An arrangement and method for active alignment control of a contact element

Patent metadata

Field	Value
Publication number	US-2020009976-A1
Application number	US-201716482850-A
Country	US
Kind code	A1
Filing date	Feb 15, 2017
Priority date	Feb 15, 2017
Publication date	Jan 9, 2020
Grant date	—

Abstract

The invention relates to an arrangement ( 100 ) for active alignment control of a contact element ( 110 ) of a charging device ( 104 ) for a vehicle ( 1 ) for driving on an electrical road system (ERS) comprising a charging surface ( 3 ) configured to provide electrical power to the vehicle via the charging device. The arrangement comprises the charging device ( 104 ) comprising a base ( 106 ), a linkage arm ( 108 ), and an electrical contact element ( 110 ) and a pivot joint ( 107 ) arranged for allowing a movement of the contact element around an axis ( 105 ). A control unit is configured to activate an actuator module to align said contact element ( 110 ) with said trajectory of said charging surface based on trajectory data and an angle between the vehicle heading and the charging surface. The invention further relates to a method and to a vehicle.

First claim

1 . An arrangement ( 100 ) for active alignment control of a contact element ( 110 ) of a charging device ( 104 ) for a vehicle ( 1 ) for driving on an electrical road system comprising a charging surface ( 3 ) configured to provide electrical power to the vehicle via the charging device, wherein the arrangement is characterized by:
the charging device ( 104 ) comprising a base ( 106 ), a linkage arm ( 108 ), and an electrical contact element ( 110 ) for making electrical contact with said charging surface of the electrical road system, and a pivot joint ( 107 ) arranged for allowing a movement of the contact element around an axis ( 105 ) substantially perpendicular to the charging surface; wherein the contact element ( 110 ) and the base ( 106 ) are connected to opposite ends of said linkage arm, and wherein the linkage arm ( 108 ) is at least horizontally displaceable for aligning the contact element with the charging surface; a charging surface detection sensor ( 111 ) for determining trajectory data indicative of the trajectory ( 4 ) of the charging surface ( 3 ); an angle detection sensor module ( 112 ) for determining the angle (G 3 ) between a vehicle heading ( 125 ) and said charging surface in the horizontal plane; an actuator module ( 114 ) for controlling said movement of the electrical contact element around said axis substantially perpendicular to the charging surface and for 20 controlling the horizontal displacement of the linkage arm, and a control unit ( 116 ) connected to said charging surface detection sensor ( 111 ), and said angle detection sensor module 112 , and said actuator module ( 114 ) and configured to activate said actuator module to align said contact element ( 110 ) with said trajectory of said charging surface based on said trajectory data and said angle between the vehicle heading and said charging surface.

2 . The arrangement according to claim 1 , characterized by: an actuator sensor module ( 118 ) configured to determine measurement data indicative of the horizontal displacement of the linkage arm, and a rotation position (A) of the contact element around said axis,
wherein the actuator sensor module is configured to provide said measurement data to said control unit, whereby said control unit is configured to activate said actuator module to align said contact element with said trajectory of said charging surface based on said trajectory data, said angle between the vehicle heading and said charging surface, and said measurement data.

3 . The arrangement according to claim 1 characterized in that said horizontal displacement is a rotational displacement a rotation angle of said linkage arm with respect to said base.

4 . The arrangement according to claim 3 characterized in that said control unit is configured to activate said actuator module to control said rotation angle of the linkage arm with respect to the base ( 106 ) for aligning said contact element with said trajectory of said charging surface.

5 . The arrangement according to claim 1 characterized in that said horizontal displacement is a linear displacement of said base with respect to a guiding rail on which said base is guided.

6 . The arrangement according to claim 5 characterized in that said control unit is configured to activate said actuator module to control said linear displacement of the linkage arm with respect to the base ( 106 ) for aligning said contact element with said trajectory of said charging surface.

7 . The arrangement according to claim 1 characterized in that said linkage arm comprises a first portion ( 108 a ) and a second portion ( 108 b ), wherein the pivot joint is arranged to join said first portion with said second portion.

8 . The arrangement according to claim 1 characterized in that said charging device comprises a charging head on which said charging element is attached, wherein said pivot joint is arranged to join the linkage arm with the charging head.

9 . The arrangement according to claim 1 characterized in that said charging device comprises a charging head ( 122 ) on which said charging element is attached, wherein said charging head is mechanically attached to said linkage arm, and wherein said pivot joint is arranged to join the charging head with the charging element.

10 . The arrangement according to claim 1 , wherein the angle detection sensor is one of a steering sensor for said vehicle, a camera, a laser sensor, a lidar, or a radar.

11 . The arrangement according to claim 1 , wherein the charging surface detection sensor is one of a, a camera, a laser sensor, a lidar, a global positioning system, or a radar.

12 . A vehicle ( 1 ) comprising:
a arrangement ( 100 ) according to claim 1 .

13 . A method for active alignment control a contact element of a charging device for a 10 vehicle for driving on an electrical road system (ERS),
said charging device comprising a base, a linkage arm, and an electrical contact element for making electrical contact with a charging surface of the electrical road system, and a pivot joint arranged for allowing a movement of the contact element around an axis substantially perpendicular to the charging surface;
wherein the contact element and the base are connected to opposite ends of said linkage arm, and

wherein the linkage arm is at least horizontally displaceable for aligning the contact element with the charging surface;

characterized by:
determining (S 602 ) trajectory data indicative of the trajectory of the charging surface;
determining (S 604 ) the angle between a vehicle heading and said charging surface in the horizontal plane;
aligning (S 606 ) said contact element with said trajectory of said charging surface based on said trajectory data and said angle between vehicle heading and said charging surface by:
controlling said movement of the contact element around said axis substantially perpendicular to the charging surface, and controlling the horizontal displacement of the linkage arm.

14 . The method according to claim 13 characterized by:
determining measurement data indicative of the horizontal position of the linkage arm, and a rotation position of the contact element around said axis, wherein said aligning is further based on said measurement data.

15 . A computer program comprising program code means for performing the steps of claim 13 when said program is run on a computer.

16 . A computer readable medium carrying a computer program comprising program code means for performing the steps of claim 13 when said program product is run on a computer.

17 . A control unit for controlling active alignment control a contact element of a charging device for a vehicle for driving on an electrical road system (ERS), the control unit being configured to perform the steps of the method according to claim 13 .

Assignees

• Volvo Truck Corp

Inventors

• Öhman Mikaela
• Engström Sten

Classifications

• B60K6/28

  characterised by the electric energy storing means, e.g. batteries or capacitors · CPC title

• B60Y2200/91

  Electric vehicles · CPC title

• B60Y2200/92

  Hybrid vehicles · CPC title

• B60L53/35 Primary

  Means for automatic or assisted adjustment of the relative position of charging devices and vehicles · CPC title

• B60L5/38 Primary

  for collecting current from conductor rails (B60L5/40 takes precedence) · CPC title