CHARGING SYSTEM AND METHOD FOR AUTONOMOUS CHARGING OF AN ELECTRIC VEHICLE

Abstract

A charging system for autonomous charging of an electric vehicle with electric energy includes a vertical charging arm part, a charging cable or busbar connectible to the electric vehicle, and an elongate horizontal charging arm part extendible from the vertical charging arm part toward the electric vehicle. The horizontal charging arm part has a first drive system with a first linear operative direction corresponding to a longitudinal direction of the horizontal charging arm part, allowing a vehicle-side end of the horizontal charging arm part to move autonomously using the first drive system, relative to the electric vehicle relative to a first linear degree of freedom. A second drive system has a second linear operative direction moving the horizontal charging arm part autonomously relative to the electric vehicle relative to a second linear degree of freedom. A method for charging an electric vehicle using the charging system is also provided.

Claims

1-15. (canceled)

16. A charging system for autonomous charging of an electric vehicle with electric energy, the charging system comprising: a vertical charging arm part; a charging cable or a busbar configured to be connected to the electric vehicle to be charged; a horizontal charging arm part being elongate and configured to be extended from said vertical charging arm part toward the electric vehicle, said horizontal charging arm part having a longitudinal direction and a vehicle-side end; said horizontal charging arm part having a first drive system with a first linear operative direction corresponding to said longitudinal direction of said horizontal charging arm part, said first drive system autonomously moving said vehicle-side end relative to the electric vehicle with respect to a first linear degree of freedom; and a second drive system with a second linear operative direction, said second drive system autonomously moving said horizontal charging arm part relative to the electric vehicle with respect to a second linear degree of freedom.

17. The charging system according to claim 16, wherein said first linear operative direction and said second linear operative direction together form an angle of between 45° and 135°.

18. The charging system according to claim 16, wherein said first linear operative direction of said first drive system forms an angle of at most 45° with a horizontal transverse direction of the charging system.

19. The charging system according to claim 16, wherein said second linear operative direction of said second drive system forms an angle of at most 10° with a vertical spatial direction.

20. The charging system according to claim 16, which further comprises a third drive system with a third linear operative direction, said third drive system autonomously moving said vertical charging arm part relative to the electric vehicle with respect to a third linear degree of freedom.

21. The charging system according to claim 20, wherein said third linear operative direction of said third drive system forms an angle of at most 10° with a horizontal longitudinal direction of the charging system.

22. The charging system according to claim 16, which further comprises at least one of a pivot or tilt unit disposed in said vehicle-side end region of said horizontal charging arm part, said at least one of a pivot or tilt unit moving said vehicle-side end of said horizontal charging arm part with respect to at least one degree of freedom of rotation.

23. The charging system according to claim 16, which further comprises a charging plug disposed in said vehicle-side end region of said horizontal charging arm part, and a fourth drive system with a fourth linear operative direction, said fourth drive system allowing said charging plug to be at least one of plugged into or unplugged from a charging socket of the vehicle to be charged.

24. The charging system according to claim 16, wherein said charging cable is configured for charging the electric vehicle with direct current.

25. The charging system according to claim 24, wherein said charging cable is configured for charging the electric vehicle with at least one of a charging current of at least 125 A or a charging voltage of at least 125 V.

26. The charging system according to claim 16, wherein the charging system is configured for use outdoors.

27. The charging system according to claim 16, which further comprises at least one sensor unit for determining a position of a charging socket of the electric vehicle to be charged.

28. The charging system according to claim 16, which further comprises: a first charging device including said vertical charging arm part, said charging cable or busbar, and said horizontal charging arm part; a second charging device including a vertical charging arm part, a charging cable or busbar, and a horizontal charging arm part being elongate and configured to be extended from said vertical charging arm part of said second charging device toward the electric vehicle; said first and second charging devices being disposed to permit positioning of the electric vehicle to be charged between said first and second charging devices.

29. A method for autonomous charging of an electric vehicle, the method comprising: providing a charging system according to claim 16; positioning the electric vehicle to be charged in a vehicle region of the charging system; autonomously ascertaining a target position for said vehicle-side end of said horizontal charging arm part; autonomously positioning said vehicle-side end of said horizontal charging arm part in said target position; and at least extending said horizontal charging arm part toward the electric vehicle by using said first drive system.

30. The method according to claim 29, which further comprises at least: detecting measurement data dependent on a position of a charging unit of the electric vehicle by using a sensor unit of the charging system; and determining said target position for the vehicle-side end of said horizontal charging arm part by using an evaluation unit of the charging system based on the detected measurement data.

31. The method according to claim 30, which further comprises, in step, performing the determination of said target position based on measurement data at least in part by using a trainable neural network of said evaluation unit.

Description

[0066] The invention will be described hereinafter on the basis of some preferred exemplary embodiments with reference to the appended drawings, in which:

[0067] FIG. 1 shows an illustration of a charging system according to a first exemplary embodiment in a schematic view,

[0068] FIG. 2 shows the charging system of FIG. 1 in a schematic longitudinal view,

[0069] FIG. 3 shows the charging system of FIGS. 1 and 2 in a schematic cross-section, and

[0070] FIGS. 4 to 7 show detailed views of charging systems according to further exemplary embodiments in schematic cross-section.

[0071] In the figures, like or functionally like elements are provided with like reference signs.

[0072] FIG. 1 shows a charging system 1 according to a first exemplary embodiment of the invention in a schematic plan view in the x-y-plane. The charging system 1 comprises a vehicle region 3, in which an electric vehicle 5 to be charged can be positioned. In this case, the x-direction is the horizontal longitudinal direction of the vehicle, and the y-direction is the horizontal transverse direction perpendicular thereto. The z-direction, not shown here, is the vertical spatial direction perpendicular to the drawing plane. The corresponding side view of the charging system 1 in the x-z-plane is shown in FIG. 2, and the corresponding schematic cross-sectional illustration is shown in FIG. 3.

[0073] The charging system in this example has two charging devices 1a and 1b, by means of which the electric vehicle can be charged both from the right and from the left. In principle, however, only one such charging device is sufficient to realize the inventive concept. The two charging devices are electrically connected by a transverse connection 2 indicated here only very schematically. In the region of the first charging device 1a, there is arranged a charging post 11, via which both the charging devices are electrically connected to a superordinate power grid. The charging post 11 thus serves to control and forward a charging current to the other sub-elements of the charging system 1.

[0074] The charging system 1 also comprises a sensing unit 16, which serves to ascertain the vehicle position and in particular to ascertain the position of the charging socket 5a on the vehicle 5. For example, the sensor unit 16 can be an optical camera. In FIG. 1, the sensor unit 16 is shown on the charging post merely by way of example. Alternatively, such a sensor unit can also be arranged at another point, in particular particularly preferably at a vehicle-side charging arm end 21a. Here, the arrangement of such a sensor unit 16 in only one of the charging devices provided is sufficient in principle. The data measured by the sensor unit 16 are in any case forwarded to an evaluation unit 17, which is shown here, merely by way of example, likewise in the region of the charging base. Alternatively, such an evaluation unit 17 can also be arranged at another point, in particular particularly preferably in the region of the rail system 15. The evaluation unit automatically ascertains from the sensor data a target position for the vehicle-side end 21a of the horizontal charging arm part. Furthermore, the charging system comprises a control unit 18, by means of which the movements of the vertical (13) and horizontal charging arm part (21) and their sub-components can be controlled. This control unit can also be arranged in principle in another region of the charging system.

[0075] The vehicle 5 in FIG. 1 has a charging socket 5a in the left rear vehicle region. The shown example vehicle is therefore charged from the first charging device 1a. In order to produce an electrical connection between the charging post 11 and the charging socket 5a of the vehicle, each of the charging devices 1a, 1b has a charging cable, not shown here in greater detail. In order to bring this charging cable into contact with the charging socket 5a, each of the charging devices furthermore comprises three drive systems 31, 41 and 15 with linear operative directions, which together allow a movement of the vehicle-side charging arm end in a plurality of spatial directions. The charging system 1 of the first exemplary embodiment thus allows a translational movement of the charging arm end in question in all three spatial directions x, y and z. This is not absolutely necessary, however. Rather, it is sufficient if movements with respect to two translational degrees of freedom are made possible.

[0076] As essential components, each of the charging devices 1a and 1b here comprises a vertical charging arm part 13. These vertical charging arm parts 13 extend in the z-direction and raise the charging cable to the height of the charging socket 5a. The vertical charging arm part in question is arranged movably in the x-direction via an associated rail system 15. This rail system 15 forms a drive system with the linear operative direction c, wherein this operative direction c coincides here with the x-direction. The vertical charging arm part is thus movable and not stationary. The charging system can thus be adapted to different x-positions of the charging socket on the vehicle and/or to different parked positions of the vehicle.

[0077] The vertical charging arm part 13 in question carries an associated horizontal charging arm part 21, by means of which the charging cable can be guided in the y-direction into the region of the charging socket 5A. This horizontal charging arm part 21 can be extended in the direction of the vehicle to be charged and retracted in the direction of the vertical charging arm part 13.

[0078] It can be seen in FIGS. 1 and 3 that the horizontal charging arm part 21 of the first charging device 1a is extended and the horizontal charging arm part (not visible here) of the second charging device 1b is retracted. The horizontal charging arm part in question, at the vehicle-side end, carries a charging head, in which there is integrated a charging plug, not shown here in greater detail.

[0079] The vertical height (that is to say the z-position) of the charging head 22 can be adapted to the height of the particular charging socket. This possibility can be realized in different ways, for example by changing the vertical extent of the vertical charging arm part 13 via the shown telescopic system 41. Alternatively, for example, the vertical position of the horizontal charging arm part 21 on the vertical charging arm part 13 can also be varied via a slide system.

[0080] The y-position of the charging head 22 can be adapted to the position of the charging socket 5a by extending the horizontal charging arm part on the relevant vehicle side by a suitable distance in the direction of the vehicle. In this way, differences in the width of the vehicles to be charged and differences in the various parked positions can be compensated. Due to these differences, the vehicle side 6 facing the relevant vertical charging arm part 13 can have different y-positions, as indicated by a double arrow around the position 6 in the lower part of FIG. 3. The horizontal charging arm part 21 therefore has a correspondingly large possible extension path, in order to bridge the varying horizontal distance between the vertical charging arm part and the particular charging socket. The minimum necessary extension path of the horizontal charging arm part is provided here by the minimum safety distance 7, which must be ensured when parking between the retracted horizontal charging arm part and the corresponding vehicle side 6. This safety distance 7 can lie for example in the region of approximately 20 cm.

[0081] In the exemplary embodiment of FIGS. 1 to 3, the horizontal charging arm part 21 comprises a push-pull chain as carrying element, so that the extension and retraction of the horizontal charging arm part can be realized by a corresponding extension and retraction of the push-pull chain. The part of the horizontal charging arm part between the vertical charging arm part 13 and charging head 22 is formed here primarily by this push-pull chain. This push-pull chain system thus also forms a drive system with linear operative direction a, wherein this operative direction a coincides here with the y-direction.

[0082] A cross-sectional illustration of a charging system 1 according to a second exemplary embodiment of the invention is shown in FIG. 4. This charging system, for example, can be constructed on the whole similarly to the charging system from FIGS. 1 to 3. Here, FIG. 4 shows a detailed view in the region of the vertical charging arm part 13, wherein in FIG. 4 the horizontal charging arm part 21 is extended. The entire charging arm is arranged on a base 23 so as to be movable in the x-direction via an associated rail system 15 (not shown in greater detail in this sectional view).

[0083] As can be clearly seen in FIG. 4, in the extended state a large part of the horizontal charging arm part 21 is formed by a push-pull chain 31 of length l. This push-pull chain 31 has multiple chain links (not shown here in greater detail), which in the extended state engage in one another interlockingly, so that the push-pull chain is self-stiffening. In the retracted state, this push-pull chain by contrast is rolled up and thus accommodated in a space-saving manner in a chain box 33, which is arranged in the region of the vertical charging arm part 13. At the vehicle-side end 21a of the horizontal charging arm part, the push-pull chain 31 has an endpiece 35, which carries the charging head 22. A charging plug 27 is integrated in this charging head 22 and can be plugged into a matching charging socket of a vehicle to be charged.

[0084] The charging head furthermore carries a vehicle-side end 25a of a charging cable 25, which is entrained by the horizontal charging arm part in the direction of the vehicle to be charged. In the example of FIGS. 4 and 5, this charging cable 25 is thus carried in a manner hanging relatively freely from the horizontal charging arm part 21. It is mechanically fixed merely at a point to the charging head 22 and additionally in the region of the vertical charging arm part 13. Alternatively, however, the charging cable can also be guided closer to the push-pull chain 31 and in particular can also be integrated therein. The maximum extension path Δs is given generally by the difference in the chain length l between the maximally extended state and the maximally retracted state. For example, with a sufficiently long chain strand, an extension path in the range between 20 cm and 150 cm can be realized.

[0085] With a self-stiffening embodiment of the push-pull chain 31, a sufficiently high rigidity can be achieved, so that the push-pull chain is self-supporting. It is thus rigid enough in particular to carry not only its own weight, but also to support the weight of the charging cable 25 and of the charging head 22 and additionally to apply the necessary plugging force for plugging in the charging plug. The height h of the horizontal charging arm part 21 above the ground 8 is to be substantially maintained over the extension path. For example, the force of gravity Fg acting in the region of the charging head does not result in an excessive vertical sagging of the horizontal charging arm part. A slight drooping towards the vehicle, for example in the range of a few millimeters to a few centimeters, can also certainly be tolerated under some circumstances. It is merely essential that the horizontal charging arm part is sufficiently rigid to extend the charging head horizontally far enough in the direction of the charging socket and at the same time to meet the height of the charging socket of the vehicle within the scope of the necessary positioning accuracy.

[0086] The push-pull chain 31 of the horizontal charging arm part is configured to transfer to the charging head 22 both a pushing force Fs towards the vehicle and a pulling force Fz away from the vehicle. Here, the pushing force serves to plug the charging plug 27 into the charging socket. Conversely, the pulling force Fz serves to remove the charging plug 27 again from the charging socket. The particular movement of the push-call chain in the y-direction is brought about here by a drive 34, which is arranged here in the region of the chain box.

[0087] A detailed view of a charging system 1 according to a third exemplary embodiment of the invention is shown in FIG. 5. The main difference from the charging system of FIG. 4 is that the first and the second linearly acting drive system are realized differently. For the rest, however, the charging system is embodied similarly to the previous example. For example, the first drive system is realized here as a slide system 32, in which the horizontal charging arm part 21 has a plurality of slide elements, which are movable in translation relative to one another along the first linear operative direction a. By way of example, only two arm elements 32a and 32b are shown here, specifically a slide 32b which can slide on a carrier element 32a. However, more sub-elements of this kind can also be provided, wherein the relative movement of adjacent elements is then to run always along the same operative direction a. Here too, the a-direction coincides with the y-direction of the system.

[0088] A further difference from the example of FIG. 4 is that the second drive system is also realized as a slide system 42, in which one slide 43 (which carries the horizontal charging arm part 21) can slide up and down in a vertical guide rail 44 within the vertical charging arm part. The second linear operative direction therefore also corresponds here substantially to the z-direction.

[0089] A detailed view of a charging system 1 according to a fourth exemplary embodiment of the invention is shown in FIG. 6. The first and second drive are again realized similarly to the example of FIG. 4. The main difference from the charging system of FIG. 4 is that the horizontal charging arm part is mounted on the vertical charging arm part in a manner suspended at an incline. Accordingly, the first linear operative direction a is also not parallel to the y-axis, and instead forms an angle α therewith. This facilitates a plugging of the charging plug 27 into a charging socket arranged correspondingly at an incline. In order to allow an adaptation to the installation position of the charging socket to be approached, the corresponding angle at which the horizontal charging arm part 21 protrudes from the vertical charging arm part can also generally advantageously be variable via an autonomously controllable tilt element, not shown here in greater detail.

[0090] A detailed view of a charging system 1 according to a fifth exemplary embodiment of the invention is shown in FIG. 7. In this case, the first and the second drive are realized similarly to the example of FIG. 5. The main difference from the charging system of FIG. 5 is that the charging head in the end region 21a of the horizontal charging arm part has a pivot-tilt unit 51. This allows the charging head to be tilted in the yz-plane (as indicated by the double arrow r.sub.yz) and additionally allows a second rotation, for example a pivoting in the xy-plane. As a result, even in the case of a horizontal charging arm part 21, the orientation of the charging plug 27 can be adapted to a charging socket installed at an incline. A rotation in the xz-plane is additionally possible optionally. Furthermore, the charging system 1 of FIG. 7 has a fourth linearly acting drive system 61. The linear operative direction of this drive system is denoted by d. Here, d (as in the shown position of the pivot-tilt unit 51) can optionally lie at an incline depending on the position of the pivot-tilt unit 51, that is to say can form an angle different from zero with the y axis and thus also with the operative direction a. The fourth drive system, for example, can comprise a true linear drive. Generally and regardless of the apparatus set up, the travel path of this fourth drive can be relatively short. For example, a travel path of less than 10 cm is generally sufficient in order to plug a charging plug 27 into a corresponding charging socket. Additionally to such a plug-in movement (in the positive d-direction), the fourth drive system 61 can also be configured to bring about an autonomous movement in a negative d-direction, in order to be able to automatically unplug the charging plug again, once the charging process is complete.

LIST OF REFERENCE SIGNS

[0091] 1 charging system [0092] 1a first charging device [0093] 1b second charging device [0094] 2 transverse connection [0095] 3 vehicle region [0096] 5 electric vehicle [0097] 5a charging socket (charging unit) [0098] 6 vehicle side [0099] 7 safety distance [0100] 8 ground [0101] 11 charging post [0102] 13 vertical charging arm part [0103] 15 rail system (third drive system) [0104] 16 sensor unit [0105] 17 evaluation unit [0106] 18 control unit [0107] 21 horizontal charging arm part [0108] 21a vehicle-side end of the charging arm [0109] 22 charging head [0110] 23 charging arm base on rail system [0111] 25 charging cable [0112] 25a vehicle-side end of the charging cable [0113] 27 charging plug [0114] 31 push-pull chain (first drive system) [0115] 32 slide system (first drive system) [0116] 32a first horizontal arm element (support element) [0117] 32b second horizontal arm element (slide) [0118] 33 chain box [0119] 34 chain drive [0120] 35 endpiece [0121] 41 telescopic system (second drive system) [0122] 42 slide system (second drive system) [0123] 43 slide [0124] 44 guide rail [0125] 51 pivot-tilt unit [0126] 61 fourth drive system [0127] α angle [0128] a first linear operative direction [0129] b second linear operative direction [0130] c third linear operative direction [0131] d fourth linear operative direction [0132] Fg force of gravity [0133] Fs pushing force [0134] Fz pulling force [0135] h height of the horizontal charging arm part [0136] l length of the extended push-pull chain [0137] r.sub.yz second degree of freedom of rotation [0138] x horizontal longitudinal direction [0139] y horizontal transverse direction [0140] z vertical spatial direction