WO2003015220A1 - System used to provide an electrical connection between a vehicle and a charging station or similar - Google Patents
System used to provide an electrical connection between a vehicle and a charging station or similar Download PDFInfo
- Publication number
- WO2003015220A1 WO2003015220A1 PCT/FR2002/002820 FR0202820W WO03015220A1 WO 2003015220 A1 WO2003015220 A1 WO 2003015220A1 FR 0202820 W FR0202820 W FR 0202820W WO 03015220 A1 WO03015220 A1 WO 03015220A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- station
- connector
- connectors
- terminals
- Prior art date
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Classifications
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
- H01R13/629—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances
- H01R13/631—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances for engagement only
- H01R13/6315—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances for engagement only allowing relative movement between coupling parts, e.g. floating connection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
- B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/31—Charging columns specially adapted for electric vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R2201/00—Connectors or connections adapted for particular applications
- H01R2201/26—Connectors or connections adapted for particular applications for vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Definitions
- the present invention relates to an assembly comprising a vehicle and a station distinct from the vehicle, each provided with a connector making it possible to electrically connect the vehicle to the station.
- WO 99/38237 describes a self-propelled robot having two contacts for establishing the electrical connection with two contacts of a charging station of the robot.
- the charging station has a ramp and side arms to guide and precisely position the vehicle relative to the station in order to establish electrical contact.
- US-A-5,523,666 describes an electric vehicle having a connector having two studs spaced vertically to connect the vehicle to a charging station.
- the connector of the charging station includes two horizontal conductor rails in each of which is inserted a pin of the connector of the vehicle. The length of the rails allows the vehicle to be connected without precise lateral positioning of it relative to the station.
- An object of the invention is to allow such a connection without the need for a user to manipulate the connectors, while ensuring a reliable connection.
- Another object is to allow its use on autonomous vehicles, that is to say which move without human intervention, such as wheeled robots. It is therefore a question of allowing autonomous vehicles to establish and interrupt the connection themselves without human intervention.
- the autonomous vehicle must be able to establish the connection itself reliably, but without requiring complex and costly technical means.
- one aim is that the vehicle can easily establish the connection with the station even if the latter is movable so that it can be placed at any location, while avoiding this requirement for flexibility in positioning the station. does not require complex and expensive technical means.
- Yet another object is to allow high currents to pass through the electrical connection, for example, ultra-rapid recharging currents of batteries which can be fitted to the vehicle. These currents can be much higher than 10 amps.
- the present invention provides an assembly comprising a vehicle capable of moving on a surface and a station distinct from the vehicle, each provided of a connector, in which the connectors are pluggable into each other with one of the connectors being able to assume any inserted position in a range of lateral and angular position of this connector in the other, the positions of said connector in the range extending in a plane parallel to the surface.
- the connectors are pluggable at a variable angle between them for any insertion point between the connectors.
- This arrangement allows an easy and simple connection of the vehicle with the station. For this, it suffices for example that the station is positioned so that its connector is at the same level as the vehicle connector. In this way, the alignment of the connectors is ensured in the vertical direction.
- a horizontal plane will be understood to mean a plane parallel to the surface on which the vehicle is moving and a vertical will be understood to mean a direction perpendicular to the surface on which the vehicle is moving.
- the track comprises a first position of said connector and a second position of said connector parallel to the first position, the first position being offset from the second position by at least 10 cm, preferably by at least 20 cm.
- the angular position range for any insertion point between the connectors is at least 10 °, preferably at least 25 °, or even more advantageously at least 60 °.
- one of the connectors comprises two terminals allowing two terminals of the other connector to be inserted between them.
- the two terminals of one of the connectors are pinched elastically between the two terminals of the other connector.
- the two terminals of one of the connectors are preferably parallel to each other. In addition, they can advantageously be flat. According to yet another variant, the terminals of one of the connectors are arranged in the form of a wedge in the direction of insertion with the other connector.
- the extent of said position range allows the simultaneous connection of several connectors of the type fitted to the vehicle on the connector of the station.
- the projection of the edge of insertion of the connector of the station on the plane containing said position range has a general shape in an arc of a circle or ellipse, preferably a quarter of a circle, a semicircle or a full circle.
- the vehicle is of the autonomous type.
- the station is provided with a beacon serving to guide the vehicle towards the connector of the station.
- the beacon is of the visual type and the vehicle comprises a vision system used to locate the beacon to guide the vehicle.
- the projection of the edge of insertion of the connector of the station on the plane containing said position range has a general shape in an arc of a circle or ellipse, preferably a quarter of a circle, a semi-circle or a complete circle, and in that the tag is placed at the right of the center of the arc of circle or ellipse.
- the vehicle includes an electric energy storage element, the station for recharging the energy storage element when the vehicle is connected to it.
- the station is a second vehicle, each of the vehicles being equipped with at least one electrical energy storage element, in which the first vehicle is provided for at least partially recharging the energy storage element the second vehicle from its own energy storage element when the first vehicle is connected to the second vehicle.
- the connectors plugged into each other have between them an electrical contact of surface type. Furthermore, the connectors are preferably provided for establishing the electrical connection between the vehicle and the station for a range of depth of insertion of one of the connectors into the other.
- the invention also relates to the vehicle of these embodiments.
- the invention also relates to the station of these embodiments.
- the invention also provides a method of supplying electric current to a vehicle by a station, the vehicle and the station forming an assembly according to the invention.
- the method comprises the steps of: a) plugging the connector of the vehicle into the connector of the station, and b) supplying the vehicle with electric current supplied by the station via the connectors inserted one inside the other, the electric current being preferably greater than 10 amperes, more advantageously greater than or equal to 60 amperes.
- the current supplied by the station at least partially recharges an element for storing electrical energy of the vehicle.
- Step b) preferably comprises recharging the energy storage element at constant current to at least 50% of its storage capacity, more preferably up to 50 to 70% of its storage capacity.
- the constant current is preferably greater than
- step b) can advantageously comprises continuing to recharge the energy storage element at constant voltage.
- step b) comprises recharging the energy storage element to at least 50% of its storage capacity by an average current Im greater than or equal to 2 ⁇ C amperes, preferably greater than or equal to 4 x C amperes, with C the value of the storage capacity of the energy storage element expressed in ampere.hours.
- step b) can advantageously include the station's control of the charge of the energy storage element as a function of the charge voltage present at the station, said charge voltage being preferably measured across the terminals of the station connector.
- FIGS. 1a and 1b schematically represent a robot and a charging station according to an embodiment of the invention seen respectively from the side and from above.
- Figures 2a and 2b schematically illustrate the male and female connectors fitted to the robot and the station of Figures la and lb, seen respectively from the side and from above, the top view being on a smaller scale compared to that from the side.
- Figures 3a and 3b schematically illustrate another embodiment of the male and female connectors fitted to the robot and the station of Figures la and lb, seen respectively from the side and from above; the top view is on a smaller scale compared to the side view.
- the figure shows schematically an autonomous vehicle 1, in this case a Pioneer® type robot from the American company Activmedia, and a station 2 used to recharge the robot's batteries from the sector.
- the robot 1 has wheels 5 allowing it to move on the running surface 6.
- the running surface is generally flat and horizontal - horizontal being taken here in the strict sense of the term -, but could also be inclined.
- Station 2 is placed on the running surface 6.
- the robot 1 is provided with a male connector 3 and station 2 is provided with a corresponding female connector 4.
- the male 3 and female 4 connectors are both located at the same level with respect to the running surface 6. In this way, the two connectors are always aligned vertically.
- the robot 1 causes the male connector 3 to be plugged into the female connector 4 by positioning itself in front of the station 2 so that its male connector 3 faces the female connector 2. It is then enough for the robot 1 to advance the male connector 3 towards the female connector
- the displacement of the connector can simply be obtained by the displacement of the robot 1 towards the station 2.
- the male connector 3 can be fixedly arranged on the robot 1 in a place accessible by the female connector 4 during the movement of the robot 1. It may in particular be projecting at the front or rear of the robot 1.
- the robot 1 comprises a jack on which the male connector 3 is mounted, the jack making it possible to move the connector 3 horizontally towards the female connector 4 of the station 2 up to plug-in.
- the jack can be pivotally mounted around a vertical axis on the robot 1 with a motor allowing the angular position of the jack to be varied around the axis. In this way, the robot 1 can move the connector along different horizontal directions without having to move.
- the robot 1 can also be provided to vary the vertical position of the connector 3 provided that it can position it at the predetermined height corresponding to that of the connector 4 of the station.
- the male connector 3 is designed to be able to be inserted into the female connector 4 for a horizontal positioning range of the male connector 3 opposite the female connector 4.
- the size of this positioning range is preferably determined to be sufficient by relative to the positioning accuracy opposite the connector 4 of the station 2 that the robot 1 is capable of ensuring.
- the lateral positioning range - by horizontally shifting one of the connectors parallel to itself - preferably has a minimum length of 10 cm - more advantageously 20 cm - in consideration of its system of vision and the U-turn maneuver it performs during plugging which will be described later.
- the connectors are preferably pluggable - for any point of insertion between the connectors - at a variable angle between them, the angular interval preferably being at least 10 °, more advantageously at least 25 °, or preferably at least 60 °. We can thus consider an angle close to or at least 60 °, which is even more advantageous.
- Figures 2a and 2b illustrate an embodiment of the male and female connectors.
- the male connector 3 has the general shape of a spoiler. It comprises an insulating support 12 - for example plastic or bakelite - having an upper face and a lower face each carrying a respective terminal 13 and 14 of the connector. Terminals 13 and 14 can be made in the form of conductive plates, for example made of copper. The terminals 13 and 14 are fixed to the support by any suitable means, for example using screws in a terminal area which does not serve as a contact surface with the terminals of the female connector 4. The terminals 13 and 14 are extend parallel to each other. In addition, the front ends of the terminals 13, 14 can be folded down to facilitate penetration of the terminals between those of the female connector 4.
- the connector 3 is fixed to the robot 1 preferably via the rear face of the support 12 by any suitable means such as screws.
- the terminals 13, 14 are in the form of plates parallel to each other, the connector 3 is fixed to the robot 1 so that they are horizontal.
- the terminals 13, 14 are connected to the electrical circuit of the robot 1 by any suitable means, for example electrical wires.
- the female connector 4 has the general shape of a jaw. It comprises two plates 16, 17 superimposed spaced apart. Seen from above, they each have the same semicircle shape. They are rigidly connected to each other in their rear part, along the straight segment of the semicircles, by a beam 18 of rectangular section. One of the two plates 16, 17 or both and / or the beam 18 are made of an insulating material such as plastic or bakelite.
- a conductive element 19 is arranged along the inner edge of the semicircle of the upper plate 16 - cf. the dotted line in Figure 2b. This conductive element 19 defines a first terminal of the female connector 4. It may for example be a copper braid advantageously resting on a strip of foam 21.
- a second terminal 20 is formed in the same way along the inner edge of the lower plate 17. The distance between the terminals 19 and 20 is defined to allow the terminals 13, 14 of the male connector 3 to be inserted between them.
- the female connector 4 is fixed to the station 2 by its right rear part by any suitable means such as screws passing through the beam 18 or brackets fixed on the plates 16 and 17.
- the terminals 19, 20 are connected to the charger of the station 2 by any suitable means such as electric wires.
- the female connector 4 is fixed to the station 2 so that the terminals 19 and 20 extend generally horizontally. Furthermore, the female connector 4 is fixed to the station 2 at a level corresponding to that of the male connector 3 of the robot 1.
- FIG. 1a illustrates the overall situation of the robot 1 with its male connector 3 and its two terminals 13, 14 and the station 2 with its female connector 4 and its two terminals 19, 20.
- the connector insertion operation is carried out by the robot 1 in the manner already described, that is to say by means of the advance movement impregnated by the robot 1 with its male connector in order to insert it in the female connector. . It follows that the terminals 13, 14 are inserted between the terminals 19, 20. The terminal 13 is then in electrical contact with the terminal 19 and the terminal 14 with the terminal 20.
- the configuration of the connectors allows the plugging of the male connector 3 in the female connector 4 both following a lateral and angular positioning range.
- the male connector has been shown in dotted lines 3 ′ in a position inserted in the female connector 4 with an angular offset A relative to the ideal direction of insertion which coincides with the radius.
- the interval of the values of the angle A allowing the insertion between the two connectors is preferably at least 10 °, more preferably at least 25 °. In this embodiment, this interval is in fact greater than or equal to 60 °.
- the foam strips 21 are advantageously provided to give elasticity to the braids 19, 20 - or other conductive elements - forming the terminals of the female connector 4. This elasticity makes it possible to provide contact pressure between the terminals of the two connectors in order to ensure low contact resistance during current flow.
- the section of the foam strips 21 may be wedge-shaped narrowing towards the edge of the plates 16, 17. This facilitates the insertion between them of the terminals of the male connector 3, provides self-alignment in the vertical direction and ensures an increasing increase of the contact pressure between the terminals of the two connectors.
- the plates 16, 17 may also have an elasticity contributing to this progressive increase in the contact pressure between the terminals as and when insertion. Obviously, the insertion effort of the male connector is provided by the robot 1.
- the plates 13, 14 are arranged on a wedge-shaped support 12 which tapers towards the front of the male connector 3. This makes it possible to increase the effect of increasing the contact pressure as and when measurement of the insertion of the male connector 3 into the female connector 4.
- the sizing of the connectors can be as follows:
- the insertion of the connectors by the robot 1 makes it possible to pass 60 amps or more through the connection even when the male connector 3 is not fully inserted in the female connector 4.
- the voltage drop generated by the two contacts between terminals remain weak, of the order of 10 millivolts in the case of complete insertion and approximately 50 mV in the event of partial insertion.
- the ultra-rapid charge of a battery is characterized by the application of a current raised to it to at least partially recharge the battery.
- it may include recharging the battery up to at least 50% of its storage capacity by an average current Im greater than or equal to 2 x C amperes, preferably greater than or equal to 4 x C amperes, with C the value of the storage capacity of l energy storage element expressed in ampere hours.
- the ultra-fast charge can be characterized by applying a constant and high current to the battery for a certain period of time to recharge it to an energy level of the order of 50 to 70% of its capacity, then charging continues at constant voltage.
- the robot 1 can be equipped with batteries allowing such ultrafast recharges.
- Station 2 is therefore equipped with a suitable charger allowing such ultra-fast recharges.
- the robot 1 is equipped with a 12-volt battery of the Genesis G13 EPX type sold by the company Hawker and the station 2 includes a charger of the Tecpro II 12V 60A type sold by the French company Tecsup.
- the load curve is entirely managed by the charger.
- recharging takes place at a maximum constant current of 60 amps until the charger voltage reaches a threshold of 15 volts, which corresponds to recharging from 50 to 70% of the battery capacity. .
- the charger continues charging at a constant voltage equal to this threshold voltage up to 80 to 90% of the battery capacity.
- the ultra-rapid battery charging - which has a capacity of 13 Ah - takes place in approximately 30 minutes while the charging of standard batteries equipping this robot has the same energy level is carried out at a maximum current of 4 amps and takes 180 minutes.
- the robot 1 orients itself towards the station 2.
- the robot 1 is provided as standard with a camera 7 and an image recognition system.
- the station 2 is equipped with a visual beacon 8 which is arranged for example above the station 2. More particularly, it is advantageous that the beacon 8 is located vertically from the center of the semicircles of the plates 16, 17 or at least vertical to the axis of symmetry of these semicircles.
- the tag 8 includes an image that the robot 1 is able to recognize thanks to its camera 7 and its image recognition system.
- the robot 1 when the robot 1 decides to recharge its battery, it searches for the tag 8.
- the robot 1 can conventionally decide to recharge its battery when its voltage drops below a predetermined threshold or when the energy it a supplied exceeds a predetermined threshold, the energy supplied being determined by temporal integration of the supplied current which is easy to measure.
- the plugging can be done in any portion of the terminals 18, 19 of the female connector 4, these being longer with respect to the terminals 13, 14.
- the semicircular shape of the female connector 4 facilitates plugging in regardless of the angle with which the robot 1 arrives at the station 2. It suffices that the robot 1 aims at the center of the semicircle of the plates 16, 17 thanks to the tag 8. In addition, the plugging takes place even if the male connector 3 is not present perpendicularly to the rounded edges of the plates 16, 17.
- the semi-circular - or even semi-elliptical - shape of the female connector 4 is particularly advantageous when the charger is intended to be placed against a wall.
- the female connector 4 can be circular or elliptical, and therefore surround the station 2, in the case where the station 2 is intended to be placed in the middle of a room.
- the tag 8 is adapted to be visible in all directions.
- the connector 4 can be in the form of a quarter of a circle if the station 2 is intended to be placed in the angle formed by two walls.
- the robot 1 has two driving wheels situated at one end of it as is the case with the Pioneer® robot, it is advantageous to have the connector 3 on its opposite side to avoid the risk of loss of grip of the wheels on the running surface 6 when the connectors are plugged in.
- the drive wheels are located at the front as well as the camera 7.
- the robot 1 can be programmed to advance towards the station 2 - with the camera 7 looking at the beacon 8 - up to abut against the station 2.
- the robot 1 then performs a U-turn maneuver to present its rear with the male connector 3 towards the station 2. It then suffices to move back to insert the male connector 3 into the female connector 4.
- the robot 1 will be able to stop pushing connector 3 into connector 2 depending on the mechanical resistance encountered, which indicates that plugging is done. To this end, it can measure the increase in currents consumed by propulsion engines.
- the robot 1 releases connector 3 from connector 4 by moving in the opposite direction. It is advantageous that when it is not connected to the station 2, the robot 1 disconnects its battery - or other electrical circuit - from the connector 3. For this, the terminals 13, 14 of the connector 3 are connected to the terminals of the battery via the contacts of a relay controlled by the robot or similar. Thus, there is no risk of short circuit between the terminals 13, 14 in the case where the robot 1 strikes with its connector 3 a conductive obstacle.
- the relay control process can be as follows. Station 2 applies a no-load voltage - of the order of 4 volts in our example - to terminals 19, 20 of connector 4.
- the robot 1 can simply check whether this voltage is present on terminals 13, 14 of its connector 3. If so, it closes its relay to connect its battery to the terminals 13, 14 on which we will find its voltage of about 12 volts. The charger at station 2 detects this voltage and then applies the charging program. Robot 1 can also check the flow of current dump. Otherwise, he can, for example, start the plug-in maneuver again or free himself to search for another loading station.
- the robot 1 may include safety devices relating to the charging of the battery such as an overvoltage detector at the level of the battery or a too high battery temperature detector, and which if necessary disconnects the battery from the connector 3 .
- safety devices relating to the charging of the battery such as an overvoltage detector at the level of the battery or a too high battery temperature detector, and which if necessary disconnects the battery from the connector 3 .
- the present invention is not limited to the examples and to the embodiment described and shown, but it is susceptible of numerous variants accessible to those skilled in the art.
- the connector arranged on the robot 1 can be of the female type and that of the station
- the station 2 is therefore of the male type.
- the length of the terminals of the connector arranged on the station 2 may be such that it allows the simultaneous insertion of several connectors of the opposite type therefore corresponding to several vehicles to allow their batteries to be recharged simultaneously on the same charging station.
- the station 2 can correspond to a second robot.
- One of the robots can then assist the other robot in the event that its battery is discharged to the point of no longer being able to reach a recharging station as described above.
- This robot can then warn the other robot of this situation, for example by radio link.
- the other robot spots the first one and goes over to connect to it. He then partially recharges the battery of this robot thanks to his own to allow him to move to the charging station.
- the location of the robot can be done using a visual tag or the like placed thereon.
- FIGS. 2a and 2b The design of connectors 3 and 4 is also susceptible to numerous variations.
- Figures 3a and 3b illustrate one.
- the male connector 3 is identical to that of FIGS. 2a and 2b.
- the female connector 4 has differences. Only the differences will be exposed.
- the plates 16, 17 have a front edge which is straight instead of circular, but it could also be circular or elliptical.
- the right front edge is preferably connected obliquely to the side edges.
- the terminals 19 and 20 are each formed by a copper strip arranged along the front edge - and also along the lateral oblique edges - on the inside of the plates 16, 17. These copper strips are fixed directly to the surface of the plates 16, 17 without the intermediary of elastic foam 21.
- the lower plate 17 is rigidly fixed on the beam 18.
- the upper plate 16 rests freely on the beam 18.
- the two plates 16, 17 are kept separated by two free spacers 25 arranged between them.
- the spacers 25 are each traversed by a screw 22 provided with a nut 23.
- a spring 24 is supported on the nut 23 and presses the upper plate 16 towards the corresponding spacer 25.
- the springs 24 thus provide elasticity to the jaw formed by the two terminals 19, 20 when the male connector 2 is inserted.
- front edges of the plates 16, 17 can be bevelled to facilitate insertion.
- the connector 3 can be wedge-shaped to create a gradual increase in the contact pressure between the terminals.
- the nuts 23 advantageously make it possible to adjust the contact pressure between the terminals to a desired level.
- the sizing of the terminals can be such that the male connector can be provided along a whole lateral range in front of the female connector to allow plugging.
- the absence of a lateral stop between the plates 16, 17 also allows partial insertion of the male connector 3 at the lateral ends of the female connector 4, in other words the terminals 13, 14 protrude laterally from the terminals 19, 20.
- the contact surface may remain sufficient to carry high currents.
- the plug-in remains possible and sufficient contact is established to convey high currents, even if the male connector is biased relative to the female connector during the plug-in. Compared to the previous one, this embodiment has less wear on the terminals as a function of the number of plugs made.
- the invention is particularly advantageous since the vertical alignment of the connectors is always ensured due to the identity of the levels at which the connectors are placed. It does not matter whether the flat surface is tilted. Likewise, lateral alignment is not a problem because of the large lateral positioning range allowed to allow the correct insertion of the connectors. Thus, the only classic visual recognition of the robot is sufficient to allow the establishment of the connection. It is not necessary to add other sensors or guiding systems such as rails to ensure plugging. In addition, the station can be quickly moved to another location while ensuring that the robot will continue to find it to connect to it, and this without having to move a guide infrastructure of the rail or other type.
- the invention can be implemented on any type of robot such as for example automatic lawn mowers or autonomous vacuum cleaners. Furthermore, it can also be installed on vehicles that are not autonomous, but driven by humans, such as electric cars.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0110581 | 2001-08-07 | ||
FR0110581A FR2828589B1 (en) | 2001-08-07 | 2001-08-07 | ELECTRIC CONNECTION SYSTEM BETWEEN A VEHICLE AND A CHARGING STATION OR THE LIKE |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2003015220A1 true WO2003015220A1 (en) | 2003-02-20 |
Family
ID=8866373
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2002/002820 WO2003015220A1 (en) | 2001-08-07 | 2002-08-07 | System used to provide an electrical connection between a vehicle and a charging station or similar |
Country Status (2)
Country | Link |
---|---|
FR (1) | FR2828589B1 (en) |
WO (1) | WO2003015220A1 (en) |
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FR2828589B1 (en) | 2003-12-05 |
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