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 PDF

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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
Application number
PCT/FR2002/002820
Other languages
French (fr)
Inventor
François SEMPE
Didier Marquet
Original Assignee
France Telecom
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by France Telecom filed Critical France Telecom
Publication of WO2003015220A1 publication Critical patent/WO2003015220A1/en

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Classifications

    • HELECTRICITY
    • H01ELECTRIC ELEMENTS
    • H01RELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/62Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
    • H01R13/629Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances
    • H01R13/631Additional 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
    • H01R13/6315Additional 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L53/00Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10Methods 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
    • B60L53/14Conductive energy transfer
    • B60L53/16Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L53/00Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30Constructional details of charging stations
    • B60L53/31Charging columns specially adapted for electric vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L53/00Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30Constructional details of charging stations
    • B60L53/35Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/36Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
    • HELECTRICITY
    • H01ELECTRIC ELEMENTS
    • H01RELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R2201/00Connectors or connections adapted for particular applications
    • H01R2201/26Connectors or connections adapted for particular applications for vehicles
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/70Energy storage systems for electromobility, e.g. batteries
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies relating to charging of electric vehicles
    • Y02T90/12Electric charging stations
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies relating to charging of electric vehicles
    • Y02T90/14Plug-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

The invention relates to a system that is used to provide an electrical connection between a vehicle and a charging station or similar. The invention comprises a vehicle (1) which can move on a surface and a station (2) which is distinct from the vehicle. Both the vehicle and the station are provided with connectors (3; 4). The connectors (3; 4) can be plugged into one another and one of said connectors can occupy any plugged-in position included in a range of lateral and angular positions for plugging said connector into the other, said positions extending in a plane that is parallel to the surface. Preferably, one (4) of the connectors comprises two terminals (19; 20) between which two terminals (13; 14) belonging to the other connector (3) can be inserted. The inventive assembly enables a vehicle (1) battery to be charged very quickly by the station (2).

Description

SYSTEME DE CONNEXION ELECTRIQUE ENTRE UN VEHICULE ET UNE ELECTRICAL CONNECTION SYSTEM BETWEEN A VEHICLE AND A
STATION DE RECHARGE OU SIMILAIRERECHARGE STATION OR THE LIKE
La présente invention concerne un ensemble comprenant un véhicule et une station distincte du véhicule, munis chacun d'un connecteur permettant de connecter électriquement le véhicule à la station.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.
Il est connu de US-A-5,272,431 un véhicule électrique muni d'un connecteur de forme conique s'insérant dans un connecteur d'une station de recharge pourvu d'une forme en entonnoir servant à guider le connecteur du véhicule jusque dans celui de la station.It is known from US-A-5,272,431 an electric vehicle provided with a conical connector inserting into a connector of a charging station provided with a funnel shape serving to guide the connector of the vehicle into that of the station.
WO 99/38237 décrit un robot automoteur présentant deux contacts pour établir la liaison électrique avec deux contacts d'une station de recharge du robot. La station de recharge présente une rampe et des bras latéraux pour guider et positionner de façon précise le véhicule par rapport à la station dans le but d'établir le contact électrique. US-A-5,523,666 décrit un véhicule électrique présentant un connecteur ayant deux plots espacés verticalement pour connecter le véhicule à une station de recharge. Le connecteur de la station de recharge comprend deux rails conducteurs horizontaux dans chacun desquels vient s'insérer un plot du connecteur du véhicule. La longueur des rails permet la connexion du véhicule sans positionnement latéral précis de celui-ci par rapport à la station. II existe un besoin de permettre une connexion électrique simple et fiable entre un véhicule et une station distincte du véhicule servant par exemple à recharger les batteries du véhicule. Un but de l'invention est de permettre une telle connexion sans qu'il soit nécessaire qu'un utilisateur ait à manipuler les connecteurs, tout en assurant une connexion fiable.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. There is a need to allow a simple and reliable electrical connection between a vehicle and a station distinct from the vehicle used, for example, to recharge the vehicle batteries. 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.
Un autre but est de permettre son utilisation sur des véhicules autonomes, c'est-à-dire qui se déplacent sans intervention humaine, tels que des robots roulants. Il s'agit alors de permettre aux véhicules autonomes d'établir et d'interrompre eux-mêmes la connexion sans intervention humaine. Le véhicule autonome doit pouvoir établir lui-même la connexion de manière fiable, mais sans pour autant nécessiter des moyens techniques complexes et coûteux. Par ailleurs, un but est que le véhicule puisse aisément établir la connexion avec la station même si celle-ci est déplaçable de sorte qu'elle soit éventuellement placée à un endroit quelconque, tout en évitant que cette exigence de flexibilité de positionnement de la station ne nécessite des moyens techniques complexes et coûteux.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. Furthermore, 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.
Un autre but encore est de permettre de faire passer par la connexion électrique des courants élevés, par exemple, des courants de recharge ultrarapide de batteries pouvant équiper le véhicule. Ces courants peuvent être nettement supérieurs à 10 ampères.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.
A cette fin, la présente invention propose un ensemble comprenant un véhicule susceptible de se déplacer sur une surface et une station distincte du véhicule, munis chacun d'un connecteur, dans lequel les connecteurs sont enfichables l'un dans l'autre avec l'un des connecteurs pouvant prendre une position enfichée quelconque dans une plage de position latérale et angulaire de ce connecteur dans l'autre, les positions dudit connecteur dans la plage s 'étendant dans un plan parallèle à la surface. Ainsi, les connecteurs sont enfichables suivant un angle variable entre eux pour un point d'enfichage quelconque entre les connecteurs. Cet agencement permet une connexion facile et simple du véhicule avec la station. Pour cela, il suffit par exemple que la station soit positionnée de façon à ce que son connecteur soit au même niveau que le connecteur du véhicule. De la sorte, l'alignement des connecteurs est assuré dans la direction verticale. Par ailleurs, le positionnement horizontal du connecteur du véhicule par rapport au connecteur de la station est facile à assurer par le véhicule en raison de l'existence de la plage de position d'un connecteur par rapport à l'autre qui s'étend horizontalement. Autrement dit, le véhicule n'aura pas besoin d'assurer un positionnement horizontal précis pour enficher les connecteurs. Cela évite de devoir mettre en œuvre des moyens complexes pour permettre un positionnement adéquat. Par convention, on entendra par plan horizontal un plan parallèle à la surface sur laquelle se déplace le véhicule et on entendra par vertical, une direction perpendiculaire à la surface sur laquelle se déplace le véhicule.To this end, 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. Thus, 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. Furthermore, the horizontal positioning of the connector of the vehicle relative to the connector of the station is easy to ensure by the vehicle because of the existence of the range of position of one connector relative to the other which extends horizontally . In other words, the vehicle will not need to ensure precise horizontal positioning to plug in the connectors. This avoids having to use complex means to allow adequate positioning. By convention, 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.
Selon une variante, la plage comprend une première position dudit connecteur et une deuxième position dudit connecteur parallèle à la première position, la première position étant décalée de la deuxième position d'au moins 10 cm, de préférence d'au moins 20 cm.According to a variant, 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.
Selon encore une variante, la plage de position angulaire pour un point d'enfichage quelconque entre les connecteurs est d'au moins 10°, de préférence d'au moins 25°, ou encore plus avantageusement d'au moins 60°.According to another variant, 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 °.
Selon une autre variante, l'un des connecteurs comprend deux bornes permettant d'insérer entre elles deux bornes de l'autre connecteur.According to another variant, one of the connectors comprises two terminals allowing two terminals of the other connector to be inserted between them.
Selon encore une variante, les deux bornes de l'un des connecteurs sont pincées élastiquement entre les deux bornes de l'autre connecteur.According to another variant, the two terminals of one of the connectors are pinched elastically between the two terminals of the other connector.
Les deux bornes de l'un des connecteurs sont de préférence parallèles entre elles. De plus, elles peuvent avantageusement être planes. Selon encore une autre variante, les bornes de l'un des connecteurs sont disposées en forme de coin suivant la direction d'enfichage avec l'autre connecteur.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.
On peut également prévoir que l'étendue de ladite plage de position permette le branchement simultané de plusieurs connecteurs du type équipant le véhicule sur le connecteur de la station. Selon une variante, la projection du bord d'enfichage du connecteur de la station sur le plan contenant ladite plage de position présente une forme générale en arc de cercle ou d'ellipse, de préférence un quart de cercle, un demi-cercle ou un cercle complet. Selon encore une variante, le véhicule est du type autonome.It is also possible to provide that 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. According to a variant, 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. According to yet another variant, the vehicle is of the autonomous type.
Selon une autre variante, la station est pourvue d'une balise servant à guider le véhicule vers le connecteur de la station.According to another variant, the station is provided with a beacon serving to guide the vehicle towards the connector of the station.
Selon encore une autre variante, la balise est de type visuelle et le véhicule comprend un système de vision servant à repérer la balise pour guider le véhicule.According to yet another variant, the beacon is of the visual type and the vehicle comprises a vision system used to locate the beacon to guide the vehicle.
On peut également prévoir que la projection du bord d'enfichage du connecteur de la station sur le plan contenant ladite plage de position présente une forme générale en arc de cercle ou d'ellipse, de préférence un quart de cercle, un demi-cercle ou un cercle complet, et en ce que la balise est placée au droit du centre de l'arc de cercle ou d'ellipse. Selon une variante, le véhicule comprend un élément de stockage d'énergie électrique, la station servant à recharger l'élément de stockage d'énergie lorsque le véhicule y est connecté.It can also be provided that 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. Alternatively, the vehicle includes an electric energy storage element, the station for recharging the energy storage element when the vehicle is connected to it.
Selon encore une variante, la station est un deuxième véhicule, chacun des véhicules étant équipé d'au moins un élément de stockage d'énergie électrique, dans lequel le premier véhicule est prévu pour recharger au moins partiellement l'élément de stockage d'énergie du deuxième véhicule à partir de son propre élément de stockage d'énergie lorsque le premier véhicule est connecté au deuxième véhicule.According to yet another variant, 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.
De façon avantageuse, les connecteurs enfichés l'un dans l'autre présentent entre eux un contact électrique de type surfacique. Par ailleurs, les connecteurs sont preférentiellement prévus pour établir la liaison électrique entre le véhicule et la station pour une plage de profondeur d'enfichage de l'un des connecteurs dans l'autre.Advantageously, 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.
L'invention concerne aussi le véhicule de ces modes de réalisation. L'invention concerne encore la station de ces modes de réalisation. Selon un autre aspect, l'invention propose aussi un procédé d'alimentation en courant électrique d'un véhicule par une station, le véhicule et la station formant un ensemble selon l'invention. Le procédé comprend les étapes de : a) enfichage du connecteur du véhicule dans le connecteur de la station, et b) alimentation du véhicule en courant électrique fourni par la station via les connecteurs enfichés l'un dans l'autre, le courant électrique étant de préférence supérieur à 10 ampères, plus avantageusement supérieur ou égal à 60 ampères.The invention also relates to the vehicle of these embodiments. The invention also relates to the station of these embodiments. According to another aspect, 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.
Dans un cas préféré, le courant fourni par la station recharge au moins partiellement un élément de stockage d'énergie électrique du véhicule.In a preferred case, the current supplied by the station at least partially recharges an element for storing electrical energy of the vehicle.
L'étape b) comprend preférentiellement la recharge à courant constant de l'élément de stockage d'énergie jusqu'à au moins 50% de sa capacité de stockage, plus preférentiellement jusqu'à 50 à 70% de sa capacité de stockage. Le courant constant est de préférence supérieur àStep 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
10 ampères, plus avantageusement supérieur ou égal à 60 ampères. De plus, l'étape b) peut comprend avantageusement la poursuite de la recharge de l'élément de stockage d'énergie à tension constante.10 amps, more preferably greater than or equal to 60 amps. In addition, step b) can advantageously comprises continuing to recharge the energy storage element at constant voltage.
Selon une variante avantageuse, l'étape b) comprend la recharge de l'élément de stockage d'énergie jusqu'à au moins 50% de sa capacité de stockage par un courant moyen Im supérieur ou égal à 2 x C ampères, de préférence supérieur ou égal à 4 x C ampères, avec C la valeur de la capacité de stockage de l'élément de stockage d'énergie exprimée en ampère.heure.According to an advantageous variant, 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.
Par ailleurs, l'étape b) peut avantageusement comprendre le contrôle par la station de la charge de l'élément de stockage d'énergie en fonction de la tension de charge présente à la station, ladite tension de charge étant preférentiellement mesurée aux bornes du connecteur de la station.Furthermore, 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.
D'autres caractéristiques et avantages de l'invention apparaîtront à la lecture de la description qui suit d'un mode de réalisation préféré de l'invention, donnée à titre d'exemple et en référence au dessin annexé. Les figure la et lb représentent schématiquement un robot et une station de recharge selon un mode de réalisation de l'invention vus respectivement de côté et de dessus.Other characteristics and advantages of the invention will appear on reading the following description of a preferred embodiment of the invention, given by way of example and with reference to the attached drawing. 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.
Les figures 2a et 2b illustrent schématiquement les connecteurs mâle et femelle équipant le robot et la station des figures la et lb, vus respectivement de côté et de dessus, la vue de dessus étant à une échelle plus petite par rapport à celle de côté. Les figures 3 a et 3b illustrent schématiquement un autre mode de réalisation des connecteurs mâle et femelle équipant le robot et la station des figures la et lb, vus respectivement de côté et de dessus ; la vue de dessus est à une échelle plus petite par rapport à celle de côté.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.
La figure la montre schématiquement un véhicule autonome 1, en l'occurrence un robot de type Pionner® de la société américaine Activmédia, et une station 2 servant à recharger les batteries du robot à partir du secteur. Le robot 1 a des roues 5 lui permettant de se déplacer sur la surface de roulement 6. La surface de roulement est généralement plane et horizontale - horizontale étant prise ici au sens strict du terme -, mais pourrait aussi être inclinée. La station 2 est posée sur la surface de roulement 6. Le robot 1 est muni d'un connecteur mâle 3 et la station 2 est muni d'un connecteur femelle 4 correspondant. Les connecteurs mâle 3 et femelle 4 sont tous les deux situés au même niveau par rapport à la surface de roulement 6. De cette façon, les deux connecteurs sont toujours alignés du point de vue vertical.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.
Le robot 1 provoque l' enfichage du connecteur mâle 3 dans le connecteur femelle 4 en se positionnant devant la station 2 pour que son connecteur mâle 3 soit face au connecteur femelle 2. Il suffit alors au robot 1 d'avancer le connecteur mâle 3 vers le connecteur femelleThe 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
4 jusqu'à enfichage. Le déplacement du connecteur peut simplement être obtenu par le déplacement du robot 1 vers la station 2. Dans ce cas, le connecteur mâle 3 peut être agencé de façon fixe sur le robot 1 en un endroit accessible par le connecteur femelle 4 lors du déplacement du robot 1. Il pourra notamment être en saillie à l'avant ou à l'arrière du robot 1. En variante, le robot 1 comprend un vérin sur lequel est monté le connecteur mâle 3, le vérin permettant de déplacer le connecteur 3 horizontalement vers le connecteur femelle 4 de la station 2 jusqu'à enfichage. De plus, le vérin peut être monté pivotant autour d'un axe vertical sur le robot 1 avec un moteur permettant de varier la position angulaire du vérin autour de l'axe. De cette façon, le robot 1 peut déplacer le connecteur le long de différente direction horizontale sans devoir se déplacer. Le robot 1 peut aussi être prévu pour varier la position verticale du connecteur 3 pourvu qu'il puisse le positionner à la hauteur prédéterminée correspondant à celle du connecteur 4 de la station.4 until plugged in. The displacement of the connector can simply be obtained by the displacement of the robot 1 towards the station 2. In this case, 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. As a variant, 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. In addition, 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.
Par ailleurs, le connecteur mâle 3 est prévu pour pouvoir être enfiché dans le connecteur femelle 4 pour une plage de positionnement horizontal du connecteur mâle 3 en face du connecteur femelle 4. La taille de cette plage de positionnement est de préférence déterminée pour être suffisante par rapport à la précision de positionnement en face du connecteur 4 de la station 2 que le robot 1 est capable d'assurer. Pour le robot 1 pris en exemple, la plage de positionnement latérale - en décalant horizontalement l'un des connecteurs parallèlement à lui-même - a de préférence une longueur minimale de 10 cm - plus avantageusement de 20 cm - en considération de son système de vision et de la manœuvre de demi-tour qu'il effectue lors de l'enfichage qui seront décrits plus loin. De façon similaire, les connecteurs sont de préférence enfichables - pour un point d'enfichage quelconque entre les connecteurs - suivant un angle variable entre eux, l'intervalle angulaire étant de préférence d'au moins 10°, plus avantageusement d'au moins 25°, ou encore de préférence d'au moins 60°. On peut ainsi envisager un angle voisin de ou d'au moins 60°, ce qui est encore plus avantageux. Les figures 2a et 2b illustrent un mode de réalisation des connecteurs mâle et femelle.Furthermore, 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. For the robot 1 taken as an example, 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. Similarly, 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.
Seuls les connecteurs 3 et 4 sont représentées par souci de clarté.Only connectors 3 and 4 are shown for clarity.
Le connecteur mâle 3 a la forme générale d'un becquet. Il comprend un support isolant 12 - par exemple en matière plastique ou en bakélite - présentant une face supérieure et une face inférieure portant chacune une borne respective 13 et 14 du connecteur. Les bornes 13 et 14 peuvent être réalisées sous la forme de plaques conductrices, par exemple en cuivre. Les bornes 13 et 14 sont fixées sur le support par tout moyen approprié, par exemple à l'aide de vis dans une zone des bornes ne servant pas de surface de contact avec les bornes du connecteur femelle 4. Les bornes 13 et 14 s'étendent parallèlement entre elles. En outre, les extrémités avant des bornes 13, 14 peuvent être rabattues pour faciliter la pénétration des bornes entre celles du connecteur femelle 4.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.
Le connecteur 3 est fixé au robot 1 de préférence via la face arrière du support 12 par tout moyen approprié tel que des vis. Lorsque les bornes 13, 14 sont en forme de plaques parallèles entre elles, le connecteur 3 est fixé au robot 1 de façon qu'elles soient horizontales. Les bornes 13, 14 sont reliés au circuit électrique du robot 1 par tout moyen approprié, par exemple des fils électriques.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. When 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.
Le connecteur femelle 4 a la forme générale d'une mâchoire. Il comprend deux plateaux 16, 17 superposés de façon espacée. Vu de dessus, ils présentent chacun la même forme de demi-cercle. Ils sont reliés rigidement entre eux dans leur partie arrière, le long du segment droit des demi-cercles, par une poutre 18 de section rectangulaire. L'un des deux plateaux 16, 17 ou les deux et/ou la poutre 18 sont réalisés en une matière isolante telle qu'une matière plastique ou du bakélite. Un élément conducteur 19 est disposé le long du bord intérieur du demi-cercle du plateau supérieur 16 - cf. le pointillé sur la figure 2b. Cet élément conducteur 19 définit une première borne du connecteur femelle 4. Il pourra s'agir par exemple d'une tresse de cuivre reposant avantageusement sur un bandeau de mousse 21. Une deuxième borne 20 est formée de la même manière le long du bord intérieur du plateau inférieur 17. La distance entre les bornes 19 et 20 est défini pour permettre d'insérer entre eux les bornes 13, 14 du connecteur mâle 3.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.
Le connecteur femelle 4 est fixé à la station 2 par sa partie arrière droite par tout moyen approprié tel que des vis traversant la poutre 18 ou des équerres fixées sur les plateaux 16 et 17. Les bornes 19, 20 sont reliées au chargeur de la station 2 par tout moyen approprié tel que des fils électriques.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.
Le connecteur femelle 4 est fixé à la station 2 de façon à ce que les bornes 19 et 20 s'étendent globalement de façon horizontale. Par ailleurs, le connecteur femelle 4 est fixé à la station 2 à un niveau correspondant à celui du connecteur mâle 3 du robot 1.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.
La figure la illustre la situation d'ensemble du robot 1 avec son connecteur mâle 3 et ses deux bornes 13, 14 et la station 2 avec son connecteur femelle 4 et ses deux bornes 19, 20.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.
L'opération d'enfichage des connecteurs est réalisée par le robot 1 de la façon déjà décrite, c'est-à-dire grâce au mouvement d'avance imprégné par le robot 1 à son connecteur mâle pour l'enficher dans le connecteur femelle. Il en résulte que les bornes 13, 14 sont insérées entre les bornes 19, 20. La borne 13 est alors en contact électrique avec la borne 19 et la borne 14 avec la borne 20. La conformation des connecteurs permet l'enfichage du connecteur mâle 3 dans le connecteur femelle 4 à la fois suivant une plage de positionnement latérale et angulaire. A titre d'illustration, sur la figure 2b, le connecteur mâle a été représenté en pointillés 3' dans une position enfichée dans le connecteur femelle 4 avec un décalage angulaire A par rapport à la direction d'enfichage idéale qui est confondue avec le rayon des plateaux 16, 17 correspondant au point de rencontre des deux connecteurs. Comme déjà indiqué, l'intervalle des valeurs de l'angle A permettant l'enfichage entre les deux connecteurs est de préférence d'au moins 10°, plus avantageusement d'au moins 25°. Dans ce mode de réalisation, cet intervalle est en fait supérieur ou égal à 60°.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. By way of illustration, in FIG. 2b, 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. plates 16, 17 corresponding to the meeting point of the two connectors. As already indicated, 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 °.
Les bandeaux de mousse 21 sont avantageusement prévues pour donner une élasticité aux tresses 19, 20 - ou autres éléments conducteurs - formant les bornes du connecteur femelle 4. Cette élasticité permet de procurer une pression de contact entre les bornes des deux connecteurs afin d'assurer une résistance de contact faible lors du passage du courant.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.
Par ailleurs, la section des bandeaux de mousse 21 peut être en forme de coin se rétrécissant vers le bord des plateaux 16, 17. Cela facilite l'insertion entre elles des bornes du connecteur mâle 3, procure un auto-alignement en direction verticale et assure une augmentation croissante de la pression de contact entre les bornes des deux connecteurs. De façon similaire, les plateaux 16, 17 peuvent également présenter une élasticité contribuant à cette augmentation progressive de la pression de contact entre les bornes au fur et à mesure de l'insertion. Bien évidemment, l'effort d'insertion du connecteur mâle est fourni par le robot 1.Furthermore, 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. Similarly, 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.
En variante, les plaques 13, 14 sont disposées sur un support 12 en forme de coin qui se rétrécit vers l'avant du connecteur mâle 3. Ceci permet d'accroître l'effet d'augmentation de la pression de contact au fur et à mesure de l'enfoncement du connecteur mâle 3 dans le connecteur femelle 4.Alternatively, 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.
A titre d'exemple, le dimensionnement des connecteurs peut être le suivant :As an example, the sizing of the connectors can be as follows:
- connecteur mâle 3 : - distance séparant les deux plaques de contact 13, 14 : a = 24 mm ;- male connector 3: - distance separating the two contact plates 13, 14: a = 24 mm;
- longueur des surfaces de contact des plaques 13, 14 : b = 36 mm ;- length of the contact surfaces of the plates 13, 14: b = 36 mm;
- largeurs des surfaces de contact des plaques 13, 14 : c = 160 mm ;- widths of the contact surfaces of the plates 13, 14: c = 160 mm;
- connecteur femelle 4 :- female connector 4:
- rayon des plateaux 16, 17 : R = 200 mm ; - distance entre les deux plateaux : d = 38 mm ;- radius of the plates 16, 17: R = 200 mm; - distance between the two plates: d = 38 mm;
- largeur des tresses 19, 20 : f = 40 mm ;- width of the braids 19, 20: f = 40 mm;
- hauteur maximale des tresses 19, 20 par rapport au plateau respectif 13, 14,: e = 9 mm.- maximum height of the braids 19, 20 relative to the respective plate 13, 14,: e = 9 mm.
Avec un tel dimensionnement, l'enfichage des connecteurs par le robot 1 permet de faire transiter 60 ampères ou plus à travers la connexion même lorsque le connecteur mâle 3 n'est pas entièrement enfoncé dans le connecteur femelle 4. La chute de tension engendré par les deux contacts entre bornes reste faible, de l'ordre de 10 millivolts en cas d'enfichage complet et environ 50 mV en cas d'enfichage partiel.With such a dimensioning, 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.
Du fait de la possibilité de passer des courants importants à travers la connexion, il est possible de recharger de façon ultrarapide la batterie du robot 1 par la station 2. La charge ultrarapide d'une batterie est caractérisée par l'application d'un courant élevé à celle-ci pour recharger au moins partiellement la batterie. Elle peut notamment comprendre la recharge de la batterie jusqu'à au moins 50% de sa capacité de stockage par un courant moyen Im supérieur ou égal à 2 x C ampères, de préférence supérieur ou égal à 4 x C ampères, avec C la valeur de la capacité de stockage de l'élément de stockage d'énergie exprimée en ampère.heure. De façon plus particulière, la charge ultrarapide peut être caractérisée par l'application d'un courant constant et élevé à la batterie pendant une certaine durée pour la recharger jusqu'à un niveau d'énergie de l'ordre de 50 à 70 % de sa capacité, puis la charge se poursuit à tension constante. Ainsi, le robot 1 peut être équipé de batteries autorisant de telles recharges ultrarapides. La station 2 est équipée en conséquence d'un chargeur adapté permettant de telles recharges ultrarapides. A titre d'exemple, le robot 1 est équipé d'une batterie 12 volts du type Genesis G13 EPX commercialisée par la société Hawker et la station 2 inclus un chargeur du type Tecpro II 12V 60A commercialisé par la société française Tecsup. La courbe de charge est entièrement gérée par le chargeur. Dans une première phase, la recharge s'effectue à courant constant maximal de 60 ampères jusqu'au moment où la tension du chargeur atteint un seuil de 15 volts, ce qui correspond à une recharge de 50 à 70 % de la capacité de la batterie. Le chargeur poursuit la recharge à tension constante égale à cette tension de seuil jusqu'à 80 à 90 % de la capacité de la batterie. Le chargement ultrarapide de la batterie - qui a une capacité de 13 Ah - s'effectue en environ 30 minutes alors que le chargement des batteries standards équipant ce robot a un même niveau d'énergie s'effectue à un courant maximal de 4 ampères et prend 180 minutes. Nous allons maintenant décrire la manière dont le robot 1 s'oriente pour se diriger vers la station 2. Dans notre exemple, le robot 1 est pourvu de façon standard d'une caméra 7 et d'un système de reconnaissance d'images. La station 2 est équipée d'une balise visuelle 8 qui est disposée par exemple au dessus de la station 2. Plus particulièrement, il est avantageux que la balise 8 soit située à la verticale du centre des demi-cercles des plateaux 16, 17 ou du moins à la verticale de l'axe de symétrie de ces demi-cercles. La balise 8 comporte une image que le robot 1 est capable de reconnaître grâce à sa caméra 7 et son système de reconnaissance d'images.Due to the possibility of passing large currents through the connection, it is possible to recharge the robot 1 battery very quickly by station 2. 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. In particular, 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. More particularly, 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. Thus, 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. For example, 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. In a first phase, 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. We will now describe the way in which the robot 1 orients itself towards the station 2. In our example, 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.
Ainsi, lorsque le robot 1 décide de recharger sa batterie, il recherche la balise 8. Le robot 1 peut classiquement décider de recharger sa batterie lorsque sa tension s'abaisse en dessous d'un seuil prédéterminé ou encore lorsque l'énergie qu'elle a fournie dépasse un seuil prédéterminé, l'énergie fournie étant déterminée par intégration temporelle du courant fourni qui est aisé à mesurer. Après avoir repérée la balise 8, il se dirige vers elle et présente le connecteur mâle 3 orientée vers la balise 8 pour réaliser l'enfichage dans le connecteur femelle 4. L'enfichage peut se faire en n'importe quelle portion des bornes 18, 19 du connecteur femelle 4, celles-ci étant plus longue par rapport aux bornes 13, 14.Thus, 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. After locating the tag 8, it goes towards it and presents the male connector 3 oriented towards the tag 8 to plug it into the female connector 4. 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.
La forme en demi-cercle du connecteur femelle 4 facilite l'enfichage peu importe l'angle avec lequel arrive le robot 1 sur la station 2. Il suffit que le robot 1 vise le centre du demi-cercle des plateaux 16, 17 grâce à la balise 8. De plus, l'enfichage se réalise même si le connecteur mâle 3 ne se présente pas perpendiculairement aux bords arrondies des plateaux 16, 17.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.
La forme semi-circulaire - ou encore semi-elliptique - du connecteur femelle 4 est particulièrement avantageuse lorsque le chargeur est destiné à être placé contre un mur. En variante, le connecteur femelle 4 peut être circulaire ou elliptique, et donc entourer la station 2, dans le cas où la station 2 est destinée à être placée au milieu d'une pièce. Dans ce cas, la balise 8 est adaptée pour être visible dans toutes les directions. Similairement, le connecteur 4 peut être en forme de quart de cercle si la station 2 est destinée à être placée dans l'angle formé par deux murs.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. As a variant, 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. In this case, the tag 8 is adapted to be visible in all directions. Similarly, 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.
Dans le cas où le robot 1 présente deux roues motrices situées à une extrémité de celui- ci comme c'est le cas du robot Pionner®, il est avantageux de disposer le connecteur 3 à son côté opposé pour éviter le risque de perte d'adhérence des roues sur la surface de roulement 6 lorsque les connecteurs sont enfichés. Pour le robot Pionner®, les roues motrices sont situées à l'avant ainsi que la caméra 7. Dans ce cas, le robot 1 peut être programmée pour avancer vers la station 2 - avec la caméra 7 regardant la balise 8 - jusqu'à buter contre la station 2. Le robot 1 effectue alors une manœuvre de demi-tour pour présenter son arrière avec le connecteur mâle 3 vers la station 2. Il lui suffit alors de reculer pour enficher le connecteur mâle 3 dans le connecteur femelle 4. Le robot 1 pourra arrêter de pousser le connecteur 3 dans le connecteur 2 en fonction de la résistance mécanique rencontrée qui indique que l'enfichage est réalisée. Il peut mesurer à cette fin l'augmentation des courants consommés par les moteurs de propulsion.In the case where 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. For the Pioneer® robot, the drive wheels are located at the front as well as the camera 7. In this case, 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.
Une fois la charge de batterie finie, le robot 1 dégage le connecteur 3 du connecteur 4 en effectuant un déplacement en sens inverse. II est avantageux que lorsqu'il n'est pas connecté à la station 2, le robot 1 débranche sa batterie - ou autre circuit électrique - du connecteur 3. Pour cela, les bornes 13, 14 du connecteur 3 sont reliés aux bornes de la batterie via les contacts d'un relais commandé par le robot ou similaire. Ainsi, il n'y a pas de risque de court-circuit entre les bornes 13, 14 dans le cas où le robot 1 heurte avec son connecteur 3 un obstacle conducteur. Le processus de commande du relais peut être le suivant. La station 2 applique une tension à vide - de l'ordre de 4 volts dans notre exemple - sur les bornes 19, 20 du connecteur 4.Once the battery charge is finished, 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.
Pour déterminer qu'il est bien connecté sur la station 2, le robot 1 peut simplement vérifier si cette tension est présente sur les bornes 13, 14 de son connecteur 3. Dans l'affirmative, il ferme son relais pour brancher sa batterie aux bornes 13, 14 sur lesquels on retrouvera sa tension de 12 volts environ. Le chargeur de la station 2 détecte cette tension et applique alors le programme de charge. Le robot 1 peut en outre vérifier le passage du courant de charge. A défaut, il pourra par exemple recommencer la manœuvre d'enfichage ou se dégager pour rechercher une autre station de chargement.To determine that it is properly connected to station 2, 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.
Bien évidemment, le robot 1 peut comporter des dispositifs de sécurité relatifs au chargement de la batterie tels que un détecteur de surtension au niveau de la batterie ou un détecteur de température de batterie trop élevée, et qui débranche le cas échéant la batterie du connecteur 3.Obviously, 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 .
Bien entendu, la présente invention n'est pas limitée aux exemples et au mode de réalisation décrits et représentés, mais elle est susceptible de nombreuses variantes accessibles à l'homme de l'art. Ainsi, le connecteur agencé sur le robot 1 peut être de type femelle et celui de la stationOf course, 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. Thus, the connector arranged on the robot 1 can be of the female type and that of the station
2 est en conséquence du type mâle. La longueur des bornes du connecteur agencé sur la station 2 peut être telle qu'elle permette l'enfichage simultané de plusieurs connecteurs du type opposé correspondant donc à plusieurs véhicules pour permettre de recharger simultanément leurs batteries sur une même station de recharge. Selon une autre variante, la station 2 peut correspondre à un second robot. L'un des robots peut alors porter assistance à l'autre robot dans le cas où sa batterie est déchargée au point de ne plus pouvoir atteindre une station de rechargement telle que décrite précédemment. Ce robot peut alors avertir de cette situation l'autre robot, par exemple par liaison radio. L'autre robot repère alors le premier et se dirige sur lui pour se connecter à celui-ci. Il recharge ensuite partiellement la batterie de ce robot grâce à la sienne pour lui permettre de se déplacer jusqu'à la station de recharge. Là encore, le repérage du robot peut se faire à l'aide d'une balise visuelle ou similaire disposée sur celui-ci.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. According to another variant, 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 then 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. Again, the location of the robot can be done using a visual tag or the like placed thereon.
La conception des connecteurs 3 et 4 est également susceptible de nombreuses variantes. Les figures 3a et 3b en illustrent une. Le connecteur mâle 3 est identique à celui des figures 2a et 2b. En revanche, le connecteur femelle 4 présente des différences. Seules les différences seront exposées. Les plateaux 16, 17 présentent un bord avant qui est droit au lieu de circulaire, mais il pourrait également être circulaire ou elliptique. Le bord avant droit se raccorde de préférence obliquement aux bords latéraux. Les bornes 19 et 20 sont formées chacune d'une bande de cuivre agencée le long du bord avant - et également le long des bords obliques latéraux - du côté intérieur des plateaux 16, 17. Ces bandes de cuivre sont fixées directement sur la surface des plateaux 16, 17 sans l'intermédiaire de mousse élastique 21. Le plateau inférieur 17 est fixé rigidement sur la poutre 18. Au contraire, le plateau supérieur 16 repose librement sur la poutre 18. Les deux plateaux 16, 17 sont maintenus séparés par deux entretoises libres 25 disposées entre eux. Les entretoises 25 sont traversées chacune par une vis 22 munie d'un écrou 23. Un ressort 24 prend appui sur l'écrou 23 et presse le plateau supérieur 16 vers l'entretoise 25 correspondante. Les ressorts 24 procurent ainsi une élasticité à la mâchoire formée par les deux bornes 19, 20 lors de l'insertion du connecteur mâle 2. Les bords avants des plateaux 16, 17 peuvent être biseautés pour faciliter l'insertion. Là encore, le connecteur 3 peut être en forme de coin pour créer une augmentation progressive de la pression de contact entre les bornes. Les écrous 23 permettent avantageusement de régler la pression de contact entre les bornes à un niveau souhaité. Là encore, le dimensionnement des bornes peut être tel que le connecteur mâle peut se présenter suivant toute une plage latérale en face du connecteur femelle pour permettre l'enfichage. De plus, l'absence de butée latérale entre les plateaux 16, 17 permet également un enfichage partiel du connecteur mâle 3 aux extrémités latérales du connecteur femelle 4, autrement dit les bornes 13, 14 dépassent latéralement des bornes 19, 20. Même dans ce cas, la surface de contact peut rester suffisante pour véhiculer des courants élevées. L'enfichage reste possible et un contact suffisant est établi pour véhiculer des courants élevés, même si le connecteur mâle se présente de biais par rapport au connecteur femelle lors de l'enfichage. Comparé au précédent, ce mode de réalisation présente une usure moindre des bornes en fonction du nombre d'enfichage réalisé.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. However, 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. On the contrary, 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. Again, 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. Again, 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. In addition, 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. Even in this In this case, 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.
L'invention est particulièrement avantageuse puisque l'alignement vertical des connecteurs est toujours assuré en raison de l'identité de niveaux auxquels sont placés les connecteurs. Le fait que la surface plane soit inclinée est sans importance. De même, l'alignement latéral ne pose pas de problème en raison de l'importance de la plage de positionnement latérale admise pour permettre l'enfichage correct des connecteurs. Ainsi, la seule reconnaissance visuelle classique du robot suffit pour permettre l'établissement de la connexion. Il n'est pas nécessaire de lui adjoindre d'autres capteurs ou des systèmes de guidage tels que des rails pour assurer l'enfichage. De plus, la station peut être rapidement déplacée en un autre endroit tout en assurant que le robot continuera à la trouver pour s'y connecter, et ceci sans devoir déplacer une infrastructure de guidage du type rails ou autres.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.
Bien entendu, l'invention peut être mise en œuvre sur tout type de robot tel que par exemple des tondeuses à gazon automatique ou des aspirateurs autonomes. Par ailleurs, elle peut également être mise en place sur des véhicules non pas autonomes, mais conduits par l'homme tels que des voitures électriques. Of course, 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.

Claims

REVENDICATIONS
1. Un ensemble comprenant un véhicule (1) susceptible de se déplacer sur une surface et une station (2) distincte du véhicule, munis chacun d'un connecteur (3 ; 4), dans lequel les connecteurs sont enfichables l'un dans l'autre avec l'un des connecteurs pouvant prendre une position enfichée quelconque dans une plage de position latérale et angulaire de ce connecteur dans l'autre, les positions dudit connecteur dans la plage s'étendant dans un plan parallèle à la surface.1. An assembly comprising a vehicle (1) capable of moving on a surface and a station (2) separate from the vehicle, each provided with a connector (3; 4), in which the connectors are plugable one into the another 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.
2. L'ensemble selon la revendication 1, dans lequel la plage comprend une première position dudit connecteur et une deuxième position dudit connecteur parallèle à la première position, la première position étant décalée de la deuxième position d'au moins 10 cm, de préférence d'au moins 20 cm.2. The assembly as claimed in claim 1, in which the pad 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 at least 20 cm.
3. L'ensemble selon la revendication 1 ou 2, dans lequel la plage de position angulaire pour un point d'enfichage quelconque entre les connecteurs d'au moins 10°, de préférence d'au moins 25°, ou encore plus avantageusement d'au moins 60°.3. The assembly of claim 1 or 2, wherein the angular position range for any insertion point between the connectors of at least 10 °, preferably at least 25 °, or even more advantageously d '' at least 60 °.
4. L'ensemble selon l'une quelconque des revendications 1 à 3, dans lequel l'un (4) des connecteurs comprend deux bornes (19 ; 20) permettant d'insérer entre elles deux bornes (13 ; 14) de l'autre connecteur (3).4. The assembly according to any one of claims 1 to 3, in which one (4) of the connectors comprises two terminals (19; 20) making it possible to insert between them two terminals (13; 14) of the other connector (3).
5. L'ensemble selon la revendication 4, dans lequel les deux bornes (13, 14) de l'un (3) des connecteurs sont pincées élastiquement entre les deux bornes (19, 20) de l'autre connecteur (4).5. The assembly of claim 4, wherein the two terminals (13, 14) of one (3) of the connectors are pinched elastically between the two terminals (19, 20) of the other connector (4).
6. L'ensemble selon la revendication 4 ou 5, dans lequel les deux bornes (13, 14) de l'un (3) des connecteurs sont parallèles entre elles et sont de préférence planes.6. The assembly of claim 4 or 5, wherein the two terminals (13, 14) of one (3) of the connectors are mutually parallel and are preferably planar.
7. L'ensemble selon la revendication 4 ou 5, dans lequel les bornes (19 ; 20) de l'un des connecteurs sont disposées en forme de coin suivant la direction d'enfichage avec l'autre connecteur.7. The assembly of claim 4 or 5, wherein the terminals (19; 20) of one of the connectors are arranged in a wedge shape in the direction of insertion with the other connector.
8. L'ensemble selon l'une quelconque des revendications 1 à 7, dans lequel l'étendue de ladite plage de position permet le branchement simultané de plusieurs connecteurs (3) du type équipant le véhicule (1) sur le connecteur de la station (2). 8. The assembly according to any one of claims 1 to 7, wherein the extent of said position range allows the simultaneous connection of several connectors (3) of the type fitted to the vehicle (1) on the connector of the station (2).
9. L'ensemble selon l'une quelconque des revendications 1 à 8, dans lequel la projection du bord d'enfichage du connecteur (4) de la station (2) sur le plan contenant ladite plage de position présente une forme générale en arc de cercle ou d'ellipse, de préférence un quart de cercle, un demi-cercle ou un cercle complet.9. The assembly according to any one of claims 1 to 8, in which the projection of the edge of insertion of the connector (4) of the station (2) on the plane containing said position range has a general arc shape of circle or ellipse, preferably a quarter of a circle, a semi-circle or a complete circle.
10. L'ensemble selon l'une quelconque des revendications 1 à 9, dans lequel le véhicule (1) est du type autonome.10. The assembly according to any one of claims 1 to 9, in which the vehicle (1) is of the autonomous type.
11. L'ensemble selon la revendication 10, dans lequel la station (2) est pourvue d'une balise (8) servant à guider le véhicule (1) vers le connecteur (4) de la station.11. The assembly of claim 10, wherein the station (2) is provided with a tag (8) for guiding the vehicle (1) to the connector (4) of the station.
12. L'ensemble selon la revendication 11, dans lequel la balise (8) est de type visuelle et que le véhicule (1) comprend un système de vision (7) servant à repérer la balise pour guider le véhicule.12. The assembly of claim 11, wherein the tag (8) is of visual type and that the vehicle (1) comprises a vision system (7) for locating the tag to guide the vehicle.
13. L'ensemble selon la revendication 12, dans lequel la projection du bord d'enfichage du connecteur (4) de la station (2) sur le plan contenant ladite plage de position présente une forme générale en arc de cercle ou d'ellipse, de préférence un quart de cercle, un demi-cercle ou un cercle complet, la balise (8) étant placée au droit du centre de l'arc de cercle ou d'ellipse.13. The assembly as claimed in claim 12, in which the projection of the edge of insertion of the connector (4) of the station (2) 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 complete circle, the tag (8) being placed at the right of the center of the arc of a circle or ellipse.
14. L'ensemble selon l'une quelconque des revendications 1 à 13, dans lequel le véhicule (1) comprend un élément de stockage d'énergie électrique, la station (2) servant à recharger l'élément de stockage d'énergie lorsque le véhicule y est connecté.14. The assembly according to any one of claims 1 to 13, wherein the vehicle (1) comprises an electric energy storage element, the station (2) serving to recharge the energy storage element when the vehicle is connected to it.
15. L'ensemble selon l'une quelconque des revendications 1 à 14, dans lequel la station est un deuxième véhicule, chacun des véhicules étant équipé d'au moins un élément de stockage d'énergie électrique, et le premier véhicule est prévu pour recharger au moins partiellement l'élément de stockage d'énergie du deuxième véhicule à partir de son propre élément de stockage d'énergie lorsque le premier véhicule est connecté au deuxième véhicule.15. The assembly as claimed in any one of claims 1 to 14, in which the station is a second vehicle, each of the vehicles being equipped with at least one element for storing electrical energy, and the first vehicle is provided for at least partially recharge the energy storage element of the second vehicle from its own energy storage element when the first vehicle is connected to the second vehicle.
16. L'ensemble selon l'une quelconque des revendications 1 à 15, dans lequel les connecteurs enfichés l'un dans l'autre présentent entre eux un contact électrique de type surfacique. 16. The assembly according to any one of claims 1 to 15, wherein the connectors plugged into one another have between them an electrical contact of surface type.
17. L'ensemble selon l'une quelconque des revendications 1 à 15, dans lequel les connecteurs (3, 4) établissent la liaison électrique entre le véhicule (1) et la station (2) pour une plage de profondeur d'enfichage de l'un des connecteurs dans l'autre.17. The assembly according to any one of claims 1 to 15, in which the connectors (3, 4) establish the electrical connection between the vehicle (1) and the station (2) for a range of plugging depth of one of the connectors in the other.
18. Le véhicule tel que défini dans l'une quelconque des revendications 1 à 17.18. The vehicle as defined in any one of claims 1 to 17.
19. La station telle que définie dans l'une quelconque des revendications 1 à 17.19. The station as defined in any one of claims 1 to 17.
20. Procédé d'alimentation en courant électrique d'un véhicule (1) par une station (2), le véhicule et la station formant un ensemble selon l'une quelconque des revendications 1 à 17, le procédé comprenant les étapes de : a) enfichage du connecteur (3) du véhicule (1) dans le connecteur (4) de la station (2), et b) alimentation du véhicule (1) en courant électrique fourni par la station (2) via les connecteurs (3, 4) enfichés l'un dans l'autre, le courant électrique étant de préférence supérieur à 10 ampères, plus avantageusement supérieur ou égal à 60 ampères.20. A method of supplying electric current to a vehicle (1) by a station (2), the vehicle and the station forming an assembly according to any one of claims 1 to 17, the method comprising the steps of: a ) plugging the connector (3) of the vehicle (1) into the connector (4) of the station (2), and b) supplying the vehicle (1) with electric current supplied by the station (2) via the connectors (3, 4) plugged into each other, the electric current preferably being greater than 10 amperes, more advantageously greater than or equal to 60 amperes.
21. Procédé selon la revendication 20, dans lequel, dans l'étape b), le courant fourni par la station (2) recharge au moins partiellement un élément de stockage d'énergie électrique du véhicule (1).21. The method of claim 20, wherein, in step b), the current supplied by the station (2) at least partially recharges an electrical energy storage element of the vehicle (1).
22. Procédé selon la revendication 21, dans lequel l'étape b) comprend la recharge à courant constant de l'élément de stockage d'énergie jusqu'à au moins 50% de sa capacité de stockage, plus preférentiellement jusqu'à 50 à 70% de sa capacité de stockage.22. The method of claim 21, wherein step b) 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.
23. Procédé selon la revendication 22, dans lequel le courant constant est supérieur à 10 ampères, plus avantageusement supérieur ou égal à 60 ampères.23. The method of claim 22, wherein the constant current is greater than 10 amperes, more preferably greater than or equal to 60 amperes.
24. Procédé selon la revendication 22 ou 23, dans lequel l'étape b) comprend la poursuite de la recharge de l'élément de stockage d'énergie à tension constante.24. The method of claim 22 or 23, wherein step b) comprises continuing to recharge the energy storage element at constant voltage.
25. Procédé selon l'une quelconque des revendications 21 à 24, dans lequel l'étape b) comprend la recharge de l'élément de stockage d'énergie jusqu'à au moins 50% de sa capacité de stockage par un courant moyen Im supérieur ou égal à 2 x C ampères, de préférence supérieur ou égal à 4 x C ampères, avec C la valeur de la capacité de stockage de l'élément de stockage d'énergie exprimée en ampère.heure. 25. Method according to any one of claims 21 to 24, in which 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 x 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.
26. Procédé selon l'une quelconque des revendications 21 à 25, dans lequel l'étape b) comprend le contrôle par la station (2) de la charge de l'élément de stockage d'énergie en fonction de la tension de charge présente à la station (2), ladite tension de charge étant preférentiellement mesurée aux bornes du connecteur (4) de la station (2). 26. Method according to any one of claims 21 to 25, in which step b) comprises the control by the station (2) of the charge of the energy storage element as a function of the charge voltage present at the station (2), said charging voltage being preferably measured at the terminals of the connector (4) of the station (2).
PCT/FR2002/002820 2001-08-07 2002-08-07 System used to provide an electrical connection between a vehicle and a charging station or similar WO2003015220A1 (en)

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