the interaction elements in the interaction position is decoupled to a large extent from a coarse positioning or determination of the relative position between the modules when the modules approach to assume the interaction position, so that the first and second measuring arrangements are based on their can be optimized for the specific application. A high degree of practical application can be achieved if the second measuring arrangement is formed with a plurality of third determination elements and / or a plurality of fourth determination elements. In particular, it can be advantageous for this purpose if several second measuring arrangements are provided.

It is preferred if one of the modules, preferably the second module, has several transmitters spaced apart from one another, with which positioning signals are emitted, in particular alternately. In this way, a relative alignment between the modules or their devices can be determined in a simple manner. It can be sufficient if the module, in particular the second module, only has a single transmitter. For a precise measurement, it is then expedient if this is arranged in the area of a center, in particular a geometric centroid, of the interaction element of the module.

A precise transit time measurement of the positioning signal can be achieved if a common time reference point is established for the transit time measurement for the at least one transmitter and the at least one sensor at which the positioning signal is sent by the transmitter. This can be implemented practically if the positioning signal emitted by the respective transmitter is emitted by the transmitter as a function of a point in time of a trigger signal transmitted between the modules. Then, based on the transit times of the determined with the sensors Positioning signal a respective relative position can be calculated. It is useful if the trigger signal is a radio signal. For this purpose, the modules can each have a communication device or be connected to such a device in order to transmit the trigger signal between them.

It is usually provided that a transit time of the transmitted positioning signal is determined in order to determine the respective relative position. It has proven useful if the at least one sensor, in particular all sensors, is formed with a plurality of sensor elements spaced apart from one another in a defined manner, in particular ultrasonic sensor elements, in order to detect the positioning signal with each of the sensor elements. The sensor elements can be several UWB receivers or several antennas, often an antenna array, of a single UWB receiver. The relative position can be determined with high spatial resolution through detection with sensor elements spaced apart in a defined manner. It is favorable if the at least one sensor is formed with at least three, preferably at least four, sensor elements. The sensor elements are preferably arranged in one plane. A practicable evaluation and implementation can be achieved if the sensor elements are L-shaped or arranged along a right angle, with one sensor element being arranged at the apex and two other sensor elements spaced apart therefrom on the legs of the L-shaped arrangement or the angle . For a high level of accuracy or precision in determining the relative position, it is sufficient if three sensor elements are present. By additionally providing further sensor elements, in particular a fourth sensor element, a measurement uncertainty as well as an error tolerance and thus in particular the precision can be further improved by redundant measurement. If at least one fourth sensor element is present, it is advantageously possible to calculate a respective relative position several times, in particular four times, in accordance with the different selection options of sensor element combinations, and to use the calculated relative positions for error correction or for detecting an incorrect measurement.

A practicable and time-efficient implementation can be achieved if the respective relative position is determined with a transit time of the positioning signal determined with one of the sensor elements of the sensor and the transit time differences therefrom determined with the other sensor elements of the sensor. This allows with little The respective relative position can be determined with a computationally intensive effort. The transit time differences can be practically determined, for example in the case of an ultrasonic signal transmission, by evaluating phase shifts between the positioning signals detected with the sensor elements. The absolute transit time of the detected positioning signal is preferably determined with the sensor element arranged at the apex and a transit time difference of the respective detected positioning signal is determined with the further sensor elements in order to calculate the relative position.

For a sensor with sensor elements arranged in an L-shape in a plane, with one sensor element being arranged at the apex of the L-shape and two further sensor elements spaced apart therefrom on one leg of the L-shape, a corresponding calculation results based on transit time differences as follows:

Here x, y and z denote the relative position, to the absolute transit time determined with the sensor element arranged at the vertex, to _x and to _y the transit time differences of the two further sensor elements at transit time to, and d _x and d _y the defined distances between the two further sensor elements to the sensor element at the vertex.

For a practical and robust structure that is particularly suitable for everyday use, it has been shown to be advantageous if the positioning system, in particular the first measuring arrangement and / or second measuring arrangement, is designed with at least one ultrasonic sensor and at least one ultrasonic transmitter. Accordingly, it is advantageous if, in particular the aforementioned, at least one sensor or at least one transmitter is designed as an ultrasonic transmitter or ultrasonic sensors, between which an ultrasonic signal is transmitted as a positioning signal in order to determine a respective relative position. This applies in an analogous manner if instead of the Ultrasonic sensor a UWB receiver and instead of the ultrasonic transmitter a UWB transmitter is used. It is accordingly favorable if the at least one ultrasonic sensor is formed with at least three, preferably at least four, in particular designed as microphones, ultrasonic sensor elements.

For safety, it is practicable if a functionality check is carried out in that, in the interaction position, when the first interaction element with the movement device approaches the second interaction element, a distance between the interaction elements is changed in a defined manner by moving the first interaction element with the movement device and by comparison with is compared to a distance determined by determining relative positions. As a result, the consistency and plausibility of the relative position determination can be checked and, if necessary, adjusted and / or in particular indicate a maintenance requirement.

It is advantageous if the transmission power of a transmitter is reduced in an adapted manner as the transmitter and sensor or the modules or interaction elements approach, in order to avoid saturation of the sensors. This is particularly true in the case of ultrasonic transmitters or ultrasonic sensors.

The respective relative position is usually calculated using a microprocessor or a computer device which is designed to calculate the respective relative position on the basis of the positioning signal detected by the at least one sensor.

A customary evaluation routine for determining the respective relative position from detected positioning signals generally comprises one or more, in particular all, evaluation steps specified below, not mandatory, but preferably in the specified order:

It is useful if, in a first evaluation step, amplitudes of the detected positioning signal are calculated or determined in order to define or limit an associated first signal section with increasing amplitudes. Detected Positioning signal denotes the respective measurement signal that represents the positioning signal and is measured by the sensor or sensor element.

It is favorable if several, preferably all, zero crossings of the first signal segment of the detected positioning signal are calculated in a further evaluation step. The transit time behavior of the detected positioning signal can be characterized on the basis of determined zero crossings.

It is expedient if, in a further evaluation step, a first oscillation period of the detected positioning signal, the amplitude of which is greater than a predetermined threshold value, for example 10% of a maximum period of the detected positioning signal, is determined.

Usually, a further evaluation step provides that zero crossings and / or amplitudes of the first signal section of the detected positioning signal are determined and extrapolated to the arrival time, in particular to determine the transit time of the positioning signal, in order to determine an arrival time of the respective detected positioning signal.

It has proven useful if, in a further evaluation step to determine a transit time difference between the positioning signals detected with the sensor elements, zero crossings of detected positioning signals are compared with one another and the respective transit time difference is determined from their time difference or phase shift. Zero crossings of the detected positioning signal can be calculated much more precisely than a sampling period by interpolating sample values, which results in a massively reduced uncertainty.

It is expedient if, in a further evaluation step, times of the zero crossings of the detected positioning signal, in particular those of the first signal section, are described by means of a regression analysis in order to assign oscillation periods of the detected positioning signal to their associated detection times, in order to determine a detection time of the first oscillation period of the detected positioning signal or the Calculate arrival time. In this way, the time of arrival of the positioning signal at a respective sensor or sensor element are calculated, especially since the arrival time of the detected positioning signal is often not directly recognizable with sufficient accuracy.

The regression analysis can in particular be a linear regression, preferably a linear single regression or a regression line.

It has proven useful if relative position determinations are also carried out while the interaction is being carried out in order to check a relative positioning of the devices or modules or interaction elements.

It is practical if a plausibility check is carried out in a further evaluation step by comparing arrival time differences between the detected positioning signals with one or more, in particular due to the defined positioning of the sensor elements to one another, constructively maximum possible arrival time differences in order to detect incorrect detected positioning signals or measurement signals, in particular incorrect shifts in order to recognize a period duration and preferably to compensate for it.

Application efficiency can be increased if an evaluation of detected positioning signals, which were reflected on a respective module or device, is carried out as a function of a geometry of the first and / or second module or first and / or second device, by a relative position of not to determine devices or modules in direct line of sight. For this purpose, a geometry of the modules and / or devices can be stored in a memory. In this way, it is possible to determine the relative position of a transmitter which is not in the direct line of sight of the sensor and whose positioning signal reaches the sensor via reflection. This is particularly true in the case of ultrasonic transmitters or ultrasonic sensors.

It is advantageous for practical application if one of the devices is installed in a stationary manner and the other device is designed to be mobile. For example, one of the devices is designed as a stationary charging station and the other device as a vehicle, in particular an electric vehicle and / or a self-driving or autonomous vehicle. It is useful if the respective module of the mobile device is arranged in the area of a sub-floor or an underside of the mobile device. The mobile device is then preferably in the interaction position or, for this, is above the module of the stationary device positioned in the exchange position so that an energy exchange can take place from the bottom side. This means that the modules can be protected from the effects of the weather during an energy exchange. It has proven useful if the stationary device has the first module and the mobile device has the second module or are designed as parts of these. It is possible for the first module to be mounted below a floor and for means to be provided to lift the first module out of this position or to lower it into it.

If the first device is designed as a charging device and the second device as an electric vehicle, the charging device having the first module and the electric vehicle having the second module, or possibly vice versa, by determining relative positions between the modules for rough positioning or when the modules are approaching Assumption of the interaction position or charging position, in particular with the second measuring arrangement, a route guidance or control of the electric vehicle to the interaction position take place and then after assuming the interaction position with determination of relative positions between the interaction elements for fine positioning, in particular with the first measuring arrangement, an approach and in particular Contacting the interaction elements can be carried out in a controlled manner. In particular, an energy exchange process or charging process of the electric car can be carried out in an automated manner in this way. Reaching the interaction position can expediently be determined when a predefined distance between the modules or the interaction elements is not reached. This can be carried out precisely because the accuracy of the respective relative position determination as a rule increases as the respective transmitters and sensors approach, in particular in the case of an ultrasonic signal as the positioning signal.

It is advantageous if there is a method for interaction between a first device and a second device, the first device having a first module with a first interaction element and the second device having a second module with a second interaction element, the devices or Modules for taking an interaction position are brought closer to one another in order to carry out an interaction in the interaction position with the interaction elements, with at least one relative position between the devices or modules to control an approach of the devices or modules Devices or modules is determined with a positioning system. As a result, an approach of the devices or modules to one another can be monitored and, in particular, precisely controlled. It goes without saying that, as a rule, a large number of relative positions are determined during the approach, in particular one after the other, in order to monitor or adapt the approach accordingly. In particular, this results in the advantages and effects which have already been explained above for an approach of the devices or modules for rough positioning, in particular. In this way, for example, a positioning process or parking of an electric vehicle at a charging device can be precisely controlled according to the determined relative position, usually a plurality of determined relative positions, in order, for example, to carry out energy transfer or charging with or via the interaction elements. The positioning system can advantageously be designed in accordance with the features, advantages and effects which are described for a positioning system in this document, in particular in the context of the above method for interaction. In particular, a second measuring arrangement, in particular the aforementioned second measuring arrangement described in this document, can advantageously be present in order to control the approach of the devices or modules to one another. It has proven itself when several second measuring arrangements are formed when the devices or modules approach. As a rule, the determination elements of the second measuring arrangement are rigidly connected to the base of the respective module.

It is advantageous if the interaction is a contactless, in particular inductive, energy transfer. As a result, electrical energy or electrical power can be transmitted particularly easily and practically between the modules or devices via the interaction elements. For this purpose, it is usually provided that the interaction elements have electrical coils in order to inductively transmit electrical energy between the coils in the interaction position. As a rule, the coil of one of the interaction elements is operated as a primary coil and the coil of the other interaction element is operated as a secondary coil. It is advantageous if the determination elements of the second measuring arrangement are each arranged on the interaction element or the respective coil of the module. Depending on the intended use, it can be advantageous if the first interaction element or second interaction element is connected to the base of the respective module in a fixed position or rigidly or movably. It can be advantageous, especially for contactless or inductive energy transfer with or via the interaction elements, if the first and second interaction elements are fixedly or rigidly connected to the base of the respective module, especially as a fine positioning or approach of the interaction elements relative to each other after taking the interaction position is often not necessary.

It goes without saying that this further method is also designed in accordance with or analogously to the features, advantages and effects which are described in the context of a method for interaction, in particular above, as well as first module or a second module or module system, in particular below can be. The same applies to the procedure for interaction with regard to the further procedure.

The further objective is achieved according to the invention by a first module of the type mentioned at the beginning when a positioning system is provided which is designed to control the fine positioning, in particular an approach of the first interaction element to the second interaction element, to determine a relative position between the interaction elements. As a result, an approach of the interaction elements can be monitored and precisely controlled, as explained above, so that potential misalignments or incorrect positioning of the interaction elements can be identified at an early stage and the risks of a wrong connection can be avoided. In particular, an automated or automatically carried out approach process or interaction process of the interaction elements can thereby be optimized, in particular controlled, controlled.

It goes without saying that the first module is designed or implemented in accordance with or analogously to the features, advantages and effects, which are described in particular in the context of a method for interaction, preferably for energy exchange, in particular above, and of a second module, in particular below can be. The same also applies to the method for interaction, preferably for energy exchange, as well as the second module with regard to a first module described in particular below. It is advantageously provided that the positioning system is designed to determine a relative position between the modules for the rough positioning of the interaction elements or during an approach of the two modules in order to assume the interaction position. As a result, an approach of the devices or modules to one another can be monitored and, in particular, precisely controlled.

The first module and / or the second module usually each have an interaction element connected to a base of the respective module. As a rule, it is provided that the first interaction element is movably connected to the base of the first module relative to the base in order to move the first interaction element relative to the second interaction element or to approach it, in particular to guide it, in the interaction position. For this purpose, a movement device is expediently usually provided which connects the first interaction element to the base of the first module so as to be movable relative to the base, preferably in a controllable manner. The movement device can be designed, for example, with a movable arm and / or a lifting device. The first interaction element is then usually arranged on this. A first drive is expediently provided with which a movement of the movement device can be controlled.

It is favorable if the first interaction element is mounted, preferably resiliently, on an, in particular flexible, carrier of the movement device, so that there is limited mobility of the first interaction element relative to the movement device. This additional limited mobility of the first interaction element enables a higher tolerance when it is placed against the second interaction element and, moreover, distance fluctuations between the modules can be compensated for in a contacting state of the interaction elements.

A high level of application flexibility can be achieved if the movement device has a movable arm, the arm being connected to the base so as to be movable about and / or along a plurality of axes in order to guide the first interaction element to the second interaction element. It is favorable if the arm is mounted on the base such that it can pivot horizontally about a first axis of rotation, in particular with a range of rotation from -90 ° to + 90 °, preferably from -60 ° to + 60 °. It is practical if furthermore it is provided that the arm is arranged entirely or at least partially longitudinally displaceable relative to the base on the base. Furthermore, it can be provided that the arm is mounted on the base so that it can rotate vertically about a second axis of rotation.

It is favorable if the first interaction element with the movement device can be moved in a first direction of movement, preferably essentially vertically, relative to the base and the movement device on the base can be moved in a second direction of movement, which is angled, in particular orthogonal, to the first direction of movement, relative to the Base is slidably arranged. As a result, the first interaction element in the interaction position can be guided quickly and easily to the second interaction element.

It is practical if the base of the first module is rotatably mounted about a pivot axis. In this way, for example, the interaction elements can be arranged vertically one above the other in the interaction position. For example, the first interaction element can be positioned in the interaction position in a first step in a plane below the second interaction element of the second module, which is arranged, for example, as part of an electric vehicle or on such, by pivoting the base and then with the movement device to the second Interaction element are performed, in particular to contact this. In this way, it is possible to interact, in particular make contact, with a second module arranged on the floor surface of an electric vehicle from a floor side. Simple movability is achieved if the movement device is arranged on the base so as to be displaceable essentially parallel to a base surface of the base. It is advantageous if the first direction of movement is oriented essentially orthogonally to the base area. A second drive can be provided for rotating the base about the pivot axis in order to electronically control the rotation. For a stable rotary movement of the first module or the base, it is advantageous if at least one three-point support of the base is provided, for example with a drive wheel and support wheels arranged opposite it.

It is advantageous if the movement device is at least partially, preferably completely, connected to the base so that it can be sunk into the base. It is useful for this purpose if the movement device is in a, in particular closable, recess of the Base is arranged, wherein the movement device is designed to be lowered into the recess. This enables a space-saving training and protection against soiling. A cover that can be opened, in particular in a controllable manner, can expediently be provided in order to close the recess at least partially, preferably completely, or to open it for an approach process or for contacting the interaction elements.

The movement device can for example be designed with a vertically extendable and retractable telescopic rod or a telescopic arm. The movement device is preferably designed with a scissor lift table, in particular a controllably movable scissor lift table. This enables a directional and robust movement of the first interaction element in the first direction of movement. In particular, a usually problematic tilting of the first interaction element when approaching the second interaction element can thereby be avoided.

It is favorable if a lifting mechanism, for example a further scissor lift table, is provided between the movement device and the first interaction element, with which the first interaction element can be moved, in particular controllably, in the direction of the first direction of movement in order to interact or contact the first interaction element to lead in the direction of the second interaction element. This is particularly practical for interacting or contacting with a very low underbody height of an electric vehicle. It has proven useful if the lifting mechanism is designed to be sprung in order to compensate for fluctuations in distance between the modules in the interaction state.

Alternatively or cumulatively, the second module can also have such a movement device in order to move the second interaction element relative to the base of the second module.

If the interaction elements are designed as contacting elements, it is advantageous if the approach or fine positioning of the first interaction element or first contacting element with the movement device takes place in two steps. In a first step, a first approach by means of the movement device and in a second step, a second approach of the first interaction element executed, wherein for the second approach, the first interaction element is preferably designed as a self-centering, in particular position-tolerant, plug-in element. It is useful if the plug-in element is shaped independently of rotation in relation to an interaction direction or approach direction, for example as a 360 ° plug-in element.

It is usually provided that the positioning system comprises one or more sensors and / or one or more transmitters in order to transmit a positioning signal between at least one transmitter and at least one or more sensors. It is advantageous if at least one first determination element is fixedly or rigidly connected to the first interaction element in order to provide a first measurement arrangement with at least one second, fixedly or rigidly connected to the first or second interaction element, corresponding to the first determination element, for fine positioning or in the interaction position To enable determination element, wherein one of the determination elements is designed as a transmitter and the other determination element as a sensor in order to determine a relative position between the first interaction element and the second interaction element for their approach in the interaction position. As a result, as stated above in particular, a relative position between the interaction elements can be precisely determined and an increasing accuracy can be achieved as the interaction elements progressively approach. A high degree of practical application can be achieved if the first measuring arrangement is formed with a plurality of first determination elements and / or a plurality of second determination elements. It has proven useful if the first measuring arrangement is formed with a plurality of sensors. In particular, it can be advantageous for this purpose if several first measuring arrangements are provided. For a high accuracy of the relative position determination, it is expedient if the first and / or second determination element is each arranged as close as possible to the respective interaction element, preferably directly to the interaction element or directly next to it. If several first and / or second determination elements, in particular several sensors, are provided, it is favorable for a precise approximation of the interaction elements if the respective determination elements, in particular sensors, on mostly different sides of the respective interaction element, preferably opposite one another, on the interaction element, in particular around a center of this, are arranged. For a high level of reliability and robustness, above all in a dirty environment, it has proven useful if at least two sensors and / or two transmitters are arranged in this way on the respective interaction element. This is particularly true when the determination elements or sensors are designed as ultrasonic transmitters or ultrasonic sensors. In particular with several UWB determination elements on the respective interaction element, it is advantageous if these are, preferably far, spaced from one another, for example in a cross section of the interaction element opposite one another around a center of the interaction element, preferably in an outer third between the center and the outside of the interaction element.

For precise fine positioning, it is advantageous if at least one determination element or transmitter or sensor is positioned in the area of a center, in particular in a cross section in the area of a center, of the respective interaction element. This is particularly true if only a single determination element or transmitter or sensor is arranged on the respective interaction element. This applies in an analogous manner to a transmitter or sensor on a coupling plug or coupling receptacle with which the respective interaction element can be formed. This expediently applies, for example, to the UWB determination element, in particular its antenna.

It is favorable if at least one third determination element is fixedly or rigidly connected to the base of the first module in order to provide a second measuring arrangement with at least one corresponding to the third determination element for coarse positioning or when the first module approaches relative to the second module to assume the interaction position to enable fourth determination element of the second module, wherein one of the determination elements is designed as a transmitter and the other determination element as a sensor in order to determine a relative position between the modules for their approach to assume the interaction position. As a result, as stated above in particular, a relative position between the modules can be determined with a high degree of accuracy when the modules are relatively approaching in order to assume the interaction position. The fourth determination element is preferably connected in a fixed position or rigidly to the base of the second module. In particular, the fourth determination element can be formed with the second determination element. A high degree of practical application can be achieved if the second measuring arrangement is used a plurality of third determination elements and / or a plurality of fourth determination elements is formed. In particular, it can be advantageous for this purpose if several second measuring arrangements are provided. It has proven useful if the second measuring arrangement is formed with a plurality of sensors, which are preferably arranged on the first module. For a high accuracy of the relative position determination, it is useful if the third determination element or one of the third determination elements is arranged on the base of the first module in such a way that it is arranged on a side of the module facing a second module approaching the first module when in use .

For a high accuracy of the relative position determination, it is expedient if the third and / or fourth determination element is each arranged as close as possible to the respective interaction element. If several third and / or fourth determination elements, in particular several sensors, are provided, it is advantageous for a precise approximation of the interaction elements or modules or devices if the respective determination elements, in particular sensors, on different sides of the respective interaction element or module, in particular are arranged symmetrically, preferably opposite one another, around the respective interaction element on the respective module. For a high level of reliability and robustness, especially in a dirty environment, it has proven useful if at least two sensors and / or two transmitters are arranged in this way on the respective interaction element or module. This is particularly true when the determination elements or sensors are designed as ultrasonic transmitters or ultrasonic sensors.

It has proven useful if both the first determination element arranged on the first module and the third determination element arranged on the first module are designed as sensors, in particular ultrasonic sensors or UWB receivers. As a result, a simple and practical structure can be implemented in terms of evaluability and maintainability. As a rule, it is useful if the sensor connected in a fixed position to the first interaction element or its detection direction is oriented at an angle to the sensor connected in a fixed position to the base or its detection direction, in order to efficiently detect the respective positioning signals. This is especially true if the sensors are designed as ultrasonic sensors or UWB receivers. The first measuring arrangement can be based on a different physical measuring concept than the second measuring arrangement. For example, the first measuring arrangement can be designed to transmit an ultrasonic signal as a positioning signal and the second measuring arrangement can be designed to transmit an electromagnetic positioning signal, for example a radio signal, in particular a UWB radio signal, or vice versa. A high level of practicability and a simple structure are achieved if both the first and the second measuring arrangement are based on transmitting ultrasonic signals or UWB radio signals. The positioning system can advantageously, in particular as set out above, be designed as an ultrasonic positioning system or UWB positioning system or one or both of the aforementioned measuring arrangements can be formed with ultrasonic transmitters and ultrasonic sensors or UWB transmitters and UWB receivers. In particular, it is correspondingly advantageous if, in particular the aforementioned, at least one transmitter or one sensor is designed as an ultrasonic transmitter or ultrasonic sensor or preferably as a UWB transmitter or UWB receiver.

It is expedient if, in order to determine the relative position, the sensor is designed or carried out for an angle-of-arrival method or a determination of a direction from which the positioning signal impinges on the sensor. This is especially true if the sensor is a UWB receiver. For this purpose, the UWB receiver can expediently have several antennas, for example a double antenna. If one of the modules has several UWB receivers or a UWB receiver with several antennas, it is advantageous if the antennas are arranged far apart from one another on the respective module, for example opposite one another in relation to a center of the module. This can expediently be implemented for sensors formed with UWB receivers, the first and / or second measuring arrangement.

It is practical if the first module or second module has an interaction element cover that can be opened, in particular in a controllable manner, and that covers the respective interaction element. As a result, the respective interaction element can be protected from soiling. It is practical if at least one of the respective determination elements or the transmitter or the sensor is arranged on the respective interaction element cover, in particular rigidly connected to it, so that the respective determination element or the transmitter or sensor is located essentially above the respective interaction element, preferably its center, when the interaction element cover is closed. This has proven particularly useful when only a single transmitter or sensor is used to determine the relative position. The interaction element cover can be part of the base of the respective module. The interaction element cover can expediently be opened in a controllable manner in order to carry out the fine positioning. For example, one or both of the determination elements of the second measuring arrangement, often the sensor, can be arranged in this way on the respective interaction cover. This can be implemented for the first module and / or second module, in particular for each transmitter and / or sensor.

It is practical if one or more of the determination elements or transmitters or sensors are arranged on the movement device, for example, if appropriate, on the arm of the movement device. As a result, when the interaction elements approach, usually in the interaction position or for fine positioning, further measurement positions can easily be implemented.

It is useful if the first module has a communication device which is designed to transmit a trigger signal between the communication device of the first module and a corresponding communication device of the second module in order to use the trigger signal to provide a time reference point for sending the respective positioning signal with at least one define the sender. This enables a precise runtime measurement of the positioning signal, in that a transmission time of the positioning signal can be precisely defined with the trigger signal. The trigger signal can be, for example, an electromagnetic signal, in particular a radio signal, light signal, laser signal or ultrasonic signal. For precise measurement and practicable implementation, it is preferred if the trigger signal is an electromagnetic signal, in particular a radio signal, and accordingly the communication device is preferably designed to transmit such a signal. The positioning signal is preferably transmitted essentially immediately after or at the same time as the trigger signal. For high precision, it is advantageous if a time interval between the time of the trigger signal and the time of transmission of the positioning signal is less than 10 ps, in particular less than 5 ps, preferably less than 3 ps, in particular less than 2 ps. In the case of an ultrasonic signal, a time interval of 3 ps usually corresponds to a measurement uncertainty of the relative position determination of approx. 1 mm. However, a predetermined waiting time can also be established, after which the positioning signal is transmitted from the point in time when a trigger signal has occurred.

A high level of practicability can be achieved if the trigger signal contains an identifier to identify the trigger signal for devices or modules or

Assign communication facilities. In this way, miscommunication can be avoided when several modules are in use at the same time.

It is favorable if one or more, preferably all of the, in particular the aforementioned, sensors are formed with a plurality of sensor elements spaced apart from one another in a defined manner in order to use the sensor elements to detect a positioning signal incident on the sensor. This is especially true for ultrasonic sensors. As a result, a sensor assembly is implemented which makes it possible to determine a respective relative position of the transmitter which emitted the positioning signal with high spatial resolution. An advantageous specific configuration in this regard, in particular an arrangement of the sensor elements, has already been explained above in the context of the method. The at least one sensor or the sensor elements are usually designed as surface-mounted device components (SMD components) and are usually arranged on a circuit board. If the at least one sensor or the sensor elements are implemented as ultrasonic sensors or ultrasonic sensor elements, these are preferably designed as MEMS components (Micro-Electro-Mechanical-Systems-Components). Ultrasonic sensors or ultrasonic sensor elements are preferably implemented as microphones, in particular MEMS microphones.

It is preferred if the sensor elements are designed as ultrasonic sensor elements. It is advantageous if sensors or sensor elements designed as ultrasonic sensors or ultrasonic sensor elements are arranged on a board in the first module in such a way that they are arranged on a side of the board facing away from an incoming ultrasonic signal or positioning signal in the operational state. The board usually has at least one passed through the board Channel to guide an ultrasonic signal to be detected through the channel to the ultrasonic sensor or one or more ultrasonic sensor elements. In this way, both a high level of protection for the sensors and a high level of detection sensitivity can be implemented. As a rule, each ultrasonic sensor or ultrasonic sensor element is assigned at least one channel of its own. It is useful if a channel cross-section of the channel or the channel is covered or closed by an ultrasound-permeable membrane, which is preferably made hydrophobic, in order to protect the channel from contamination. The membrane can be designed as a textile membrane, for example. It is useful if the membrane is waterproof. Efficient sound conduction can be achieved if the channel opens into a cavity at a channel opening facing away from the sensor element, which cavity has a larger cross section, in particular orthogonal to the longitudinal direction of the channel, than a cross section of the channel. In this way, a sound conduction with a low characteristic acoustic impedance can be achieved. The cavity or cavity cross section is then preferably covered by the membrane. It has proven useful if the cavity cross-section, in particular orthogonal to the longitudinal direction of the channel, has a diameter which is 2 to 5 times as large as a diameter of the channel. It has proven useful if an average height of the channel is between 0.3 mm and 1.5 mm, in particular 0.5 mm to 1.0 mm. It is favorable if each channel opens into such a cavity, which is preferably covered with an aforementioned membrane. The membrane can be formed with or from an elastic material, for example rubber, in particular silicone rubber, or polyethylene, in particular polyethylene with a density between 0.915 g / cm ³ and 0.935 g / cm ³ , also referred to as PE-LLD or LDPE being. The membrane preferably has a Shore hardness of A35. The membrane usually has a thickness between 0.01 mm and 0.1 mm, preferably between 0.02 and 0.05 mm. It is practical if several, preferably all, of the channels are covered with a cover layer, the cavities being formed as incisions in the cover layer. It is then expedient if the membrane is formed with or by a part of the cover layer that delimits the cavities. This enables a robust structure with optimized sound conduction to be achieved. The circuit board is usually arranged in a circuit board housing, the circuit board or the sensors for acoustic decoupling usually being arranged on or in an acoustic decoupling material, which is often made of deformable, in particular elastic, material, within the circuit board housing. The acoustic Decoupling material can be formed, for example, with modeling clay, preferably industrial modeling clay. It is favorable if the acoustic decoupling material is formed with a metal-plastic composite material, in particular with metal powder embedded in plastic. For example, metal powder can be mixed with synthetic resin, usually epoxy resin. It is useful if a metal or metal powder of high density, such as tungsten, is used for this purpose. The circuit board or the sensors can expediently be embedded or cast in the acoustic decoupling material. The sensor or the sensor elements can be arranged on or within a module housing or a module housing wall of a respective module. A high level of practicability can be achieved if the sensor or the sensor elements are at least partially, in particular completely, arranged within a module housing of a respective module or are integrated into the module housing or the module housing wall. It is practical if the circuit board is arranged within a module housing of the respective module, the channels or membranes usually connecting to at least one feed-through opening of the module housing in order to conduct ultrasonic signals through the feed-through opening into the channels. Alternatively, it can be provided that the ultrasonic sensor or the ultrasonic sensor elements are arranged integrated into the module housing in such a way that the membrane forms part of an outer surface of the module or module housing. This is particularly true if the membrane is watertight and / or designed with the aforementioned cover layer or the aforementioned cavities, since this enables a robust structure to be implemented. An outer surface of the membrane preferably merges continuously or steplessly into an outer surface of the module housing adjoining it. For this purpose, the ultrasonic sensor is usually passed at least partially or entirely through a passage in the module housing or the module housing wall or is arranged in this. For efficient sound conduction, each channel is preferably assigned its own lead-through opening. It has proven useful if a feed-through opening has a cross-sectional diameter of 1 mm to 5 mm, preferably 1.5 mm to 3 mm, in particular approximately 2 mm. It is favorable if the lead-through opening has a length of 1 mm to 5 mm, in particular 2 mm to 4 mm, preferably about 3 mm. With such dimensions, a very efficient sound conduction can be implemented with a robust design at the same time. The feed-through opening can expediently be closed with a metal grille, in particular a fine-meshed metal grille, in order to repel dirt. The metal grille is preferably designed or has lattice parameters or lattice constants such that acoustic reflection is avoided. It has proven useful if there are one or more sealing elements between the module housing and the circuit board, which surround openings in the feed-through openings and / or openings in the channels in order to ensure that the module housing is tight, in particular soundproof, against the circuit board. The sealing elements are preferably designed in such a way that the circuit board is flat on the module housing. It is favorable for good sound conduction if channels and passage openings have a circular cross section or are cylindrical. In order to avoid disturbances in the sound conduction, it is expedient for the circuit board to be fastened between the module housing in such a way that the mounting gap or assembly cavity formed as a result of the fastening is formed between the circuit board and the module housing. A surface of the circuit board preferably rests against a surface of the housing without any gaps.

It has proven useful, in particular if the membrane is designed to be watertight, if one or more drainage channels are present between the module housing wall and the membrane in order to divert water that has penetrated via the drainage channels, in particular to divert it away from the membrane. In this way, the ability to use it in poor weather conditions, in particular rain, can be increased.

In order to avoid contamination of the transmitters and / or sensors, it is advantageous if one or more, in particular controllable, cover elements are present with which one or more of the transmitters or sensors or their measurement openings can be covered. Cover elements can for example be designed as flaps or sliding elements. It has proven useful if one or more of the transmitters or sensors are arranged on an extension element that can be extended from an extension base, so that the transmitters or sensors can be operated when the extension element is extended and the transmitters or sensors can be operated when the extension element is retracted. Sensors or their measuring openings are covered by the extendable base. In this way, transmitters or sensors can be extended as required and are protected from contamination when they are retracted. A number of extension elements can expediently be present on one of the modules or on both modules. The extension base can be formed by a section of a module housing of the first or second module or in one such be integrated. It is practical if the extension element can be extended vertically from the extension base, preferably the module housing or module housing section.

It is useful if the at least one ultrasonic transmitter is formed with a piezo element, which is usually arranged in a metal housing. The ultrasonic transmitter is usually an encapsulated metal cylinder. It is practical if the ultrasonic transmitter has a diameter of 5 mm to 20 mm, in particular 8 mm to 15 mm, typically about 14 mm or about 10 mm. The ultrasonic transmitter is preferably connected to the communication device of the respective module, so that an ultrasonic signal can be emitted with the ultrasonic transmitter as a function of a trigger signal transmitted between the communication devices of the modules. In order to achieve the same oscillation of the possibly several ultrasonic transmitters, it is advantageous if several, preferably all, ultrasonic transmitters are electrically connected in the same way. For this purpose, it is advantageous if electrical ground connections of the ultrasonic transmitters are connected to the housing of the respective module. It is useful if the ultrasonic transmitter is arranged integrated into the module housing of the respective module, the ultrasonic transmitter preferably being acoustically decoupled. This can be implemented by connecting the ultrasonic transmitter to the module housing via a deformable, in particular elastic, decoupling material. The decoupling material can be formed, for example, with silicone or rubber, and in particular enclose the ultrasonic transmitter along a circumference of the ultrasonic transmitter.

If several ultrasonic transmitters are provided on the first module and / or the second module, it is practical if they are spaced apart from one another by 2 cm to 20 cm, preferably 5 cm to 10 cm, mostly about 7 cm. It is favorable if the ultrasonic sensor elements of the at least one ultrasonic sensor are each at a distance of 3 mm to 20 mm, in particular 4 mm to 10 mm, preferably about 6 mm, from the closest ultrasonic sensor element of the ultrasonic sensor. The choice of the distance is based on the fact that an increase in the distance is associated with a reduction in spatial measurement uncertainties when determining a relative position, but at the same time with an increase in temporal measurement uncertainties when detecting and evaluating Arrival times of the positioning signal is connected, in particular since signal shapes detected with the ultrasonic sensor elements have a high degree of similarity at small distances. For example, with a distance of 4 mm between adjacent ultrasonic sensor elements, even at a low temperature of around -20 ° C and an ultrasonic frequency of 40 kHz, the wavelength of the ultrasonic signal is usually 8 mm, so that a phase shift of the with the Ultrasonic sensor elements detected ultrasonic signal is only a fraction of a period, whereby a low-error and easy to implement evaluation can be implemented.

Usually, the at least one sensor or the sensor elements are circuit-technically coupled to an analog-digital converter, an adjustable amplifier circuit preferably being arranged between the sensor and the analog-digital converter in order to generate large signal amplitudes.

It is advantageous if the first and / or second module has an evaluation unit or is connected to one in the operational state in order to use it to calculate a respective relative position based on the detected positioning signal or its arrival time, in particular taking into account the time defined with the trigger signal , in particular in accordance with an evaluation method already presented above in the method section. The evaluation unit usually has a computer device or a microcontroller which is designed to carry out the corresponding evaluation method or the corresponding evaluation steps and, in particular, to calculate the relative position. A simple evaluation can be achieved if the calculation or determination of the respective relative position is based on a transit time determination of the positioning signal detected with the respective sensor or sensor element. The transit time of the positioning signal can be calculated with the arrival time of the positioning signal at the sensor or sensor element and the sending time of the positioning signal at the corresponding transmitter, the sending time being given on the basis of the time defined with the trigger signal. The evaluation unit is usually formed with a microprocessor. Alternatively or cumulatively, it is advantageous if the first module has a communication unit in order to transmit data, in particular ascertained data relating to the detected positioning signal and / or the ascertained relative position, with the communication unit to an external evaluation unit and / or control unit, for example an evaluation unit and / or control unit of the first device, second device, in particular an electric vehicle, and / or second module. The communication unit is preferably designed to carry out wireless communication, for example on the basis of Bluetooth and / or WLAN and / or UWB. If UWB determining elements are used to determine the relative position, it is practical if the communication unit is designed to communicate via a UWB determining element or by UWB radio transmission. The communication unit can in particular be designed to communicate with an electric vehicle or its communication system. In particular, information relating to a current operating state of the first module or a device, such as a charging device to which the first module is connected, and / or the energy exchange process can be transmitted to the electric vehicle. The respective determined relative position can advantageously be transmitted with the communication unit to a control unit of the first and / or second device, in particular an electric vehicle with a second module, so that the device or electric vehicle can control and adjust its movement and / or functionality accordingly. It is favorable if an antenna configuration, in particular the number of antennas and / or antenna position, for example of the respective module or the UWB determining elements, is transmitted with the communication unit, for example to the respective other module or device. The communication unit and the communication device can be implemented with the same component.

To optimize the range of the positioning system, it is advantageous if one or more additional sensors and / or transmitters of the device on which a respective module is arranged or formed as a part of it, with the positioning system or its sensors and / or transmitter or Measurement arrangements is or is coupled so that the sensors of the device can be replaced or used for determining the relative position. This is particularly true for a vehicle or electric vehicle as the first or second device. Here you can in particular one or more parking sensors or parking transmitters, in particular a parking aid system or park distance control system, of the vehicle coupled to the positioning system or the first and / or second measuring arrangement or being operated integrated into them.

If the interaction elements are designed as contacting elements, it is advantageous if the first interaction element is contacted with the second interaction element using a coupling device which is designed to connect the two interaction elements positively and / or non-positively, in particular releasably. The coupling device can expediently be formed in that one of the interaction elements has a coupling plug and the other interaction element has at least one coupling receptacle corresponding in shape to the coupling plug in order to connect or non-positively interconnect the interaction elements with at least partial, preferably complete, insertion of the coupling plug into the coupling receptacle . to contact. It is preferred if a non-positively releasable connection is established with form-fitting contact. It is practical if a latching mechanism is provided so that the coupling plug releasably latches into the coupling receptacle when it is inserted into the coupling receptacle, preferably depending on the relative application of force between them. It is useful if a spring element is provided for the non-positive or locking connection in order to establish the non-positive or locking connection in a simple manner and to release it again. For an actuation of the spring, a pressure means can be present to control the frictional or locking connection produced by the spring, wherein the pressure means is preferably controlled or activated and in particular deactivated depending on a contact force or force load between the coupling plug and coupling receptacles in order to to establish or loosen the connection that can be brought about with the spring. The spring or the pressure medium can be arranged on the coupling plug or the coupling receptacle. For a practicable connection, it is advantageous if the coupling device is designed to be self-centering. It is usually provided that at least one outer surface of the coupling plug that comes into contact with the coupling receptacle is designed with a shape corresponding to a guide surface of the coupling receptacle that, if the coupling plug is not completely aligned when they are connected, the coupling plug from the guide surface of the coupling receptacle into the intended contact position to be led. The guide surface of the coupling receptacle usually denotes that surface of the coupling receptacle which, when the coupling plug is inserted into the coupling receptacle, causes the coupling plug to be positively received. It is useful if the coupling plug has an outer surface and the coupling receptacle has a guide surface which, in particular at least in sections, are designed as a rotational surface with an axis of rotation in the direction of an insertion direction of the coupling plug, preferably at least in sections essentially conical, in particular as the outer surface of a cone or truncated cone . It is usually provided that a connecting area of the coupling plug is designed to taper coaxially in the insertion direction. The connecting area of the coupling plug can be designed, for example, as a cone or conically tapering, hemispherical or pyramid-shaped. Preferably, one end of the connecting area of the coupling plug is blunt or has a blunt tip. The coupling receptacle generally has a shape corresponding to this in order to at least partially insert the coupling plug into the coupling receptacle. It is preferred if the coupling plug can be inserted into the coupling receptacle independently of rotation in relation to an insertion axis.

It is preferred if the coupling device or the coupling plug and the coupling receptacle or their structural design as well as their form-fitting or non-positive connection and in particular the latching mechanism according to document WO 2016/119001 A1, the disclosure of which herewith in particular with regard to the design of the plug connection are fully included. However, a reverse design is also possible, since the exact position of the plug is not important. This also applies in particular to an arrangement with a plurality of contacting points and a plurality of coupling receptacles, which are also preferably designed in accordance with the document WO 2016/119001 A1.

Practical operability is provided if the coupling plug and / or the coupling receptacle has at least one contact point, the at least one contact point being able to be activated after the coupling plug has been positioned in the coupling receptacle to establish an energy-conducting, in particular electrically conductive, connection or an energy exchange. For this purpose, the coupling receptacle, as mentioned, are preferably designed according to the document WO 2016/119001 A1. A plurality of contacting points can also be provided, for example three, five or seven contacting points. It is useful if it is provided that after the coupling plug and the coupling receptacle have been mechanically or positively connected to one another in a first step and are in contacting position, an energy-conducting connection can be established by moving the contacting points in order to start an energy exchange process . The shifting of the contacting points can take place, for example, by holding them under spring force in a position which is released after the above-mentioned positive connection of the coupling plug and coupling receptacle, so that the contacting points are shifted by the spring force in order to establish the energy-conducting contact. A spring piece can be provided for this purpose in order to actuate the contacting points. The spring piece can be the aforementioned spring. It can be provided that the contacting points are only shifted when a minimum force is reached with regard to the adjustment of the coupling element to the coupling receptacle. When implementing this variant, a force sensor can be provided to measure the contact force. The force sensor can be arranged on the carrier for one of the interaction elements. It is favorable if the contacting points are formed with displaceable contacting bodies, which in a first position in the outer surface of the coupling plug or

The guide surface of the coupling receptacle is sunk and in a second position they are arranged so as to protrude in order to produce an energy-conducting connection by moving the contacting body. The contacting point of the coupling plug usually couples to a counterpart on the coupling receptacle in order to establish an energy-conducting connection, and vice versa. The counterpart can be designed as a contacting layer with which the contacting point forms a press connection.

The cross-section of the contact-making points can be adapted to a desired transmission power via the contact-making points. If high transmission powers are required, their cross-section is correspondingly larger. For example, the contacting point can be designed as a ring, for example a copper ring, which has a ring thickness of 0.5 mm to 2.0 mm. The corresponding remote station can be varied accordingly. It is also possible that an outer diameter of the ring shape or of the copper ring is constant and the ring thickness is changed by varying the inner diameter. The contacting points can expediently be varied in terms of the maximum plug-in depth, which provides a further possibility for power adjustment. A maximum power is defined by the module with the lower transmittable power. This enables adapted energy exchange scenarios or charging scenarios. The contacting points or rings are preferably arranged coaxially to one another, it being possible for a distance between two contacting points or opposing points to vary.

Preferably, it is therefore specifically provided that when the coupling plug is connected to the coupling receptacle, a coaxially tapering region of the coupling plug is inserted positively into the coupling receptacle and, in particular, is connected in a non-positive manner, after which at least one contact body of the coupling plug is released from the first position within it and in a second position protruding from the contact plug is pushed in order to connect the contact body of the coupling plug to at least one contact layer of the coupling receptacle. When the coupling plug and coupling receptacle are brought together, it can be provided that the contact body of the coupling plug is arranged within the same in the first position. As a result, the positive connection takes place in a simple manner and independently of a position in which the two connecting elements meet.

It is advantageous if the coupling device is formed with a plurality of the aforesaid coupling receptacles which, in particular, are arranged, preferably directly, next to one another, forming a coupling receptacle arrangement, the coupling plug being insertable into each of the coupling receptacles in order to establish contact. As a result, due to a plurality of plug-in options, there is less requirement for a positionally accurate approach between the interaction elements or coupling plugs and coupling receptacles. It is useful if the coupling receptacles are each arranged in a polygonal, in particular in a hexagonal, cell. This enables a close-packed arrangement. In this way, a contacting plate with a large number of coupling receptacles arranged directly next to one another can advantageously be implemented. In particular, if an energy transfer is to take place via the interaction elements, preferably if the interaction elements are designed for contacting, it has proven useful if an energy transfer takes place, in particular is enabled, as a function of a measurement result of a measurement with the magnetic sensor. It is favorable if an aforementioned contacting point can be activated as a function of the measurement result of the magnetic sensor. It is useful if the coupling plug has the magnetic sensor and the coupling receptacles have the magnet, or vice versa. It is practical if the magnetic measuring device is designed in such a way that the magnetic sensor detects a form-fitting insertion of the coupling plug into the coupling receptacle and an energy transfer or activation of contacting points can be controlled as a function thereof.

It goes without saying that for an energy exchange as an interaction between the first device with the first module and the second device with the second module, the modules are usually each connected to an energy source or an energy storage device of the respective device, so that energy or energy is generated via the respective interaction elements. Power can be exchanged between them. As a rule, it is provided that electrical energy or electrical power is exchanged between the devices, with electrical energy or electrical power being transmitted via the interaction elements in the contacted state. A contact then accordingly denotes an electrical contact or a connection of the interaction elements an electrically conductive connection. In particular, one of the modules or its interaction element is usually connected in an electrically conductive manner to an electrical energy source or electrical voltage source and the other module or its interaction element is electrically conductively connected to an electrical energy store, such as an accumulator. In this context, energy exchange is also referred to as electrical charging, in particular if the first device is designed as a charging device or charging robot and the second device is designed as an electric vehicle with an accumulator.

It is useful if there is a first module of a modular system for interaction between a first device with the first module and a second device with a second module, the first module having a first interaction element and the second module having a second interaction element, whereby after ingestion one Interaction position of the devices for positioning the interaction elements, the interaction elements are designed to interact with each other, a positioning system being provided which is designed to control an approach of the devices or modules to take up the interaction position at least one relative position between the devices or modules determine. As a result, an approach of the devices or modules to one another can be monitored and, in particular, precisely controlled.

It goes without saying that, as a rule, a large number of relative positions are determined during the approach, in particular one after the other, in order to monitor or adapt the approach accordingly. In particular, this results in the advantages and effects which have already been explained above for an approach of the devices or modules for rough positioning, in particular.

In this way, for example, a positioning process or parking of an electric vehicle at a charging device can be precisely controlled according to the determined relative position, usually a plurality of determined relative positions, in order, for example, to carry out energy transfer or charging with or via the interaction elements. The positioning system can advantageously be designed in accordance with the features, advantages and effects which are described for a positioning system in this document, in particular in the context of the above method for interaction. It is usually provided that the positioning system comprises one or more sensors and / or one or more transmitters in order to transmit a positioning signal between at least one transmitter and at least one or more sensors. In particular, a second measuring arrangement, in particular the aforementioned second measuring arrangement described in this document, can advantageously be present in order to control the approach of the devices or modules to one another. It has proven itself when several second measuring arrangements are formed when the devices or modules approach. As a rule, the determination elements of the second measuring arrangement are rigidly connected to the base of the respective module.

It is advantageous if the interaction elements are designed to carry out a contactless, in particular inductive, energy transfer in the interaction position. This allows electrical energy or electrical power in particular easily and practically transmitted between the modules or devices via the interaction elements, as stated above in the context of the further procedure.

It goes without saying that this further first module is also designed in accordance with or analogously to the features, advantages and effects which are described in the context of one of the methods, in particular the further method, for interaction and a first module or second module or module systems or can be implemented. The same also applies to the methods for interaction and the second module or the module systems with regard to the first modules described.

A charging device for electrically charging an electric vehicle is advantageously provided, the charging device having a first module, the first interaction element of the first module being connected to an electrical energy supply source, in particular an electrical voltage source, in order to approach or contact the first in the interaction position Interaction element to transmit electrical energy to or with a second interaction element of a second module of an electric vehicle via the interaction elements to the electric vehicle or its electrical energy storage device. Such an energy transfer can take place without contact, for example inductively, via the interaction elements and / or with contacting the interaction elements. In accordance with the advantages of the first module, in particular in interaction with a corresponding second module, an energy exchange process or charging process can be carried out practically and safely. The charging device can be, for example, a charging station or a charging robot.

It is useful if the first module has all the functionalities of a wall charging station, whereby an in-cable control box (ICCB, In-Cable Control and Communication Box) can be present in order to fulfill a security and communication function to control the charging process and, in particular, a given one Control utilization.

It is useful if there is a second module of an interaction system for interaction between a first device, having a first module, and a second device having the second module, the first module having a first interaction element and the second module having a second interaction element after taking an interaction position of the devices for the rough positioning of the interaction elements to move the interaction elements for a fine positioning of the interaction elements relative to each other, in particular to approach each other in order to interact with each other, wherein at least one second determination element is fixed in position or rigidly connected to the second interaction element in order to fine positioning in the interaction position to enable a first measuring arrangement with at least one corresponding first determination element connected in a fixed position or rigidly to the first interaction element, wherein one of the determination elements is designed as a transmitter and the other determination element is designed as a sensor in order to control the fine positioning between a relative position in the interaction position to determine the first interaction element and the second interaction element, in particular for their approach. As a result, as stated above, a relative position between the interaction elements can be precisely determined. As stated above, this makes it possible to carry out an interaction, in particular an energy exchange or energy transfer, between the first and second modules or devices connected to them in a practicable and safe manner. The second module can basically have the same or analogous features and corresponding effects and properties as the first module. Depending on the application, it can be useful to design the first module and the second module differently.

It goes without saying that the second module can be designed or implemented in accordance with or analogously to the features, advantages and effects which are described in particular in the context of a method for interaction, preferably for energy exchange, and of a first module, in particular above. The same also applies to the method for interaction, preferably for energy exchange, as well as the first module with regard to a second module described in particular below.

In particular, the second module can be designed in accordance with the second module of the first and / or second measuring arrangement, in particular set out above. For a simple structure, it is preferred that both the second determination element and the fourth determination element are designed as transmitters, in particular ultrasonic transmitters. It is favorable if the second module has at least two transmitters, in particular ultrasonic transmitters or UWB transmitters, and / or at least two sensors, in particular ultrasonic sensors or UWB receivers, which are each arranged at a distance from one another on the second module. In this way, an orientation of the first module relative to the second module can be determined in a simple manner.

It is expedient, as explained above, if the second module has a communication device which is designed to transmit a trigger signal between the communication device of the second module and a corresponding communication device of the first module in order to use the trigger signal to provide a time reference point for the transmission of the positioning signal to define with at least one of the transmitters. This enables a precise runtime measurement of the positioning signal, in that a transmission time of the positioning signal can be precisely defined by the trigger signal.

Depending on the specific configuration, it can be advantageous if the second module has an evaluation unit, in particular corresponding to that of the first module, or is connected to one in order to evaluate sensor data determined with it or, in particular, to carry out a relative position determination. Alternatively or cumulatively, the second module can have a communication unit, in particular corresponding to that of the first module, in order to transmit data, in particular ascertained data relating to a detected positioning signal and / or the ascertained relative position, with the communication unit to an evaluation unit and / or control unit, for example an evaluation unit and / or control unit of the first device, second device and / or first module.

An electric vehicle having a second module is advantageously present, the second interaction element of the second module being electrically connected to an energy store, in particular a storage battery, so that in the interaction position the second interaction element is approached or contacted relative to or with a first Interaction element of a first module electrical energy or electrical power can be transmitted with or via the interaction elements to the energy store. Corresponding to the advantages of the second module, especially in interaction with a corresponding first module, an energy exchange process or charging process can be carried out practically and safely.

The further aim is achieved according to the invention by a modular system of the type mentioned at the beginning, if a positioning system is provided which is designed to control the fine positioning, in particular an approach of the first interaction element to the second interaction element, to determine a relative position between the interaction elements. As a result, as stated above, an interaction, in particular an energy exchange or an energy transfer, between the first and second modules or devices connected to them in each case can be carried out practically and safely. The first module can advantageously be designed as a first module according to the invention and the second module as a second module according to the invention.

It is advantageous if a modular system for interaction between a first device, comprising a first module with a first interaction element, and a second device, comprising a second module with a second interaction element, is present, wherein after taking an interaction position of the devices for positioning the Interaction elements, the interaction elements are designed to interact with one another, wherein a positioning system is provided which is designed to control an approach of the devices or modules to determine at least one relative position between the devices or modules to take the interaction position. As a result, as stated above, an interaction, in particular an energy exchange or an energy transfer, between the first and second modules or devices connected to them in each case can be carried out practically and safely. The first module can advantageously be configured as a first module, in particular a further first module described above, and the second module as a second module, in particular described above.

Further features, advantages and effects result from the exemplary embodiments presented below. In the drawings to which reference is made: 1 shows a schematic representation of a first module in a perspective view;

2 shows a schematic illustration of a second module in a perspective view;

FIG. 3 shows a schematic illustration of the first module from FIG. 1 in a side view; FIG.

4 shows a schematic illustration of an ultrasonic sensor in a cross section in a perspective view;

5 shows a schematic representation of a first module with positions of a UWB determination element;

6 shows a schematic representation of a second module with positions of a UWB determining element.

1 shows a schematic representation of a first module 1, which is designed as part of a charging robot, in order to carry out an electrical energy exchange or electrical charging between the charging robot and an electric vehicle, which has a second module 16 corresponding to the first module 1.

For this purpose, the first module 1 has a first interaction element 2, which can be guided to a second interaction element 17 of the second module 16 of the electric vehicle for fine positioning in an energy exchange position or charging position as an interaction position, in order to transfer electrical energy between the first via the interaction elements 2, 17 To transfer module 1 and the second module 16 or the charging robot and the electric vehicle. For this purpose, the first interaction element 2 is usually coupled to an electrical voltage source and the second interaction element 17 to an accumulator of the electric vehicle, so that an electric charging of the electric vehicle can be carried out by contacting the first interaction element 2 with the second interaction element 17.

A corresponding second module 16, which is designed as part of an electric vehicle or can be arranged on such, is shown in FIG. 2, only the second module 16 being shown for reasons of clarity. The second module 16 is preferably arranged on an underside of the electric vehicle, usually on its floor surface, in order to enable the electric vehicle to be charged from the floor. In this way, the charging process can be protected from the weather and, in particular, at a distance from users of the electric car carried out so that unintentional user interactions can be avoided. Accordingly, it is useful if the first interaction element 2 is arranged on an upper side of the first module 1 and the second module 16 is arranged on a floor surface of the electric vehicle, the second interaction element 17 being positioned in the direction of the floor, as can be seen in FIG. 2 and FIG. 3. In this way, the first module 1 and the second module 16 form a module system for an energy exchange.

An energy exchange process or charging process between the charging robot and the electric vehicle can be carried out by arranging the electric vehicle in a rough positioning to take the energy exchange position above the second module 16, so that the first interaction element 2 and second interaction element 17 are positioned essentially vertically one above the other.

The first module 1 has a movement device 3, which is connected on the one hand to a base 4 of the first module 1 and on the other hand to the first interaction element 2 in order to fine-position the first interaction element 2 with the movement device 3 relative to the base 4 for the second interaction element 17 to guide and contact. The movement device 3 is designed to move the first interaction element 2 essentially vertically relative to the base 4 and preferably also in the horizontal direction. This enables a practicable contact. The movement device 3 can be formed, for example, with a movable arm or a lifting device that is horizontally displaceable on the base 4. The first interaction element 2 has a coupling plug and the second interaction element 17 has a coupling receptacle corresponding in shape to the coupling plug in order to establish a positive and / or non-positive connection between them by inserting the coupling plug into the coupling receptacle and to contact the first interaction element 2 with the second interaction element 17. For this purpose, the coupling plug expediently has a conically tapering section which can be inserted into a shape-corresponding conical recess of the coupling receptacle in order to establish the connection. In this way, the connection is implemented independently of rotation and in a self-centering manner.

In order to carry out the loading process in a practicable manner, a positioning system is provided which, on the one hand, is used for rough positioning when the Electric vehicle enables a relative position between the electric vehicle and the charging robot to be determined by the charging robot for taking the energy exchange position, and on the other hand, for fine positioning in the charging position for an approach of the first interaction element 2 to the second interaction element 17, a determination of a relative position between these enables. With the respective determined relative positions, both the approach of the electric vehicle to the charging robot and the subsequent contact between the first interaction element 2 and the second interaction element 17 can be carried out in a precisely controlled manner. Potential misalignments or incorrect positioning can thus be detected and avoided at an early stage.

In order to determine a relative position between the first interaction element 2 and the second interaction element 17 in the energy exchange position, a first measuring arrangement for fine positioning is formed with a first ultrasonic sensor 5 connected to the first interaction element 2 in a fixed position and a first ultrasonic transmitter connected to the second interaction element 17 in a fixed position 18 provided in order to transmit an ultrasonic signal as a positioning signal between them and to detect it with the first ultrasonic sensor 5. Finally, the relative position can be determined on the basis of the transit time of the ultrasonic signal. Due to the fixed connection of the first ultrasonic sensor 5 to the first interaction element 2, the first ultrasonic sensor 5 is moved along with it when the first interaction element 2 is moved, which enables a precise determination of the relative position between the first interaction element 2 and the second interaction element 17. This is of particular importance insofar as the accuracy of the relative position determination becomes higher as the distance between the first ultrasonic sensor 5 and the first ultrasonic transmitter 18 decreases, so that the actual contacting process can ultimately be carried out with high accuracy. For this purpose, it is advantageous if the first ultrasonic sensor 5 is arranged as close as possible to the first interaction element 2 or the first ultrasonic transmitter 18 is arranged as close as possible to the second interaction element 17. As can be seen in FIG. 1, the first ultrasonic sensor 5 is arranged, for example, directly next to the first interaction element 2 on a carrier of the movement device 3 holding the first interaction element 2. Accordingly, the first ultrasound transmitter 18 is also positioned near the second interaction element 17, as can be seen in FIG. 2. In order to determine a relative position between the electric vehicle and the charging robot or the first module 1 and second module 16 for rough positioning when the electric vehicle approaches the charging robot to assume the energy exchange position, a second measuring arrangement is formed with a fixed position with the base 4 of the first Module 1 connected to the second ultrasonic sensor 6 and a second ultrasonic transmitter 19 arranged in a fixed position on the second module 16 in order to transmit an ultrasonic signal as a positioning signal between the first module 1 and the second module 16 and to detect it with the second ultrasonic sensor 6. The second ultrasonic transmitter 19 of the second measuring arrangement can also be formed with the first ultrasonic transmitter 18, or vice versa. It is useful if the second ultrasonic sensor 6 of the first module is arranged on the base 4 of the first module 1 in such a way that it is oriented in the direction of the approaching electric vehicle in order to detect the transmitted positioning signal as precisely as possible. Accordingly, the second ultrasonic sensor 6 according to FIG. 1 is arranged, for example, on a front side of the first module 1.

The determination of the relative position is illustrated here on the basis of ultrasound transmission. In an analogous manner with an analog structure, a relative position determination based on a radio signal transmission can be implemented, preferably by means of UWB determination elements, i.e. at least one UWB transmitter 24, 25 and at least one UWB receiver 22, 23, between which a UWB radio signal is transmitted as a positioning signal . A UWB radio signal can be transmitted within the framework of the first measurement arrangement between at least one first UWB transmitter 24 and at least one first UWB receiver 22 or within the second measurement arrangement between at least one second UWB transmitter 25 and at least one second UWB receiver 23 .

Even if it can be sufficient if the second module 16 has only one ultrasound transmitter, it is preferred if the second module 16 has at least one further ultrasound transmitter, which is spaced apart from the other ultrasound transmitter, usually at a distance between 2 cm and 20 cm , in particular 5 cm and 10 cm, is arranged. In this way it is possible to determine an orientation of the vehicle by determining the relative position of the first Ultrasonic transmitter 18 and positioning signals emitted by the second ultrasonic transmitter 19 are carried out. If the second module 16 has only a single ultrasonic transmitter, this should be arranged in the area of a center point, in particular in a geometric centroid, of the second interaction element 17 or the coupling receptacle in order to enable precise fine positioning. The geometric centroid usually relates to a cross section orthogonal to a contacting direction of the second interaction element 17 relative to the first interaction element 2 in the interaction position or loading position.

In order to precisely determine the transit time of the positioning signal, it can be provided that a trigger signal is transmitted between the first module 1 and the second module 16 in order to use the trigger signal to define a time reference point for transmitting the respective positioning signal. For this purpose, the first module 1 and / or second module 16 expediently has a communication device or is connected to such a communication device, for example a communication device of the charging device or the electric vehicle, in order to transmit a trigger signal between the first module 1 and second module 2. The trigger signal is usually a radio signal. It has proven useful if the respective positioning signal is emitted with the first ultrasonic transmitter 18 or second ultrasonic transmitter 19 immediately after transmission, that is to say practically at the same time. In this way, the point in time of the trigger signal corresponds to the point in time when the positioning signal was sent out, so that the transit time of the positioning signal can be determined by determining an arrival point in time of the positioning signal at the first ultrasonic sensor 5 or second ultrasonic sensor 6.

Alternatively, the fine positioning and / or rough positioning can be implemented with UWB determination elements, with a UWB transmitter or UWB receiver being used in an analogous manner instead of the respective ultrasonic transmitter 18, 19 or respective ultrasonic sensor 5, 6, with a UWB as the positioning signal Radio signal is transmitted between them.

It is advantageous if one of the interaction elements also has a magnetic sensor, in particular a Hall sensor, and the other interaction element a magnet, wherein the magnetic sensor is designed to detect a presence, alignment and / or a distance from the magnet when the interaction elements are relatively approaching.

In order to implement a precise determination of the relative position, it is advantageous if the first ultrasonic sensor 5 and second ultrasonic sensor 6 are each formed with a plurality of ultrasonic sensor elements 7 spaced apart in a defined manner, each of the ultrasonic sensor elements 7 detecting the positioning signal in order to determine its time of arrival. This can be implemented in an analogous manner with UWB determination elements, in that the first UWB receiver 22 or second UWB receiver 23 is designed with several antennas for receiving the positioning signal or several defined spaced first UWB receivers 22 or second UWB Receiver 23 are provided, each of the antennas or each of the respective UWB receivers 22, 23 detecting the positioning signal.

A so-called burst signal is generally used as the positioning signal, which is usually an oscillation signal extending over several periods, usually with a fixed frequency, and a first signal section with increasing amplitudes of the oscillations.

The first ultrasonic sensor 5 and the second ultrasonic sensor 6 of the first module 1 can expediently each be designed with three, preferably four, ultrasonic sensor elements 7. 4 shows a perspective cross section of a corresponding ultrasonic sensor arranged on a module housing with four ultrasonic sensor elements 7. The ultrasonic sensor elements 7 are preferably arranged in one plane, with at least three of the ultrasonic sensor elements 7 being arranged in an L-shape. In this way, a particularly practicable evaluability or calculation of the relative position between the ultrasonic transmitter and the ultrasonic sensor can be implemented.

FIGS. 5 and 6 show schematic representations of a first module 1 and a second module 16 in a perspective view. The first module 1 and second module 16 can be designed corresponding to the first module 1 and second module 16 of FIGS. 1 and 2, respectively. In Fig. 5 and Fig. 6 are further advantageous positions for an arrangement of UWB determining elements, i.e. UWB receivers 22, 23 or UWB transmitters 24, 25 for fine positioning or coarse positioning, which are in addition or as an alternative to those shown in FIG. 1 based on ultrasonic sensors 5, 6 or ultrasonic transmitters 18, 19 described positions of transmitters or sensors can be advantageous. It goes without saying that the positions can represent alternative possibilities for arranging a single or multiple UWB determination elements or their antennas on the respective module 1, 16.

As explained in connection with FIG. 1 and FIG. 2, it is useful if the respective UWB determining element 22, 23 is connected to the respective interaction element 2, 17 in a fixed or rigid manner for fine positioning. For this purpose, for example, the first UWB receiver 22 can be arranged directly next to the first interaction element 2 and the first UWB transmitter 24 directly next to the second interaction element 17, or vice versa. It is favorable if the respective first UWB determination element, i.e. the first UWB receiver 22 or first UWB transmitter 24, is arranged within the respective interaction element 2, 17, preferably in a cross section through the respective interaction element 2, 17 in a central area of the respective interaction element 2, 17. For rough positioning, it is practical if one or more second UWB receivers 23 are arranged in a fixed position with the base 4 of the first module 1 on the first module 1 and one or more second UWB transmitters 25 on the second module 16. Alternatively, the second UWB receivers 23 can also be arranged on the second module 16 and the second UWB transmitters 25 on the first module 1 in an analogous manner. The second UWB transmitter 25 of the second measuring arrangement can be formed with the first UWB transmitter 24 of the first measuring arrangement, or vice versa.

It is practical if the first module 1 or second module 16 has an interaction element cover 20, 21, which can be opened, in particular in a controllable manner, and which covers the respective interaction element 2, 17. The interaction element cover 2, 17 can usually be opened in a controllable manner in order to carry out the fine positioning. It is practical if the second UWB receiver 23 or second UWB transmitter 25 is arranged on the interaction element cover 20, 21 of the first module 1 or second module 16, so that the second UWB receiver 23 or second UWB transmitter 25 with the interaction element cover 20, 21 closed, each over the respective Interaction element 2, 17, preferably its center, is located. Such positioning has proven particularly useful when only a second UWB receiver 23 or second UWB transmitter 25 is present on the respective module 1, 16. Alternatively or cumulatively, further second UWB receivers 23 or second UWB transmitters 25 can be present on the respective module 1, 16. For example, it can be advantageous if a further, second UWB receiver 23 or second UWB transmitter 25 is present as part of an electronic control unit for controlling the respective module on the respective module 1, 16. For high accuracy of the relative position determination, it is advantageous if the UWB determination elements, in particular the UWB receivers 22, 23 or their antennas, are spaced as far apart from one another as possible. A plurality of second UWB receivers 23, distributed around the first interaction element 2, usually opposite one another, can expediently be arranged on the first module 1. It goes without saying that, as a rule, the positioning of the UWB determining elements relates to their antennas via which the positioning signal is sent or received.

It is favorable if at least one of the UWB determination elements has a plurality of spaced apart antennas 27 with which the positioning signal can be transmitted, in particular received or transmitted. The UWB determination element can be one of the UWB transmitters 24, 25 or UWB receivers 22, 23. This is shown by way of example in FIG. 5 as an enlarged illustration of the UWB receiver 23 arranged on the interaction cover 20. The UWB receiver 23 has a control module 26 and several antennas 27 controllably connected to the control module for transmitting the positioning signal, the antennas being arranged along a circumference around the control module 26, in particular in a star shape or cross shape. It is advantageous if the antennas 27 are separated from one another as far as possible. An average distance of 5 cm to 30 cm has proven to be practical. The UWB receiver 23 can expediently have a switchover unit in order to activate one or more of the antennas 27, in particular selectively controllable, for a transmission of the positioning signal. For example, the antennas 27 can be operated, in particular controlled, alternately in order to receive a positioning signal in each case. The antennas 27 can be connected to the control module 26 such that they can be transmitted by means of flexible printed circuit boards. The antennas 27 can be attached to a circuit board by a Antenna structure be formed. Alternatively, a design of the antennas 27 as ceramic antennas has proven successful. It is useful if several of the UWB receivers 22, 23 or UWB transmitters 24, 25 are designed in this way.

A respective relative position of the coarse positioning and / or fine positioning is usually determined with an evaluation unit having a microprocessor. The evaluation unit can be part of the first module 1 and / or second module 2 or be connected to them.

To evaluate a positioning signal impinging on the ultrasonic sensor or antennas from one or more UWB receivers, the measurement signals representing the positioning signal measured with the ultrasonic sensor elements 7 or antennas, also referred to as the detected positioning signal, can be analyzed. Here, an arrival time is often determined using one of the measurement signals and, taking into account the sending time of the positioning signal or the time of the trigger signal, an absolute transit time of the positioning signal is determined and the relative position is calculated taking into account the transit time differences of the other measurement signals. A corresponding formula for an evaluation in this regard is given above, for example, in the general part of the description. In the case of ultrasonic signal transmission, the transit time differences can be determined practically by evaluating phase shifts between the measurement signals of the ultrasonic sensor elements 7.

A customary general evaluation routine usually comprises one or more, in particular all, of the following evaluation steps, preferably in the order given:

An evaluation step of calculating amplitudes of the measurement signal in order to define or limit a first measurement signal section with increasing amplitudes. An evaluation step of calculating zero crossings of the first measurement signal section. An evaluation step of finding a first oscillation period, the amplitude of which is greater than a predetermined threshold value, for example 10% of a maximum period of the measurement signal. An evaluation step of extrapolating the time of arrival from increasing amplitudes of the first Measurement signal section. An evaluation step of comparing the measurement signals with one another in order to assign individual oscillation periods and their zero crossings to one another in order to then determine the respective transit time difference from their time deviation, for example phase shift. An evaluation step of describing zero crossings of the first measurement signal section by means of regression analysis, in particular linear regression, usually linear single regression or a regression line, in order to assign oscillation periods to their detection times in order to calculate the detection time of the first oscillation period of the measurement signal or the time of arrival. An evaluation step of a plausibility check, in which arrival time differences between the measurement signals are compared with the maximum possible arrival time differences in terms of construction in order to detect faulty measurement signals, in particular faulty shifts by a period.

The execution routine shown above and its evaluation steps are in particular not to be regarded as limited to the exemplary representation of the exemplary embodiments, but can generally be used in connection with the above-described, in particular according to the invention, method for interaction, preferably for energy exchange, first module, second module and module system.

In this way, relative positions between the charging robot and the electric vehicle can be determined for the rough positioning when the vehicle approaches the charging robot to take the energy exchange position in order to control the approach and placement of the electric vehicle and also after the subsequent placement of the electric vehicle in the energy exchange position for the Fine positioning Relative positions between the first interaction element 2 and the second interaction element 17 are precisely determined and thus an approach of the first interaction element 2 to the second interaction element 17 can be precisely controlled in order to contact them. As a result, a charging process for an electric vehicle can be monitored, controlled and preferably carried out in an automated, practicable and safe manner.

By bringing the first interaction element 2 and the second interaction element 17 closer together for fine positioning in the energy exchange position Determination of relative positions between these can be controlled, a high level of practicality and security can be achieved when charging an electric vehicle. Advantageously, in addition to rough positioning, an approach of the electric vehicle to the charging robot or a charging station in order to place the electric vehicle in the energy exchange position for charging can be based on the determined

Relative positions between these are carried out in a controlled manner, so that the control and placement of the electric car at the charging station can also be carried out practically and safely. Since a first measuring arrangement and a second measuring arrangement with different task-specific positions of the first ultrasonic sensor 5 or first UWB transmitter 22 and the second ultrasonic sensor 6 or second UWB receiver 23 are provided specifically to solve these tasks, a high level of security and low error rates is achieved the relative position determinations made possible. Furthermore, since the first ultrasonic sensor 5 and the second ultrasonic sensor 6 are each formed with an arrangement of several ultrasonic sensor elements 7 or the first UWB receiver 22 and second UWB receiver 23 are formed with several antennas 27, a high level of accuracy or .Precision of the relative position determination is ensured and thus a high level of security can be achieved in the utilization of this for a control. In particular, a fully automatic charging process of an electric vehicle is made possible from the approach of the vehicle to the charging station up to the execution of the charging.

Claims

Expectations

1. A method for interaction, in particular for energy exchange, between a first device, such as a charging device, and a second device, such as an electric vehicle, the first device having a first module (1) with a first interaction element (2) and the second device having a second module (16) with a second interaction element (17), after taking an interaction position of the devices for coarse positioning of the interaction elements (2, 17) the interaction elements (2, 17) for a fine positioning of the interaction elements (2, 17) moved relative to each other , in particular brought closer to one another, in order to interact with one another, characterized in that a relative position between the interaction elements (2, 17) is determined with a positioning system in order to control the fine positioning.

2. The method according to claim 1, characterized in that for the coarse positioning of the interaction elements (2, 17) the devices or modules (1, 16) are brought closer to one another in order to assume the interaction position, wherein for controlling the coarse positioning of the interaction elements (2, 17 ) at least one relative position between the devices or modules (1, 16) is determined with the positioning system.

3. The method according to claim 1 or 2, characterized in that at least one of the interaction elements (2, 17) relative to a base (4) of the respective module (1, 16) is movably connected to the base (4) to the interaction elements (2, 17) for fine positioning to each other.

4. The method according to any one of claims 1 to 3, characterized in that the positioning system has at least one transmitter and at least one sensor as a measuring arrangement, a positioning signal being transmitted between the transmitter and the sensor in order to determine a respective relative position, the positioning system preferably being on Ultra-broadband radio signal transmission based.

5. The method according to any one of claims 1 to 4, characterized in that one of the interaction elements is a magnetic sensor, in particular a Hall sensor, and the other interaction element has a magnet, the magnetic sensor being designed to detect a presence, alignment and / or a distance from the magnet when the interaction elements are relatively approaching.

6. The method according to any one of claims 1 to 5, characterized in that in the interaction position a first measuring arrangement is formed with at least one first determination element connected in a fixed position to the first interaction element (2) and at least one second determination element connected in a fixed position to the second interaction element (17) one of the determination elements is designed as a transmitter and the other determination element is designed as a sensor, a positioning signal being transmitted between them in order to determine a relative position between the interaction elements (2, 17) for their approach.

7. The method according to any one of claims 1 to 6, characterized in that when the modules (1, 16) approach to assume the interaction position, a second measuring arrangement with at least one third determination element connected to the base (4) of the first module (1) in a fixed position and at least one fourth determination element of the second module (16) is formed, wherein one of the determination elements is formed as a transmitter and the other determination element is formed as a sensor, between which a positioning signal is transmitted in order to determine a relative position between the devices or modules (1, 16 ) for their approximation.

8. The method according to claim 4 to 7, characterized in that a transit time of the transmitted positioning signal is determined to determine the respective relative position.

9. The method according to any one of claims 4 to 8, characterized in that the positioning system is formed with UWB determination elements, between which a UWB radio signal is transmitted as a positioning signal, with at least one of the UWB determination elements having several spaced apart antennas, each with which the positioning signal can be transmitted.

10. The method according to claim 9, characterized in that a switching unit is present to activate one or more of the antennas, in particular selectively controllable, for a transmission of the positioning signal.

11. First module (1) of a modular system for interaction, in particular for electrical energy exchange, in particular according to a method according to one of claims 1 to 10, between a first device, such as a charging device, with the first module (1) and a second device, such as an electric vehicle, with a second module (16), wherein the first module (1) has a first interaction element (2) and the second module (16) has a second interaction element (17), after taking an interaction position of the devices for coarse positioning of the Interaction elements (2, 17) the first interaction element (2) for fine positioning of the interaction elements (2, 17) is movable relative to the second interaction element (17) in order to interact with the second interaction element (17), characterized in that a positioning system is provided is, which is designed to control the fine positioning to a relative position between the interaction elements (2, 17) determine.

12. First module (1) according to claim 11, characterized in that the first interaction element (2) is movably connected to the base (4) with a movement device (3) relative to a base (4) of the first module (1), in order to move the first interaction element (2) with the movement device (3) relative to the second interaction element (17) in the interaction position, in particular to guide it to the latter.

13. First module (1) according to claim 11 or 12, characterized in that the positioning system comprises one or more sensors and / or one or more transmitters in order to transmit a positioning signal between at least one transmitter and at least one or more sensors, preferably the positioning system is based on ultra-broadband radio signal transmission.

14. The first module (1) according to any one of claims 11 to 13, characterized in that the first interaction element has a magnetic sensor, in particular a Hall sensor, or a magnet, in order to, when the first is relatively approaching Interaction element to the second interaction element, which has a magnet or magnetic sensor, to detect a presence, alignment and / or a distance to the magnet with the magnetic sensor.

15. First module (1) according to one of claims 11 to 14, characterized in that at least one first determination element is fixedly connected to the first interaction element (2) in order to have a first measuring arrangement with at least one fixed position with the first or second in the interaction position Interaction element (2, 17) connected second determination element to enable, wherein one of the determination elements is designed as a transmitter and the other determination element as a sensor in order to allow a relative position between the first interaction element (2) and second interaction element (17) for their approach in the interaction position determine.

16. Charging device for electrically charging an electric vehicle, the charging device having a first module (1) according to one of claims 11 to 15, wherein the first interaction element (2) of the first module (1) is connected to an electrical energy supply source in order to the interaction position as the first interaction element (2) approaches a second interaction element (17) of a second module (6) of an electric vehicle to transmit electrical energy via the interaction elements (2, 17) to the electric vehicle or its electrical energy storage device.

17. Module system for interaction, in particular for electrical energy exchange, between a first device, such as a charging device, comprising a first module (1), in particular according to one of claims 11 to 16, with a first interaction element (2), and a second device, such as an electric vehicle, comprising a second module (16) with a second interaction element (17), the interaction elements (2, 17) for fine positioning of the interaction elements (2, 17) are movable relative to one another in order to interact with one another, characterized in that a positioning system is provided which is designed to determine a relative position between the interaction elements (2, 17) for controlling the fine positioning.