[go: up one dir, main page]

WO2025114065A1 - Method for charging a vehicle battery by automatically moving a charging gun - Google Patents

Method for charging a vehicle battery by automatically moving a charging gun Download PDF

Info

Publication number
WO2025114065A1
WO2025114065A1 PCT/EP2024/082745 EP2024082745W WO2025114065A1 WO 2025114065 A1 WO2025114065 A1 WO 2025114065A1 EP 2024082745 W EP2024082745 W EP 2024082745W WO 2025114065 A1 WO2025114065 A1 WO 2025114065A1
Authority
WO
WIPO (PCT)
Prior art keywords
charging
charging gun
vehicle
gun
infrared
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/EP2024/082745
Other languages
French (fr)
Inventor
Guillaume HENNEBICQ
Jimmy JAUMOTTE
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ampere SAS
Original Assignee
Ampere SAS
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 Ampere SAS filed Critical Ampere SAS
Publication of WO2025114065A1 publication Critical patent/WO2025114065A1/en
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/305—Communication interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/31—Charging columns specially adapted for electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Definitions

  • the charging gun In order to facilitate the recharging of the electric battery of the vehicle, it is envisaged to automate the movement of the charging gun towards the vehicle's charging socket, then its insertion into said charging socket without human intervention during these different stages.
  • a difficulty encountered during this automation process lies in the location of the charging socket present on the vehicle to carry out the approach of the external gun towards said charging socket.
  • the charging gun is generally mounted on an articulated arm, and the position of said charging socket on the vehicle relative to the initial position of the charging gun on the articulated arm, must be determined precisely, to systematically trigger an optimized movement of the charging gun towards the charging socket, in order to promote its insertion into said charging socket.
  • Application WO2022167350 A1 discloses a vehicle comprising an electric battery and an electrical socket for supplying electricity to the battery, the socket being positioned in a bodywork element defining the vehicle so as to be accessible from outside the vehicle.
  • the socket comprises guide means for routing one end of a supply gun, such that said end can penetrate into a receiving area of the socket to ensure the electrical charging of the battery.
  • a method for recharging a vehicle battery according to the invention implements means for locating the charging gun relative to the charging socket, to ensure safe and repetitive systematic insertion of the charging gun into the vehicle's charging socket.
  • the recharging method comprises the following steps:
  • a step of forming a system comprising the recharging gun and a specific computer, said system further comprising a distance sensor and an infrared sensor attached to the recharging gun,
  • step - a step of automatic movement of the charging gun towards the charging socket, said step being controlled by the specific computer according to the measurements taken in the previous step, until said charging gun is plugged into said charging socket,
  • the principle of a recharging method according to the invention is that it allows the charging gun to move automatically and very precisely towards the vehicle's charging socket, thanks to:
  • an infrared sensor of said gun which will detect in a particular area of space a signal coming from an infrared transmitter placed near the charging socket, and - to a distance detector which measures a distance between the initial position of the gun and the vehicle.
  • the measurements from these sensors will constitute input data for the computer to enable it to determine the route that the charging gun must take from its initial position to safely reach the charging socket.
  • the vehicle positioning step is carried out naturally, without any particular maneuver, the vehicle being parked in approximately the same place next to the charging gun. In this way, it is assumed that the charging gun will always be in the same predefined area around the charging socket. If the charging gun were to be outside said predefined area, which is a very unlikely configuration, the method according to the invention would be inoperative.
  • the scanning of the charging gun can, for example, be carried out by translation or by rotation, or by a combination of said two movements.
  • the step of scanning the charging gun consists of rotating said charging gun around an axis of rotation in order to determine the detection zone in which said infrared sensor detects the infrared radiation produced by the transmitter.
  • the rotation of the charging gun is carried out around a longitudinal axis of said gun, so that the infrared sensor moves along a circle.
  • the infrared sensor does not receive any infrared radiation from the transmitter, then will begin to pivot. From a certain angle of rotation, it will begin to capture infrared radiation, then by continuing its rotation it will end up no longer capturing this radiation. In other words, it will only capture the signal over an angular sector.
  • the axis of rotation around which the charging gun pivots is a vertical axis, the detection zone extending in a horizontal plane and being delimited by two segments materializing an angular opening.
  • the infrared sensor will pivot simultaneously, the orientation of the sensor relative to the infrared transmitter being modified at each instant of the pivoting. This modification of orientation explains why the infrared sensor does not pick up a signal over its entire pivoting.
  • the recharging method comprises:
  • the step of determining the distance and the path that the charging gun must take to plug into the charging socket are deduced from usual trigonometric rules involving the minimum distance d measured and the specific angle [3 determined.
  • the infrared sensor attached to the charging gun is collimated, said infrared sensor being able to detect only direct radiation coming from the infrared emitter.
  • the infrared sensor of the charging gun can only pick up direct radiation coming from the infrared emitter.
  • the detection zone of said infrared sensor will therefore be narrower and therefore more clearly defined, preventing said sensor from detecting infrared radiation over its entire rotation. The position of the infrared emitter will therefore be more precisely detected.
  • the infrared transmitter comprises at least one infrared LED.
  • the distance sensor is an ultrasonic sensor.
  • the scanning of the gun and the step of moving said gun towards the vehicle's charging socket are ensured by an articulated arm on which the charging gun is mounted, equipped with its distance sensor and its infrared sensor. The movements of the articulated arm are controlled by the computer from the measurements made by the infrared sensor and the distance sensor.
  • a recharging method according to the invention has the advantage of involving equipment such as, for example, an infrared sensor, an ultrasonic sensor and an infrared transmitter, which are inexpensive and which are reliable and precise. It also has the advantage of being controlled by a computer having an algorithm based on standard trigonometric rules which do not require complex programming.
  • Figure 1 is a top view of a vehicle and a charging gun illustrating a first step of a charging method according to the invention
  • FIG. 2 is a top view of a vehicle and a charging gun illustrating a second step of a charging method according to the invention
  • FIG. 3 is a top view of a vehicle and a charging gun illustrating a third step of a charging method according to the invention
  • Figure 4 is a diagram showing different distances and an angle for locating a charging gun relative to the vehicle's charging socket
  • Figure 5 is a perspective view of an infrared sensor in a first configuration, and intended to be attached to a charging gun and from which a recharging method according to the invention can be applied
  • Figure 6 is a perspective view of the infrared sensor of Figure 5, in a second configuration
  • Figure 7 is a perspective view of the infrared sensor of Figures 5 and 6, in a third configuration
  • a recharging method according to the invention applies to a vehicle 1 having at least partially electric propulsion.
  • the vehicle 1 therefore has an electric battery which can be recharged by a charging gun 2 which is external to said vehicle and which is plugged into a charging socket 3 of said vehicle.
  • the charging gun 2 is connected to a source of electric current which is external to the vehicle, and is inserted into the charging socket 3 to recharge the electric battery remaining in its functional position in said vehicle.
  • a method for electrically recharging the electric battery of a vehicle 1 comprises the following steps: - a step of securing an infrared transmitter 4 to the vehicle, on the periphery of the charging socket 3.
  • the charging socket 3 is generally covered by a protective hatch which is flush with a wall of the vehicle 1, said protective hatch being able to move from a closed position to which it covers the charging socket 3 in an open position for which it has pivoted by an angle at least equal to 90°.
  • This protective hatch opens or closes automatically by means of an actuating element associated with a motor.
  • This infrared transmitter 4 is an infrared LED transmitter. The position of the charging socket 3 on the vehicle is directly deduced from the position of the infrared LED transmitter
  • a step of forming a system comprising the charging gun 2 and a specific computer, said system further comprising a distance sensor 5 and an infrared sensor 6 fixed to the charging gun 2.
  • the distance sensor is preferably an ultrasonic sensor making it possible to measure the time elapsing between an incident ultrasonic wave and an ultrasonic wave reflected by a wall.
  • the infrared sensor 6 makes it possible to detect the infrared radiation, and in particular the infrared radiation produced by the infrared LED emitter secured to the vehicle 1.
  • the infrared sensor 6 is collimated, said infrared sensor 6 being able to detect only direct radiation coming from the infrared LED emitter 4 fixed to the vehicle 1.
  • the infrared sensor 6 of the charging gun 2 can only capture the direct radiation coming from the infrared LED emitter 6.
  • the position of the infrared LED emitter 4 will be detected more precisely, - a step of mounting the charging gun 2 equipped with its two sensors 5, 6 on an articulated arm allowing said charging gun 2 to undergo different rotational and translational movements in space,
  • the charging gun 2 is placed in a fixed manner in the garage of an individual or within a charging station having several charging guns 2, and the vehicle always comes to park in the same way in relation to the charging gun 2 considered.
  • the charging socket 3 must be placed in a predefined and small area 7 around the charging gun 2. If the vehicle 1 parks too far from the charging gun 2, nothing will happen and the driver of said vehicle will be invited to move closer to said charging gun.
  • the charging gun 2 is at an initial position relative to the position of the infrared LED transmitter 4 attached to the vehicle 1,
  • the collimated infrared sensor 6 of the charging gun 2 pivots simultaneously with said charging gun 2 and will determine a detection zone 8 in which said infrared sensor 6 detects the infrared radiation produced by the infrared LED emitter.
  • This detection zone 8 extends in a horizontal plane and is delimited by two rectilinear segments 9, 10 defining a given angular sector as illustrated in Figures 2 and 3.
  • this detection zone 8 makes it possible to deduce an angle (3, which is the angle that the bisector 11 of the detection zone 8 makes with a straight line passing through the charging gun 2 and which is parallel to a wall 12 of the vehicle carrying the charging socket 3.
  • the bisector 11 corresponds to the straight line joining the infrared sensor 6 and the infrared LED transmitter 4,
  • a recharging method according to the invention is entirely controlled by the computer forming part of the system formed by the charging gun 2 equipped with its two sensors 5, 6 and said computer.
  • this occulting device 15 can be closed while only revealing a minimal opening 16.
  • the infrared sensor 6 is collimated to the maximum extent.
  • the occulting device 15 can be moderately open, and for this configuration the infrared sensor 6 is moderately collimated.
  • the occulting device 15 can be widely open, and for this configuration the infrared sensor 6 is significantly collimated.
  • the state of the occultation device 15, namely almost closed, moderately open or fully open, is entirely controlled by the computer forming part of the system formed by the charging gun 2 equipped with its two sensors 5, 6 and said computer.

Landscapes

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

Abstract

The invention relates to a method for charging an electric battery of a vehicle (1) comprising a charging socket (3), wherein the method is carried out by means of a mobile charging gun (2) located outside the vehicle and intended to be plugged into the charging socket (3). According to the invention, the method comprises a step of detecting the initial position of the charging gun (2) relative to the charging socket (3) by scanning the gun (2), which makes it possible, by means of an infrared sensor (6) attached to the gun, to define a detection zone (8) for the infrared radiation emitted by the emitter (4) arranged at the periphery of the charging socket (3), and by measuring a distance between the charging gun (2) and the vehicle (1) by means of the distance sensor (5).

Description

Description Description

Titre de l'invention : procédé de recharge d’une batterie de véhicule au moyen d’un déplacement automatique d’un pistolet de charge Title of the invention: method for recharging a vehicle battery by means of automatic movement of a charging gun

[0001] La présente invention concerne un procédé de recharge d’une batterie de véhicule au moyen d’un déplacement automatique d’un pistolet de charge. [0001] The present invention relates to a method of recharging a vehicle battery by means of automatic movement of a charging gun.

[0002] Pour rappel, un véhicule présentant une propulsion électrique partielle ou totale comprend une batterie et une prise de charge, ladite batterie pouvant être rechargée en courant électrique par l’intermédiaire d’un pistolet de charge électrique, qui est extérieur au véhicule. Ce pistolet de charge est relié à une source de courant électrique, et vient s’enficher dans la prise de charge du véhicule pour assurer la recharge en courant électrique de ladite batterie. [0002] As a reminder, a vehicle with partial or total electric propulsion comprises a battery and a charging socket, said battery being able to be recharged with electric current via an electric charging gun, which is external to the vehicle. This charging gun is connected to a source of electric current, and is plugged into the vehicle's charging socket to ensure the recharging of said battery with electric current.

[0003] Afin de faciliter la recharge de la batterie électrique du véhicule, il est envisagé d’automatiser le déplacement du pistolet de charge vers la prise de charge du véhicule, puis son enfichage dans ladite prise de charge sans intervention humaine lors de ces différentes étapes. Une difficulté rencontrée lors de ce processus d’automatisation, réside en la localisation de la prise de charge présente sur le véhicule pour effectuer l’approche du pistolet extérieur vers ladite prise du charge. En effet, le pistolet de charge est généralement monté sur un bras articulé, et la position de ladite prise de charge sur le véhicule par rapport à la position initiale du pistolet de charge sur le bras articulé, doit être déterminée avec précision, pour déclencher de façon systématique un déplacement optimisé du pistolet de charge vers la prise de charge, dans le but de favoriser son enfichage dans ladite prise de charge. [0003] In order to facilitate the recharging of the electric battery of the vehicle, it is envisaged to automate the movement of the charging gun towards the vehicle's charging socket, then its insertion into said charging socket without human intervention during these different stages. A difficulty encountered during this automation process lies in the location of the charging socket present on the vehicle to carry out the approach of the external gun towards said charging socket. Indeed, the charging gun is generally mounted on an articulated arm, and the position of said charging socket on the vehicle relative to the initial position of the charging gun on the articulated arm, must be determined precisely, to systematically trigger an optimized movement of the charging gun towards the charging socket, in order to promote its insertion into said charging socket.

[0004] La demande WO2022167350 A1 divulgue un véhicule comprenant une batterie électrique et une prise électrique pour alimenter la batterie en électricité, la prise étant positionnée dans un élément de carrosserie définissant le véhicule de manière à être accessible de l'extérieur du véhicule. Cette demande divulgue en outre que la prise comprend des moyens de guidage pour acheminer une extrémité d'un pistolet d'alimentation, de telle sorte que ladite extrémité puisse pénétrer dans une zone de réception de la prise pour assurer la charge électrique de la batterie. [0005] Un procédé de recharge d’une batterie de véhicule selon l’invention, met en œuvre des moyens de localisation du pistolet de charge relativement à la prise de charge, pour assurer de façon sûre et répétitive un enfichage systématique du pistolet de charge dans la prise de charge du véhicule. [0004] Application WO2022167350 A1 discloses a vehicle comprising an electric battery and an electrical socket for supplying electricity to the battery, the socket being positioned in a bodywork element defining the vehicle so as to be accessible from outside the vehicle. This application further discloses that the socket comprises guide means for routing one end of a supply gun, such that said end can penetrate into a receiving area of the socket to ensure the electrical charging of the battery. [0005] A method for recharging a vehicle battery according to the invention implements means for locating the charging gun relative to the charging socket, to ensure safe and repetitive systematic insertion of the charging gun into the vehicle's charging socket.

[0006] L’invention a pour objet un procédé de recharge d’une batterie électrique d’un véhicule comprenant une prise de charge, ledit procédé étant réalisé au moyen d’un pistolet de charge mobile qui est extérieur au véhicule et qui est destiné à venir s’enficher dans ladite prise de charge. [0006] The subject of the invention is a method for recharging an electric battery of a vehicle comprising a charging socket, said method being carried out by means of a mobile charging gun which is external to the vehicle and which is intended to be plugged into said charging socket.

[0007] Selon l’invention, le procédé de recharge comprend les étapes suivantes : [0007] According to the invention, the recharging method comprises the following steps:

- une étape de solidarisation d’un émetteur à infrarouge au véhicule, en périphérie de la prise de charge, - a step of securing an infrared transmitter to the vehicle, on the periphery of the charging socket,

-une étape de formation d’un système comprenant le pistolet de recharge et un calculateur spécifique, ledit système comprenant en outre un capteur de distance et un capteur infrarouge fixés au pistolet de recharge, - a step of forming a system comprising the recharging gun and a specific computer, said system further comprising a distance sensor and an infrared sensor attached to the recharging gun,

-une étape de positionnement du véhicule par rapport au pistolet de charge qui est stocké sur un support permettant de définir une position initiale du pistolet de charge par rapport à la prise de charge - a step of positioning the vehicle in relation to the charging gun which is stored on a support making it possible to define an initial position of the charging gun in relation to the charging socket

-une étape de détection de la position initiale du pistolet de charge par rapport à la prise de charge, au moyen d’un balayage dudit pistolet permettant grâce au capteur infrarouge de définir une zone de détection du rayonnement infrarouge produit par l’émetteur, et au moyen de la mesure d’une distance par le capteur de distance entre le pistolet de charge et le véhicule, - a step of detecting the initial position of the charging gun relative to the charging socket, by means of scanning said gun allowing, thanks to the infrared sensor, to define a detection zone for the infrared radiation produced by the transmitter, and by means of measuring a distance by the distance sensor between the charging gun and the vehicle,

-une étape de déplacement automatique du pistolet de charge vers la prise de charge, ladite étape étant pilotée par le calculateur spécifique en fonction des mesures réalisées à l’étape précédente, jusqu’à ce que ledit pistolet de charge vienne s’enficher dans ladite prise de charge, - a step of automatic movement of the charging gun towards the charging socket, said step being controlled by the specific computer according to the measurements taken in the previous step, until said charging gun is plugged into said charging socket,

-une étape de recharge de la batterie du véhicule. - a step of recharging the vehicle battery.

[0008] Le principe d’un procédé de recharge selon l’invention est qu’il permet au pistolet de charge de se déplacer automatiquement et de façon très précise vers la prise de charge du véhicule, grâce : [0008] The principle of a recharging method according to the invention is that it allows the charging gun to move automatically and very precisely towards the vehicle's charging socket, thanks to:

-à un capteur infrarouge dudit pistolet qui va détecter sur une zone particulière de l’espace un signal en provenance d’un émetteur à infrarouge placé à proximité de la prise de charge, et -à un détecteur de distance qui mesure une distance entre la position initiale du pistolet et le véhicule. - to an infrared sensor of said gun which will detect in a particular area of space a signal coming from an infrared transmitter placed near the charging socket, and - to a distance detector which measures a distance between the initial position of the gun and the vehicle.

[0009] Les mesures de ces capteurs vont constituer des données d’entrée pour le calculateur afin de permettre à celui-ci de déterminer le parcourt que doit emprunter le pistolet de charge depuis sa position initiale pour atteindre de façon sûre la prise de charge. L’étape de positionnement du véhicule s’effectue de façon naturelle, sans manœuvre particulière, le véhicule étant amené à être garé à peu près à la même place à côté du pistolet de charge. De cette manière, Il est supposé que le pistolet de charge va toujours se retrouver dans une même zone prédéfinie autour de la prise de charge. Si le pistolet de charge se retrouvait à l’extérieur de ladite zone prédéfinie qui est une configuration très peu probable, le procédé selon l’invention serait inopérant. Le balayage du pistolet de charge peut par exemple s’effectuer par translation ou par rotation, ou par une combinaison desdits deux mouvements. [0009] The measurements from these sensors will constitute input data for the computer to enable it to determine the route that the charging gun must take from its initial position to safely reach the charging socket. The vehicle positioning step is carried out naturally, without any particular maneuver, the vehicle being parked in approximately the same place next to the charging gun. In this way, it is assumed that the charging gun will always be in the same predefined area around the charging socket. If the charging gun were to be outside said predefined area, which is a very unlikely configuration, the method according to the invention would be inoperative. The scanning of the charging gun can, for example, be carried out by translation or by rotation, or by a combination of said two movements.

[00010] Selon une caractéristique possible de l’invention, l’étape de balayage du pistolet de charge consiste à mettre en rotation ledit pistolet de charge autour d’un axe de rotation afin de déterminer la zone de détection dans laquelle ledit capteur infrarouge détecte le rayonnement infrarouge produit par l’émetteur. La mise en rotation du pistolet de charge s’effectue autour d’un axe longitudinal dudit pistolet, afin que le capteur infrarouge se déplace le long d’un cercle. Au début, le capteur infrarouge ne reçoit aucun rayonnement infrarouge en provenance de l’émetteur, puis va commencer à pivoter. A partir d’un certain angle de rotation, il va commencer à capter du rayonnement infrarouge, puis en poursuivant sa rotation il va finir par ne plus capter ce rayonnement. Autrement dit, il ne va capter du signal que sur un secteur angulaire. [00010] According to a possible characteristic of the invention, the step of scanning the charging gun consists of rotating said charging gun around an axis of rotation in order to determine the detection zone in which said infrared sensor detects the infrared radiation produced by the transmitter. The rotation of the charging gun is carried out around a longitudinal axis of said gun, so that the infrared sensor moves along a circle. At the beginning, the infrared sensor does not receive any infrared radiation from the transmitter, then will begin to pivot. From a certain angle of rotation, it will begin to capture infrared radiation, then by continuing its rotation it will end up no longer capturing this radiation. In other words, it will only capture the signal over an angular sector.

[00011] Selon une caractéristique possible de l’invention, l’axe de rotation autour duquel pivote le pistolet de charge est un axe vertical, la zone de détection s’étendant dans un plan horizontal et étant délimitée par deux segments matérialisant une ouverture angulaire. En effet, lorsque le pistolet pivote, le capteur infrarouge va pivoter simultanément, l’orientation du capteur par rapport à l’émetteur infrarouge étant modifiée à chaque instant du pivotement. Cette modification d’orientation explique que le capteur infrarouge ne capte pas un signal sur la totalité de son pivotement. [00012] Selon une caractéristique possible de l’invention, le procédé de recharge comprend : [00011] According to a possible characteristic of the invention, the axis of rotation around which the charging gun pivots is a vertical axis, the detection zone extending in a horizontal plane and being delimited by two segments materializing an angular opening. Indeed, when the gun pivots, the infrared sensor will pivot simultaneously, the orientation of the sensor relative to the infrared transmitter being modified at each instant of the pivoting. This modification of orientation explains why the infrared sensor does not pick up a signal over its entire pivoting. [00012] According to a possible characteristic of the invention, the recharging method comprises:

-une étape de détermination d’un angle spécifique [3 entre une droite qui est parallèle à une paroi du véhicule dans laquelle est placée la prise de charge, et la bissectrice de l’ouverture angulaire de la zone de détection définie par le capteur infrarouge, - a step of determining a specific angle [3 between a straight line which is parallel to a wall of the vehicle in which the charging socket is placed, and the bisector of the angular opening of the detection zone defined by the infrared sensor,

-une étape de mesure de la distance minimum « d » entre le capteur infrarouge porté par le pistolet de charge et la paroi du véhicule portant la prise de charge, -une étape de déduction de la distance et du parcourt que doit emprunter le pistolet de charge à partir de sa position initiale pour venir s’enficher dans la prise de charge, grâce à la distance minimum d mesurée et à l’angle [3 spécifique déterminé, - a step of measuring the minimum distance “d” between the infrared sensor carried by the charging gun and the wall of the vehicle carrying the charging socket, - a step of deducing the distance and the route that the charging gun must take from its initial position to plug into the charging socket, thanks to the minimum distance d measured and the specific angle [3 determined,

-une étape de déplacement du pistolet de charge le long du parcourt défini à l’étape précédente jusqu’à ce qu’il vienne s’enficher dans la prise de charge. - a step of moving the charging gun along the path defined in the previous step until it plugs into the charging socket.

[00013] Selon une caractéristique possible de l’invention, l’étape de détermination de la distance et du parcourt que doit emprunter le pistolet de charge pour venir s’enficher dans la prise de charge, sont déduites de règles trigonométriques usuelles impliquant la distance minimum d mesurée et l’angle spécifique [3 déterminé. [00013] According to a possible characteristic of the invention, the step of determining the distance and the path that the charging gun must take to plug into the charging socket are deduced from usual trigonometric rules involving the minimum distance d measured and the specific angle [3 determined.

[00014] Selon une caractéristique possible de l’invention, le capteur à infrarouge fixé au pistolet de charge est collimaté, ledit capteur infrarouge ne pouvant détecter que les rayonnements directs en provenance de l’émetteur infrarouge. De cette manière, le capteur infrarouge du pistolet de charge ne peut capter que le rayonnement direct en provenance de l’émetteur infrarouge. La zone de détection dudit capteur infrarouge sera donc plus étroite et donc plus clairement définie, empêchant ledit capteur de détecter du rayonnement infrarouge sur la totalité de sa rotation. La position de l’émetteur infrarouge sera donc plus précisément détectée. [00014] According to a possible feature of the invention, the infrared sensor attached to the charging gun is collimated, said infrared sensor being able to detect only direct radiation coming from the infrared emitter. In this way, the infrared sensor of the charging gun can only pick up direct radiation coming from the infrared emitter. The detection zone of said infrared sensor will therefore be narrower and therefore more clearly defined, preventing said sensor from detecting infrared radiation over its entire rotation. The position of the infrared emitter will therefore be more precisely detected.

[00015] Selon une caractéristique possible de l’invention, l’émetteur à infrarouge comprend au moins une LED à infrarouge. [00015] According to a possible characteristic of the invention, the infrared transmitter comprises at least one infrared LED.

[00016] Selon une caractéristique possible de l’invention, le capteur de distance est un capteur à ultrasons. [00017] Selon une caractéristique possible de l’invention, le balayage du pistolet et l’étape de déplacement dudit pistolet vers la prise de charge du véhicule sont assurés par un bras articulé sur lequel est monté le pistolet de charge doté de son capteur de distance et de son capteur à infrarouge. Les mouvements du bras articulé sont pilotés par le calculateur à partir des mesures réalisées par le capteur infrarouge et le capteur de distance. [00016] According to a possible characteristic of the invention, the distance sensor is an ultrasonic sensor. [00017] According to a possible characteristic of the invention, the scanning of the gun and the step of moving said gun towards the vehicle's charging socket are ensured by an articulated arm on which the charging gun is mounted, equipped with its distance sensor and its infrared sensor. The movements of the articulated arm are controlled by the computer from the measurements made by the infrared sensor and the distance sensor.

[00018] Un procédé de recharge selon l’invention présente l’avantage d’impliquer des équipements tels que par exemple un capteur infrarouge, un capteur à ultrasons et un émetteur à infrarouge, qui sont peu onéreux et qui sont fiables et précis. Il a de plus l’avantage d’être piloté par un calculateur possédant un algorithme s’appuyant sur des règles trigonométriques usuelles ne nécessitant pas une programmation complexe. [00018] A recharging method according to the invention has the advantage of involving equipment such as, for example, an infrared sensor, an ultrasonic sensor and an infrared transmitter, which are inexpensive and which are reliable and precise. It also has the advantage of being controlled by a computer having an algorithm based on standard trigonometric rules which do not require complex programming.

[00019] On donne ci-après une description détaillée d’un mode de réalisation préféré d’un procédé de recharge d’une batterie électrique d’un véhicule selon l’invention, en se référant aux figures suivantes : [00019] A detailed description is given below of a preferred embodiment of a method for recharging an electric battery of a vehicle according to the invention, with reference to the following figures:

[00020] [Fig. 1] La figure 1 est une vue du dessus d’un véhicule et d’un pistolet de charge illustrant une première étape d’un procédé de recharge selon l’invention, [00020] [Fig. 1] Figure 1 is a top view of a vehicle and a charging gun illustrating a first step of a charging method according to the invention,

[00021] [Fig. 2] La figure 2 est une vue du dessus d’un véhicule et d’un pistolet de charge illustrant une deuxième étape d’un procédé de recharge selon l’invention, [00021] [Fig. 2] Figure 2 is a top view of a vehicle and a charging gun illustrating a second step of a charging method according to the invention,

[00022] [Fig. 3] La figure 3 est une vue du dessus d’un véhicule et d’un pistolet de charge illustrant une troisième étape d’un procédé de recharge selon l’invention, [00022] [Fig. 3] Figure 3 is a top view of a vehicle and a charging gun illustrating a third step of a charging method according to the invention,

[00023] [Fig. 4] La figure 4 est un schéma montrant différentes distances et un angle permettant de localiser un pistolet de charge par rapport à la prise de charge du véhicule, [00023] [Fig. 4] Figure 4 is a diagram showing different distances and an angle for locating a charging gun relative to the vehicle's charging socket,

[00024] [Fig. 5] La figure 5 est une en perspective d’un capteur infrarouge dans une première configuration, et destiné à être fixé à un pistolet de charge et à partir duquel un procédé de recharge selon l’invention peut être appliqué, [00025] [Fig. 6] La figure 6 est une vue en perspective du capteur infrarouge de la figure 5, dans une deuxième configuration, [00024] [Fig. 5] Figure 5 is a perspective view of an infrared sensor in a first configuration, and intended to be attached to a charging gun and from which a recharging method according to the invention can be applied, [00025] [Fig. 6] Figure 6 is a perspective view of the infrared sensor of Figure 5, in a second configuration,

[00026] [Fig. 7] La figure 7 est une vue en perspective du capteur infrarouge des figures 5 et 6, dans une troisième configuration, [00026] [Fig. 7] Figure 7 is a perspective view of the infrared sensor of Figures 5 and 6, in a third configuration,

[00027] Un procédé de recharge selon l’invention s’applique à un véhicule 1 possédant une propulsion au moins partiellement électrique. Le véhicule 1 possède donc une batterie électrique qui peut être rechargée par un pistolet 2 de charge qui est extérieur audit véhicule et qui vient s’enficher dans une prise de charge 3 dudit véhicule. Le pistolet 2 de charge est connecté à une source de courant électrique qui est extérieure au véhicule, et vient s’insérer dans la prise de charge 3 pour procéder à une recharge de la batterie électrique restée dans sa position fonctionnelle dans ledit véhicule. [00027] A recharging method according to the invention applies to a vehicle 1 having at least partially electric propulsion. The vehicle 1 therefore has an electric battery which can be recharged by a charging gun 2 which is external to said vehicle and which is plugged into a charging socket 3 of said vehicle. The charging gun 2 is connected to a source of electric current which is external to the vehicle, and is inserted into the charging socket 3 to recharge the electric battery remaining in its functional position in said vehicle.

[00028] Actuellement, le conducteur du véhicule effectue cette opération de recharge manuellement. Autrement dit, il se saisit du pistolet de charge 2 qui est posé sur un socle puis achemine celui-ci jusqu’à la prise de charge 3 de son véhicule, avant d’enficher ledit pistolet de charge 2 dans ladite prise de charge 3. Ce processus est assez fastidieux car il oblige le conducteur à déployer des efforts et de la précision, pour parvenir à la recharge électrique de la batterie de son véhicule. [00028] Currently, the driver of the vehicle performs this recharging operation manually. In other words, he takes hold of the charging gun 2 which is placed on a base and then carries it to the charging socket 3 of his vehicle, before plugging said charging gun 2 into said charging socket 3. This process is quite tedious because it requires the driver to exert effort and precision in order to achieve the electrical recharging of the battery of his vehicle.

[00029] Les solutions automatisées qui ont été développées jusqu’à présent pour permettre au conducteur de s’affranchir de cette manipulation du pistolet de charge 2, sont généralement complexes, et impliquent des équipements onéreux. [00029] The automated solutions that have been developed to date to allow the driver to free himself from this manipulation of the charging gun 2 are generally complex and involve expensive equipment.

[00030] Un procédé de recharge selon l’invention permet un déplacement automatisé du pistolet de charge 2 jusqu’à la prise de charge 3 puis son enfichage dans celle-ci, sans avoir les inconvénients des solutions actuellement développées. [00030] A recharging method according to the invention allows automated movement of the charging gun 2 to the charging socket 3 and then its insertion into the latter, without having the disadvantages of the solutions currently developed.

[00031] Un procédé de recharge électrique de la batterie électrique d’un véhicule 1 selon l’invention, comprend les étapes suivantes : -une étape de solidarisation d’un émetteur à infrarouge 4 au véhicule, en périphérie de la prise de charge 3. La prise de charge 3 est généralement recouverte par une trappe de protection qui affleure une paroi du véhicule 1 , ladite trappe de protection pouvant passer d’une position de fermeture pour laquelle elle recouvre la prise de charge 3 à une position d’ouverture pour laquelle elle a pivoté d’un angle au moins égal à 90°. Cette trappe de protection s’ouvre ou se ferme automatiquement au moyen d’un élément d’actionnement associé à une motorisation. Cet émetteur à infrarouge 4 est un émetteur LED à infrarouge. La position de la prise de charge 3 sur le véhicule se déduit directement de la position de l’émetteur LED à infrarouge [00031] A method for electrically recharging the electric battery of a vehicle 1 according to the invention comprises the following steps: - a step of securing an infrared transmitter 4 to the vehicle, on the periphery of the charging socket 3. The charging socket 3 is generally covered by a protective hatch which is flush with a wall of the vehicle 1, said protective hatch being able to move from a closed position to which it covers the charging socket 3 in an open position for which it has pivoted by an angle at least equal to 90°. This protective hatch opens or closes automatically by means of an actuating element associated with a motor. This infrared transmitter 4 is an infrared LED transmitter. The position of the charging socket 3 on the vehicle is directly deduced from the position of the infrared LED transmitter

-une étape de formation d’un système comprenant le pistolet de charge 2 et un calculateur spécifique, ledit système comprenant en outre un capteur de distance 5 et un capteur infrarouge 6 fixés au pistolet de charge 2. Le capteur de distance est préférentiellement un capteur à ultrasons permettant de mesurer le temps s’écoulant entre une onde à ultrasons incidente et une onde à ultrasons réfléchie par une paroi. Le capteur à infrarouge 6 permet de détecter le rayonnement infrarouge, et en particulier le rayonnement à infrarouge produit par l’émetteur LED à infrarouge solidarisé au véhicule 1. Le capteur à infrarouge 6 est collimaté, ledit capteur infrarouge 6 ne pouvant détecter que les rayonnements directs en provenance de l’émetteur LED infrarouge 4 fixé au véhicule 1 . De cette manière, le capteur infrarouge 6 du pistolet de charge 2 ne peut capter que le rayonnement direct en provenance de l’émetteur LED infrarouge 6. La position de l’émetteur LED infrarouge 4 sera détectée de façon plus précise, -une étape de montage du pistolet de charge 2 doté de ses deux capteurs 5, 6 sur un bras articulé permettant audit pistolet de charge 2 de subir différents mouvement de rotation et de translation dans l’espace, -a step of forming a system comprising the charging gun 2 and a specific computer, said system further comprising a distance sensor 5 and an infrared sensor 6 fixed to the charging gun 2. The distance sensor is preferably an ultrasonic sensor making it possible to measure the time elapsing between an incident ultrasonic wave and an ultrasonic wave reflected by a wall. The infrared sensor 6 makes it possible to detect the infrared radiation, and in particular the infrared radiation produced by the infrared LED emitter secured to the vehicle 1. The infrared sensor 6 is collimated, said infrared sensor 6 being able to detect only direct radiation coming from the infrared LED emitter 4 fixed to the vehicle 1. In this way, the infrared sensor 6 of the charging gun 2 can only capture the direct radiation coming from the infrared LED emitter 6. The position of the infrared LED emitter 4 will be detected more precisely, - a step of mounting the charging gun 2 equipped with its two sensors 5, 6 on an articulated arm allowing said charging gun 2 to undergo different rotational and translational movements in space,

-une étape de positionnement du véhicule 1 à proximité du pistolet de charge 2 qui est monté sur le bras articulé, afin de placer la prise de charge 3 à une distance raisonnable dudit pistolet de charge 2, comme cela est illustré aux figures 1 et 2. Généralement, le pistolet de charge 2 est placé de façon fixe dans le garage d’un particulier ou au sein d’une station de recharge possédant plusieurs pistolets de charge 2, et le véhicule vient toujours se garer de la même façon par rapport au pistolet de charge 2 considéré. Pour qu’un procédé de recharge selon l’invention puisse être appliqué, il faut que la prise de charge 3 vienne se placer dans une zone 7 prédéfinie et peu étendue autour du pistolet de charge 2. Si le véhicule 1 se gare trop loin du pistolet de charge 2, il ne se passera rien et le conducteur dudit véhicule sera invité à se rapprocher dudit pistolet de charge. Lors de cette étape de positionnement du véhicule 1 , le pistolet de charge 2 se retrouve à une position initiale par rapport à la position de l’émetteur LED infrarouge 4 fixé au véhicule 1 , -a step of positioning the vehicle 1 near the charging gun 2 which is mounted on the articulated arm, in order to place the charging socket 3 at a reasonable distance from said charging gun 2, as illustrated in Figures 1 and 2. Generally, the charging gun 2 is placed in a fixed manner in the garage of an individual or within a charging station having several charging guns 2, and the vehicle always comes to park in the same way in relation to the charging gun 2 considered. For a charging method according to the invention to be able to be applied, the charging socket 3 must be placed in a predefined and small area 7 around the charging gun 2. If the vehicle 1 parks too far from the charging gun 2, nothing will happen and the driver of said vehicle will be invited to move closer to said charging gun. During this step of positioning the vehicle 1, the charging gun 2 is at an initial position relative to the position of the infrared LED transmitter 4 attached to the vehicle 1,

-une étape de balayage du système précédemment formé, se traduisant par une mise en rotation autour d’un axe vertical du pistolet de charge 2 monté sur le bras articulé et doté de ses deux capteurs 5, 6. Lors de ce balayage, le capteur infrarouge 6 collimaté du pistolet de charge 2 pivote simultanément avec ledit pistolet de charge 2 et va déterminer une zone de détection 8 dans laquelle ledit capteur infrarouge 6 détecte le rayonnement infrarouge produit par l’émetteur LED infrarouge. Cette zone de détection 8 s’étend dans un plan horizontal et est délimitée par deux segments rectilignes 9, 10 définissant un secteur angulaire donné comme cela est illustré aux figures 2 et 3. La détermination de cette zone de détection 8 permet de déduire un angle (3, qui est l’angle que fait la bissectrice 11 de la zone de détection 8 avec une droite passant par le pistolet de charge 2 et qui est parallèle à une paroi 12 du véhicule portant la prise de charge 3. La bissectrice 11 correspond à la droite joignant le capteur infrarouge 6 et l’émetteur LED infrarouge 4, - a step of scanning the previously formed system, resulting in a rotation around a vertical axis of the charging gun 2 mounted on the articulated arm and equipped with its two sensors 5, 6. During this scanning, the collimated infrared sensor 6 of the charging gun 2 pivots simultaneously with said charging gun 2 and will determine a detection zone 8 in which said infrared sensor 6 detects the infrared radiation produced by the infrared LED emitter. This detection zone 8 extends in a horizontal plane and is delimited by two rectilinear segments 9, 10 defining a given angular sector as illustrated in Figures 2 and 3. The determination of this detection zone 8 makes it possible to deduce an angle (3, which is the angle that the bisector 11 of the detection zone 8 makes with a straight line passing through the charging gun 2 and which is parallel to a wall 12 of the vehicle carrying the charging socket 3. The bisector 11 corresponds to the straight line joining the infrared sensor 6 and the infrared LED transmitter 4,

- une étape de mesure de la distance minimale d séparant le capteur de distance 5 fixé au pistolet de charge 2 et de la paroi 12 du véhicule dans laquelle débouche la prise de charge 3, - a step of measuring the minimum distance d separating the distance sensor 5 fixed to the charging gun 2 and the wall 12 of the vehicle into which the charging socket 3 opens,

-une étape de détermination de la distance Ig1 et du parcourt que doit suivre le pistolet de charge 2 pour atteindre la prise de charge 3, au moyen de règles trigonométriques usuelles impliquant l’angle [3 et la distance minimale d mesurée par le capteur de distance 5 : - a step of determining the distance Ig1 and the path that the charging gun 2 must follow to reach the charging socket 3, by means of usual trigonometric rules involving the angle [3 and the minimum distance d measured by the distance sensor 5:

Ig1 = d / sin (P) Ig1 = d / sin (P)

-une étape de détermination de la distance Ig2 séparant la projection du capteur infrarouge 6 sur la paroi 12 du véhicule 1 dans laquelle débouche la prise de charge 3 et l’émetteur LED infrarouge 4 fixé à ladite paroi 12 : - a step of determining the distance Ig2 separating the projection of the infrared sensor 6 on the wall 12 of the vehicle 1 into which the charging socket 3 opens and the infrared LED transmitter 4 fixed to said wall 12:

Ig2 = d / tan (P) Ig2 = d / tan (P)

-une étape de déplacement automatique du pistolet de charge 2 le long de la droite Ig1 ou Ig2 jusqu’à atteindre la prise de charge 3 et à s’enficher à l’intérieur de celle-ci, - a step of automatic movement of the charging gun 2 along the line Ig1 or Ig2 until it reaches the charging socket 3 and is plugged into it,

-une étape de recharge de la batterie du véhicule. [00032] Un procédé de recharge selon l’invention est entièrement piloté par le calculateur faisant partie du système formé par le pistolet de charge 2 doté de ses deux capteurs 5, 6 et dudit calculateur. - a step of recharging the vehicle battery. [00032] A recharging method according to the invention is entirely controlled by the computer forming part of the system formed by the charging gun 2 equipped with its two sensors 5, 6 and said computer.

[00033] En se référant à la figure 5, ce dispositif d’occultation 15 peut être fermé en ne laissant apparaitre qu’une ouverture minimale 16. Pour cette configuration le capteur infrarouge 6 est collimaté de façon maximale. [00033] Referring to Figure 5, this occulting device 15 can be closed while only revealing a minimal opening 16. For this configuration the infrared sensor 6 is collimated to the maximum extent.

[00034] En se référant à la figure 6, le dispositif d’occultation 15 peut être moyennement ouvert, et pour cette configuration le capteur infrarouge 6 est moyennement collimaté. [00035] En se référant à la figure 7, le dispositif d’occultation 15 peut être grandement ouvert, et pour cette configuration le capteur infrarouge 6 est collimaté de façon importante. [00034] Referring to Figure 6, the occulting device 15 can be moderately open, and for this configuration the infrared sensor 6 is moderately collimated. [00035] Referring to Figure 7, the occulting device 15 can be widely open, and for this configuration the infrared sensor 6 is significantly collimated.

[00036] L’état du dispositif d’occultation 15, à savoir quasiment fermé, moyennement ouvert ou grandement ouvert, est entièrement piloté par le calculateur faisant partie du système formé par le pistolet de charge 2 doté de ses deux capteurs 5, 6 et dudit calculateur. [00036] The state of the occultation device 15, namely almost closed, moderately open or fully open, is entirely controlled by the computer forming part of the system formed by the charging gun 2 equipped with its two sensors 5, 6 and said computer.

Claims

Revendications Claims [Revendication 1] Procédé de recharge d’une batterie électrique d’un véhicule (1) comprenant une prise de charge (3), ledit procédé étant réalisé au moyen d’un pistolet de charge (2) mobile qui est extérieur au véhicule et qui est destiné à venir s’enficher dans ladite prise de charge (3), caractérisé en ce qu’il comprend les étapes suivantes : [Claim 1] Method for recharging an electric battery of a vehicle (1) comprising a charging socket (3), said method being carried out by means of a mobile charging gun (2) which is external to the vehicle and which is intended to be plugged into said charging socket (3), characterized in that it comprises the following steps: - une étape de solidarisation d’un émetteur (4) à infrarouge au véhicule, en périphérie de la prise de charge (3), - a step of securing an infrared transmitter (4) to the vehicle, on the periphery of the charging socket (3), -une étape de formation d’un système comprenant le pistolet de charge (2) et un calculateur spécifique, ledit système comprenant en outre un capteur de distance (5) et un capteur infrarouge (6) fixés au pistolet de charge (2), -une étape de positionnement du véhicule (1) par rapport au pistolet de charge (2) qui est stocké sur un support permettant de définir une position initiale du pistolet de charge (2) par rapport à la prise de charge (3) - a step of forming a system comprising the charging gun (2) and a specific computer, said system further comprising a distance sensor (5) and an infrared sensor (6) fixed to the charging gun (2), - a step of positioning the vehicle (1) relative to the charging gun (2) which is stored on a support making it possible to define an initial position of the charging gun (2) relative to the charging socket (3) -une étape de détection de la position initiale du pistolet de charge (2) par rapport à la prise de charge (3), au moyen d’un balayage dudit pistolet (2) permettant grâce au capteur infrarouge (6) de définir une zone de détection (8) du rayonnement infrarouge produit par l’émetteur (4), et au moyen de la mesure d’une distance par le capteur de distance (5) entre le pistolet de charge (2) et le véhicule (1 ), - a step of detecting the initial position of the charging gun (2) relative to the charging socket (3), by means of scanning said gun (2) allowing, thanks to the infrared sensor (6), to define a detection zone (8) of the infrared radiation produced by the transmitter (4), and by means of measuring a distance by the distance sensor (5) between the charging gun (2) and the vehicle (1), -une étape de déplacement automatique du pistolet de charge (2) vers la prise de charge (3), ladite étape étant pilotée par le calculateur spécifique en fonction des mesures réalisées à l’étape précédente, jusqu’à ce que ledit pistolet de charge (2) vienne s’enficher dans ladite prise de charge (3), -une étape de recharge de la batterie du véhicule (1 ). - a step of automatic movement of the charging gun (2) towards the charging socket (3), said step being controlled by the specific computer according to the measurements taken in the previous step, until said charging gun (2) is plugged into said charging socket (3), - a step of recharging the vehicle battery (1). [Revendication 2] Procédé de recharge selon la revendication 1 , caractérisé en ce que l’étape de balayage du pistolet de charge (2) consiste à mettre en rotation ledit pistolet de charge (2) autour d’un axe de rotation afin de déterminer la zone de détection (8) dans laquelle le capteur infrarouge (6) détecte le rayonnement infrarouge produit par l’émetteur (4). [Claim 2] A recharging method according to claim 1, characterized in that the step of scanning the charging gun (2) consists of rotating said charging gun (2) around an axis of rotation in order to determine the detection zone (8) in which the infrared sensor (6) detects the infrared radiation produced by the transmitter (4). [Revendication 3] Procédé de recharge selon la revendication 2, caractérisé en ce que l’axe de rotation autour duquel pivote le pistolet de charge (2) est un axe vertical, et en ce que la zone de détection (8) s’étend dans un plan horizontal et est délimitée par deux segments (9, 10) matérialisant une ouverture angulaire. [Claim 3] A recharging method according to claim 2, characterized in that the axis of rotation around which the charging gun (2) pivots is a vertical axis, and in that the detection zone (8) extends in a plane horizontal and is delimited by two segments (9, 10) materializing an angular opening. [Revendication 4] Procédé de recharge selon la revendication 3, caractérisé en ce qu’il comprend une étape de détermination d’un angle spécifique ([3) entre une droite qui est parallèle à une paroi (12) du véhicule dans laquelle est placée la prise de charge (3), et la bissectrice (11 ) de l’ouverture angulaire de la zone de détection (8) définie par le capteur infrarouge (6), -une étape de mesure de la distance minimum (d) entre le capteur infrarouge (6) porté par le pistolet de charge (2) et la paroi (12) du véhicule portant la prise de charge (3), [Claim 4] Charging method according to claim 3, characterized in that it comprises a step of determining a specific angle ([3) between a straight line which is parallel to a wall (12) of the vehicle in which the charging socket (3) is placed, and the bisector (11) of the angular opening of the detection zone (8) defined by the infrared sensor (6), - a step of measuring the minimum distance (d) between the infrared sensor (6) carried by the charging gun (2) and the wall (12) of the vehicle carrying the charging socket (3), -une étape de déduction de la distance (Ig2) et du parcourt que doit emprunter le pistolet de charge (2) pour venir s’enficher à partir de sa position initiale dans la prise de charge (3), grâce à la distance minimum (d) mesurée et à l’angle spécifique ([3) déterminé, - a step of deducing the distance (Ig2) and the path that the charging gun (2) must take to come and plug in from its initial position into the charging socket (3), thanks to the minimum distance (d) measured and the specific angle ([3) determined, -une étape de déplacement du pistolet de charge (2) le long du parcourt défini à l’étape précédente jusqu’à ce qu’il vienne s’enficher dans la prise de charge (3). - a step of moving the charging gun (2) along the path defined in the previous step until it is plugged into the charging socket (3). [Revendication 5] Procédé de recharge selon la revendication 4, caractérisé en ce que l’étape de détermination de la distance et du parcourt que doit emprunter le pistolet de charge (2) pour venir s’enficher dans la prise de charge (3) , sont déduites de règles trigonométriques usuelles impliquant la distance minimum mesurée (d) et l’angle spécifique ([3) déterminé. [Claim 5] Recharging method according to claim 4, characterized in that the step of determining the distance and the path that the charging gun (2) must take to plug into the charging socket (3), are deduced from usual trigonometric rules involving the minimum measured distance (d) and the specific angle ([3) determined. [Revendication 6] Procédé de recharge selon l’une quelconque des revendications 1 à 5, caractérisé en ce que le capteur à infrarouge (6) fixé au pistolet de charge (2) est collimaté, ledit capteur infrarouge (6) ne pouvant détecter que les rayonnements directs en provenance de l’émetteur infrarouge (4). [Claim 6] Recharging method according to any one of claims 1 to 5, characterized in that the infrared sensor (6) fixed to the charging gun (2) is collimated, said infrared sensor (6) being able to detect only direct radiation coming from the infrared emitter (4). [Revendication 7] Procédé de recharge selon l’une quelconque des revendications 1 à 6, caractérisé en ce que l’émetteur à infrarouge (4) comprend au moins une LED à infrarouge. [Claim 7] Charging method according to any one of claims 1 to 6, characterized in that the infrared transmitter (4) comprises at least one infrared LED. [Revendication 8] Procédé de de recharge selon l’une quelconque des revendications 1 à 7, caractérisé en ce que le capteur de distance (5) est un capteur à ultrasons. [Revendication 9] Procédé de recharge selon l’une quelconque des revendications 1 à 8, caractérisé en ce que le balayage du pistolet de charge (2) et l’étape de déplacement dudit pistolet (2) vers la prise de charge (3) du véhicule (1) sont assurés par un bras articulé sur lequel est monté le pistolet de charge (2) doté de son capteur de distance (5) et de son capteur à infrarouge (6). [Claim 8] A recharging method according to any one of claims 1 to 7, characterized in that the distance sensor (5) is an ultrasonic sensor. [Claim 9] Charging method according to any one of claims 1 to 8, characterized in that the scanning of the charging gun (2) and the step of moving said gun (2) towards the charging socket (3) of the vehicle (1) are ensured by an articulated arm on which the charging gun (2) is mounted, equipped with its distance sensor (5) and its infrared sensor (6).
PCT/EP2024/082745 2023-12-01 2024-11-18 Method for charging a vehicle battery by automatically moving a charging gun Pending WO2025114065A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2313472A FR3156078A1 (en) 2023-12-01 2023-12-01 method of recharging a vehicle battery by means of automatic movement of a charging gun
FRFR2313472 2023-12-01

Publications (1)

Publication Number Publication Date
WO2025114065A1 true WO2025114065A1 (en) 2025-06-05

Family

ID=89897813

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2024/082745 Pending WO2025114065A1 (en) 2023-12-01 2024-11-18 Method for charging a vehicle battery by automatically moving a charging gun

Country Status (2)

Country Link
FR (1) FR3156078A1 (en)
WO (1) WO2025114065A1 (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120286730A1 (en) * 2011-05-11 2012-11-15 Richard William Bonny Automatic Recharging Robot for Electric and Hybrid Vehicles
CN109188449A (en) * 2018-08-24 2019-01-11 享奕自动化科技（上海）有限公司 The localization method and system of charge port position
CN111674278A (en) * 2020-06-19 2020-09-18 福建易动力电子科技股份有限公司 An underground mobile charging pile system and its operation method
US20210101496A1 (en) * 2017-04-03 2021-04-08 Audi Ag Robot apparatus for establishing a charging connection between a charging apparatus and an energy storage unit of a motor vehicle
US20220194245A1 (en) * 2020-12-22 2022-06-23 Boston Dynamics, Inc. Robust Docking of Robots with Imperfect Sensing
WO2022167350A1 (en) 2021-02-04 2022-08-11 Renault S.A.S Electric vehicle provided with an adapter for charging an electric battery

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120286730A1 (en) * 2011-05-11 2012-11-15 Richard William Bonny Automatic Recharging Robot for Electric and Hybrid Vehicles
US20210101496A1 (en) * 2017-04-03 2021-04-08 Audi Ag Robot apparatus for establishing a charging connection between a charging apparatus and an energy storage unit of a motor vehicle
CN109188449A (en) * 2018-08-24 2019-01-11 享奕自动化科技（上海）有限公司 The localization method and system of charge port position
CN111674278A (en) * 2020-06-19 2020-09-18 福建易动力电子科技股份有限公司 An underground mobile charging pile system and its operation method
US20220194245A1 (en) * 2020-12-22 2022-06-23 Boston Dynamics, Inc. Robust Docking of Robots with Imperfect Sensing
WO2022167350A1 (en) 2021-02-04 2022-08-11 Renault S.A.S Electric vehicle provided with an adapter for charging an electric battery

Also Published As

Publication number Publication date
FR3156078A1 (en) 2025-06-06

Similar Documents

Publication Publication Date Title
EP1078707B1 (en) Automatic selection method of welding sequences for a manual welding gun and manual welding gun used to carry out the method
KR20190113698A (en) Electric vehicle charging system using robot and method for charging electric vehicle using same
EP3141441A1 (en) Device for cleaning a detection system provided in a motor vehicle
EP0724144A1 (en) Device for detecting and measuring a position on a turning object and balancing machine for a rotating object
KR20190113697A (en) Electric vehicle charging system using robot and method for charging electric vehicle using same
WO2025114065A1 (en) Method for charging a vehicle battery by automatically moving a charging gun
FR3072339A1 (en) INDUCTION RECHARGE OF ELECTRIC VEHICLE USING A ROBOT
FR2905927A1 (en) Cycle storing system for fixed locking station on public way, has cycles locked on locking station via two fixation devices, thin plate displaced between retracted and locked positions, and vertical clearance arranged between devices
FR3119347A1 (en) Electric vehicle fitted with an adapter for recharging an electric battery.
FR3098771A1 (en) Spoiler intended to be attached to the tailgate of a motor vehicle
FR3014804A1 (en) METHOD AND GUIDE DEVICE FOR A MOTOR VEHICLE IN RELATION TO A FIXED TERMINAL
FR3123086A1 (en) PROCEDURE FOR SECURE OPENING OF A MOTORIZED OPENING OF A MOTOR VEHICLE
FR2751745A1 (en) FUEL GAUGE DEVICE FOR A MOTOR VEHICLE TANK
EP1418443A1 (en) Method and apparatus for locating an edge at the junction between two globally plane surfaces
WO2019202272A1 (en) Automatic electrical charger for autonomous or semi-autonomous vehicle
WO2006024720A1 (en) Container washing installation
FR3127973A1 (en) Method of motorized opening or closing of a mobile shutter and device making it possible to implement such a method.
EP4486595A1 (en) Charging robot for an electric motor vehicle guided by its unwound electric cable and operating method thereof
EP0689031A1 (en) Procedure and device to apply a line of adhesive on a panel, such as a windscreen of a car
FR3137615A1 (en) Motor vehicle motorized opening control system
FR2823477A1 (en) Warning signal for warning of opening of longitudinal sliding door on minivan, comprises illuminated triangle mounted on spring loaded arm which rises to horizontal position when sliding door is opened
EP0855575B1 (en) Sensing device in particular for determining the relative position of an object in space, such as the position of a windshield of a vehicle with respect to this vehicle
FR2791429A1 (en) DEVICE FOR DETECTING THE FUEL SUPPLY IN A TANK OF A MOTOR VEHICLE
WO2021061354A1 (en) Electric vehicle charging using light detection
FR3138359A1 (en) Method and system for controlling an access hatch to a charging device of a motor vehicle

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 24805585

Country of ref document: EP

Kind code of ref document: A1