FR3029862A1 - DETERMINING A LOAD POSITION OF A CHARGING DEVICE OF A RECHARGEABLE TERMINAL - Google Patents
DETERMINING A LOAD POSITION OF A CHARGING DEVICE OF A RECHARGEABLE TERMINAL Download PDFInfo
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- FR3029862A1 FR3029862A1 FR1559703A FR1559703A FR3029862A1 FR 3029862 A1 FR3029862 A1 FR 3029862A1 FR 1559703 A FR1559703 A FR 1559703A FR 1559703 A FR1559703 A FR 1559703A FR 3029862 A1 FR3029862 A1 FR 3029862A1
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- vehicle
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- relative position
- marking
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- 230000001939 inductive effect Effects 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 9
- 238000012937 correction Methods 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 238000005457 optimization Methods 0.000 claims description 4
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- 238000004146 energy storage Methods 0.000 description 1
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- 238000005096 rolling process Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
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Classifications
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- 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
- B60L53/60—Monitoring or controlling charging stations
-
- 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
- B60L53/12—Inductive energy transfer
- B60L53/126—Methods for pairing a vehicle and a charging station, e.g. establishing a one-to-one relation between a wireless power transmitter and a wireless power receiver
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- 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
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- 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
- B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- G—PHYSICS
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- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/0304—Detection arrangements using opto-electronic means
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- G—PHYSICS
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/042—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by opto-electronic means
- G06F3/0421—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by opto-electronic means by interrupting or reflecting a light beam, e.g. optical touch-screen
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- G—PHYSICS
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
- G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/70—Interactions with external data bases, e.g. traffic centres
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- 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
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- 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
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- 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
- Y02T10/72—Electric energy management in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Computer Networks & Wireless Communication (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Current-Collector Devices For Electrically Propelled Vehicles (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
Une position de charge pour un véhicule (10) par rapport à un dispositif de charge (31) d'une borne de recharge (30) est déterminée par les étapes suivantes : détection d'un marquage de la borne (30) ; déplacement du véhicule (10) vers une première position en fonction du marquage et d'une position relative, qui indique une position du dispositif (31) de la borne (30) par rapport au marquage, afin de positionner un dispositif de charge (11) du véhicule (10) près du dispositif (31) de la borne (30) ; détermination, à partir de la première position, d'une deuxième position du véhicule (10) en tant que position de charge par l'optimisation d'un couplage entre le dispositif (11) du véhicule (10) et le dispositif (31) de la borne (30).A charging position for a vehicle (10) with respect to a charging device (31) of a charging terminal (30) is determined by the following steps: detecting a marking of the terminal (30); moving the vehicle (10) to a first position depending on the marking and a relative position, which indicates a position of the device (31) of the terminal (30) with respect to the marking, in order to position a charging device (11). ) the vehicle (10) near the device (31) of the terminal (30); determining, from the first position, a second position of the vehicle (10) as a load position by optimizing a coupling between the device (11) of the vehicle (10) and the device (31) from the terminal (30).
Description
1 Détermination d'une position de charge d'un dispositif de charge d'une borne de recharge La présente invention concerne l'autodidaxie de la position d'un dispositif de charge (en particulier une bobine primaire) d'une borne de recharge ou infrastructure de charge pour des véhicules équipés d'un moteur électrique. Le document US 2014/0092236 Al divulgue un système de positionnement pour un véhicule, ledit véhicule étant 10 positionné par rapport à une borne de recharge au moyen d'une caméra disposée à l'extérieur du véhicule. Le document DE 10 2011 006 504 Al décrit un procédé permettant de positionner un véhicule automobile par rapport à une borne de recharge ou station d'échange de 15 batterie. Le document WO 2010/060720 A2 divulgue un procédé permettant la recharge automatique des véhicules. Pour ce faire, le véhicule est amené de manière auto-commandée depuis une zone de transfert vers un lieu de recharge 20 choisi et à partir de là vers une zone de réception. Un positionnement (automatique) d'un véhicule électrique au-dessus d'un plateau de recharge à induction est connu à partir de l'état de la technique. Le rendement au moment de la charge inductive d'un accumulateur 25 d'énergie du véhicule via une borne de recharge dépend, dans ce cas, de manière déterminante de l'orientation correcte de la bobine primaire de la borne de recharge par rapport à la bobine secondaire du véhicule. En conséquence, le but de la présente invention est de 30 perfectionner par rapport à l'état de la technique la recharge (en particulier inductive) sans fil de l'accumulateur d'énergie du véhicule au moyen d'une borne de recharge. Cet objectif est résolu selon l'invention par un 35 procédé permettant de déterminer une position de charge pour un véhicule par rapport à un dispositif de charge 3029862 2 d'une borne de recharge, le procédé comportant les étapes suivantes : détection d'un marquage de la borne de recharge ; déplacement du véhicule vers une première position en 5 fonction du marquage et d'une position relative, qui indique une position du dispositif de charge de la borne de recharge par rapport au marquage, afin de positionner ainsi un dispositif de charge du véhicule près du dispositif de charge de la borne de recharge ; et détermination, à partir de la première position, d'une deuxième position du véhicule en tant que position de charge par l'optimisation d'un couplage entre le dispositif de charge du véhicule et le dispositif de charge de la borne de recharge.The present invention relates to the autodidaxy of the position of a charging device (in particular a primary coil) of a charging station or a charging station. charging infrastructure for vehicles equipped with an electric motor. Document US 2014/0092236 A1 discloses a positioning system for a vehicle, said vehicle being positioned relative to a charging station by means of a camera disposed outside the vehicle. DE 10 2011 006 504 A1 discloses a method for positioning a motor vehicle relative to a charging station or battery exchange station. WO 2010/060720 A2 discloses a method for automatic recharging of vehicles. To do this, the vehicle is brought in a self-controlled manner from a transfer area to a selected charging location and from there to a receiving area. An (automatic) positioning of an electric vehicle over an induction charging platform is known from the state of the art. The output at the time of inductive charging of a vehicle energy accumulator via a recharging terminal depends, in this case, decisively on the correct orientation of the primary coil of the charging terminal with respect to the secondary coil of the vehicle. Accordingly, the object of the present invention is to improve over the state of the art the charging (particularly inductive) wireless of the vehicle energy accumulator by means of a charging station. This object is solved according to the invention by a method for determining a charging position for a vehicle with respect to a charging device 3029862 2 of a charging station, the method comprising the following steps: detection of a marking the charging station; moving the vehicle to a first position depending on the marking and a relative position, which indicates a position of the charging device of the charging terminal with respect to the marking, so as to position a vehicle charging device near the device charging the charging station; and determining, from the first position, a second position of the vehicle as a load position by optimizing a coupling between the vehicle load device and the charging device of the charging terminal.
Suivant des dispositions spécifiques de ce procédé, pouvant être combinées : - l'optimisation est effectuée en fonction d'un rendement qui est obtenu pendant un processus de recharge, pendant lequel la borne de recharge recharge le véhicule à l'aide du dispositif de charge de la borne de recharge et du dispositif de charge du véhicule ; - le procédé comporte un déplacement du véhicule vers la deuxième position ; - le dispositif de charge de la borne de recharge et 25 le dispositif de charge du véhicule sont réalisés pour une recharge inductive d'un accumulateur d'énergie du véhicule ; - le procédé comporte une correction de la position relative mémorisée sur la base de la deuxième position, de 30 telle sorte que, lors d'un prochain processus de recharge, le déplacement du véhicule en fonction du marquage et de la position relative corrigée amène le véhicule dans la position qui correspond à la position de charge, sans que le véhicule roule préalablement dans la position qui est 35 fonction du marquage et de la position relative non corrigée ; 3029862 3 - le procédé comporte une détection de la position relative au moyen d'une liaison de communication sans fil ; - la correction de la position relative est signalée par le véhicule à la borne de recharge via la liaison de 5 communication sans fil, et la position relative est modifiée lorsque différents véhicules signalent à la borne de recharge que la position relative est corrigée de la même manière ; - le déplacement du véhicule en fonction du marquage 10 et de la position relative s'effectue, en plus, en fonction d'une autre position relative, qui indique la position du dispositif de charge du véhicule par rapport au véhicule, et l'autre position relative est modifiée lorsque, pour le même véhicule dans différentes bornes de recharge, la 15 position relative est corrigée de la même manière. La présente invention propose également un dispositif d'un véhicule, lequel est configuré pour déterminer une position de charge d'un dispositif de charge d'une borne de recharge ; 20 le dispositif comportant des moyens de détection permettant de détecter un marquage de la borne de recharge, et des moyens de commande ; le dispositif étant configuré pour favoriser un déplacement du véhicule en fonction du marquage et d'une position relative qui indique une position du dispositif de charge de la borne de recharge par rapport au marquage, vers une première position, dans laquelle un dispositif de charge du véhicule est disposé près du dispositif de charge de la borne de recharge, et pour déterminer à l'aide des moyens de commande, à partir de la première position, une deuxième position du véhicule en tant que position de charge, par l'optimisation d'un couplage entre le dispositif de charge du véhicule et le dispositif de charge de la borne de recharge.According to specific provisions of this method, which can be combined: optimization is performed according to a yield that is obtained during a charging process, during which the charging station recharges the vehicle using the charging device the charging station and the vehicle charging device; the method comprises a movement of the vehicle towards the second position; the charging device of the recharging terminal and the charging device of the vehicle are made for an inductive charging of a vehicle energy accumulator; the method comprises a correction of the relative position stored on the basis of the second position, so that, during a subsequent charging process, the displacement of the vehicle according to the marking and the corrected relative position brings the vehicle in the position corresponding to the load position, without the vehicle previously rolling in the position which is a function of the marking and the uncorrected relative position; The method comprises a detection of the relative position by means of a wireless communication link; the correction of the relative position is signaled by the vehicle to the charging terminal via the wireless communication link, and the relative position is changed when different vehicles signal to the charging station that the relative position is corrected by the same way ; the movement of the vehicle according to the marking 10 and the relative position is effected, in addition, according to another relative position, which indicates the position of the vehicle load device with respect to the vehicle, and the other Relative position is changed when, for the same vehicle in different charging stations, the relative position is corrected in the same way. The present invention also provides a vehicle device, which is configured to determine a charging position of a charging device of a charging station; The device comprising detection means for detecting a marking of the charging terminal, and control means; the device being configured to promote a displacement of the vehicle according to the marking and a relative position which indicates a position of the charging device of the charging terminal with respect to the marking, to a first position, in which a charging device of the vehicle is disposed near the charging device of the charging terminal, and for determining with the aid of the control means, from the first position, a second position of the vehicle as a charging position, by optimizing the a coupling between the vehicle charging device and the charging device of the charging terminal.
3029862 4 Ce dispositif peut être configure pour la mise en oeuvre du procédé tel que défini ci-dessus. Dans le cadre de la présente invention est proposé un procédé permettant de déterminer une position de charge 5 pour un véhicule par rapport à un dispositif de charge d'une borne de recharge. Le procédé selon l'invention comporte les étapes suivantes : - détection d'un marquage de la borne de recharge. Le terme marquage désigne dans ce cas, en règle 10 générale, un marquage ou un marqueur à l'appui duquel il est possible de déterminer la position exacte du dispositif de charge de la borne de recharge. Le marquage est détecté en particulier par des moyens de détection optiques. 15 - déplacement du véhicule vers une première position en fonction du marquage et d'une position relative, qui définit la position du dispositif de charge de la borne de recharge par rapport au marquage, afin de positionner ainsi un dispositif de charge du 20 véhicule le plus près possible du dispositif de charge de la borne de recharge. Le déplacement peut être effectué uniquement manuellement, de manière assistée (c'est-à-dire assistée par le véhicule) ou tout automatiquement. Par conséquent, dans cette 25 étape, le véhicule est amené dans la première position à partir d'une position, dans laquelle le marquage peut être détecté. 0 détermination d'une deuxième position du véhicule à partir de la première position en optimisant un 30 couplage entre le dispositif de charge du véhicule et le dispositif de charge de la borne de recharge. La deuxième position correspond à la position de charge à déterminer. Dans un processus de recharge inductive, la deuxième position en particulier et, 35 par conséquent, la position de charge est déterminée de manière à optimiser le couplage inductif entre le dispositif de charge du véhicule et le dispositif de charge de la borne de recharge.This device can be configured for implementing the method as defined above. In the context of the present invention is proposed a method for determining a load position for a vehicle with respect to a charging device of a charging station. The method according to the invention comprises the following steps: - detection of a marking of the charging station. The term marking in this case generally refers to a marking or marker in support of which it is possible to determine the exact position of the charging device of the charging station. The marking is detected in particular by optical detection means. 15 - moving the vehicle to a first position according to the marking and a relative position, which defines the position of the charging device of the charging terminal with respect to the marking, so as to position a vehicle charging device on the as close as possible to the charging device of the charging station. Moving can only be done manually, assisted (ie assisted by the vehicle) or all automatically. Therefore, in this step, the vehicle is brought into the first position from a position, in which marking can be detected. Determining a second position of the vehicle from the first position by optimizing a coupling between the vehicle charging device and the charging device of the charging terminal. The second position corresponds to the load position to be determined. In an inductive charging process, the second position in particular and, therefore, the charging position is determined so as to optimize the inductive coupling between the vehicle charging device and charging device of the charging terminal.
3029862 L'optimisation du couplage entre le dispositif de charge du véhicule et le dispositif de charge de la borne de recharge permet de perfectionner un processus de recharge inductif par rapport à l'état de la technique, 5 étant donné que le couplage optimisé permet, dans un intervalle de temps prédéterminé, de charger dans l'accumulateur d'énergie du véhicule, à partir de la borne de recharge, une charge plus élevée que dans l'état de la technique dans lequel le couplage n'est pas optimisé.The optimization of the coupling between the charging device of the vehicle and the charging device of the charging terminal makes it possible to improve an inductive charging process compared with the state of the art, since the optimized coupling makes it possible, in a predetermined time interval, charging in the vehicle energy accumulator, from the charging terminal, a higher load than in the state of the art in which the coupling is not optimized.
10 L'optimisation du couplage est effectuée avantageusement en fonction d'un rendement qui est obtenu pendant un processus de recharge. Pendant le processus de recharge, la borne de recharge, à l'aide du dispositif de charge de la borne de recharge et du dispositif de charge du véhicule, 15 recharge l'accumulateur d'énergie du véhicule. Le couplage inductif s'applique, dans ce cas en particulier, d'autant mieux que le rendement obtenu pendant le processus de recharge est élevé. Pour optimiser le couplage en fonction du rendement, 20 le véhicule est déplacé avantageusement dans une position déterminée en commençant par la première position. Dans la position déterminée, le rendement est calculé lors d'un court processus de recharge inductif (par exemple avec un rendement de charge de 10 %). Ensuite, le véhicule est 25 déplacé dans une nouvelle position déterminée, dans laquelle le rendement pour la nouvelle position déterminée est à nouveau calculé à l'appui d'une mesure test (c'est-à-dire à l'appui du court processus de recharge inductif). Dans cette procédure, la deuxième position, plus 30 précisément la position de charge, correspond à la position déterminée, dans laquelle est obtenu le rendement le plus élevé dans toutes les positions déterminées. Dans ce cas, le rendement indique en particulier un rapport entre une charge délivrée au véhicule par la borne de recharge lors 35 d'un processus de recharge et une charge reçue par le 3029862 6 véhicule dans son accumulateur d'énergie pendant le processus de recharge. De manière avantageuse, le véhicule est alors déplacé dans la deuxième position ou position de charge, en vue de 5 la recharge proprement dite. Comme il a déjà été évoqué précédemment, le dispositif de charge (par exemple, un plateau de recharge à induction) de la borne de recharge et le dispositif de charge du véhicule sont configurés selon un mode de réalisation 10 préféré de l'invention pour la recharge inductive d'un accumulateur d'énergie du véhicule. Il convient néanmoins de souligner que la présente invention peut être utilisée généralement pour une transmission d'énergie sans fil ou sans contact, telle qu'un processus de recharge capacitif 15 ou un processus de recharge électromagnétique (dans ce cas, la transmission d'énergie s'effectue par l'intermédiaire d'antennes). Selon l'invention, la position relative, qui définit la position du dispositif de charge de la borne de recharge 20 par rapport au marquage, peut être corrigée en fonction de la deuxième position ou position de charge, définie au préalable. De ce fait, lors du prochain processus de recharge à la même borne de recharge, le véhicule peut être amené, en fonction du marquage et de la position relative 25 corrigée, immédiatement dans la première position qui correspond, dans ce cas, à la position de charge, sans que le véhicule soit amené d'abord dans une position qui a été déterminée à l'appui du marquage et de la position relative non corrigée.Optimization of the coupling is advantageously effected according to a yield which is obtained during a charging process. During the recharging process, the charging station, using the charging device of the charging station and the vehicle charging device, recharges the vehicle's energy storage. The inductive coupling applies, in this case in particular, all the better that the efficiency obtained during the charging process is high. In order to optimize the coupling according to the efficiency, the vehicle is advantageously moved to a determined position starting with the first position. In the determined position, the efficiency is calculated during a short inductive charging process (for example with a load efficiency of 10%). Then, the vehicle is moved into a new determined position, in which the yield for the new determined position is again calculated in support of a test measurement (i.e. in support of the short process inductive charging). In this procedure, the second position, more precisely the load position, corresponds to the determined position, in which the highest efficiency is obtained in all the determined positions. In this case, the efficiency indicates in particular a ratio between a charge delivered to the vehicle by the charging station during a recharging process and a charge received by the vehicle in its energy accumulator during the recharging process. . Advantageously, the vehicle is then moved into the second position or load position, for the actual refill. As already mentioned above, the charging device (for example, an induction charging platform) of the charging terminal and the vehicle charging device are configured according to a preferred embodiment of the invention for the purpose of inductive charging of a vehicle energy accumulator. It should be emphasized, however, that the present invention can be generally used for wireless or non-contact energy transmission, such as a capacitive charging process or an electromagnetic charging process (in this case, the transmission of energy is done via antennas). According to the invention, the relative position, which defines the position of the charging device of the charging terminal 20 with respect to the marking, can be corrected according to the second position or charge position, defined beforehand. Therefore, during the next recharging process at the same charging station, the vehicle can be brought, depending on the marking and the corrected relative position, immediately into the first position which corresponds, in this case, to the position. load, without the vehicle being first brought to a position which has been determined in support of the marking and the uncorrected relative position.
30 En d'autres termes, après la détermination de la deuxième position ou position de charge, il est contrôlé si la deuxième position est différente de la première position. Si c'est le cas, la position relative est corrigée de telle sorte que la position relative corrigée 35 définit la position du dispositif de charge de la borne de 3029862 7 recharge par rapport au marquage conformément à la deuxième position ou position de charge. La position relative d'une borne de recharge peut, d'une part, être mémorisée dans le véhicule en fonction de 5 la borne de recharge respective. D'autre part, la position relative de la borne de recharge respective peut être détectée au moyen d'une liaison de communication sans fil entre la borne de recharge et le véhicule ou entre le véhicule et une source quelconque (par exemple, dans 10 Internet), laquelle comporte des informations sur la position relative. La détection de la position relative via une liaison de communication sans fil présente, dans ce cas, l'avantage qu'il est aussi possible de déterminer la position relative 15 d'une borne de recharge nouvellement établie ou inconnue jusqu'à présent du véhicule. En revanche, le fait que la position relative de la borne de recharge respective peut être mémorisée à l'intérieur du véhicule présente l'avantage que la position relative mémorisée peut être 20 corrigée par le véhicule lui-même. Il est évident que les deux variantes peuvent aussi être combinées, du fait que les positions relatives pour des bornes de recharge inconnues du véhicule sont détectées via une liaison de communication sans fil, tandis que les positions relatives 25 des bornes de recharge connues par le véhicule sont mémorisées dans le véhicule. Selon un mode de réalisation préféré selon l'invention, le véhicule signale à la borne de recharge, au moyen d'une liaison de communication sans fil, une position 30 relative corrigée. Lorsqu'un pourcentage suffisamment grand de véhicules, qui sont rechargés par la borne de recharge, signale une correction similaire de la position relative, la borne de recharge modifie sa position relative de manière correspondante.In other words, after determining the second position or load position, it is checked whether the second position is different from the first position. If so, the relative position is corrected so that the corrected relative position defines the position of the load device of the refill terminal with respect to the marking according to the second position or load position. The relative position of a charging station can, on the one hand, be stored in the vehicle according to the respective charging station. On the other hand, the relative position of the respective charging station can be detected by means of a wireless communication link between the charging station and the vehicle or between the vehicle and any source (for example, in the Internet). ), which includes information on the relative position. The detection of the relative position via a wireless communication link has, in this case, the advantage that it is also possible to determine the relative position of a newly established or previously unknown charging station of the vehicle. . On the other hand, the fact that the relative position of the respective charging terminal can be stored inside the vehicle has the advantage that the memorized relative position can be corrected by the vehicle itself. It is obvious that the two variants can also be combined, since the relative positions for unknown charging stations of the vehicle are detected via a wireless communication link, whereas the relative positions of the charging stations known to the vehicle are stored in the vehicle. According to a preferred embodiment according to the invention, the vehicle signals to the charging terminal, by means of a wireless communication link, a corrected relative position. When a sufficiently large percentage of vehicles, which are recharged by the charging station, signals a similar correction of the relative position, the charging station changes its relative position accordingly.
35 Ce mode de réalisation selon l'invention offre la possibilité de corriger la position relative de la borne de 3029862 8 recharge respective, laquelle est transmise aux véhicules via la liaison de communication sans fil. Lorsque la même nécessité de correction est transmise par différents véhicules au système de recharge ou à la borne de recharge, 5 cela indique une erreur systématique qui peut être corrigée avantageusement par ce mode de réalisation. Si la divergence erronée détectée de la position relative est trop grande, une erreur correspondante peut s'inscrire dans la borne de recharge et la borne de 10 recharge peut être signalée comme n'étant pas prête à l'emploi par exemple à un opérateur système d'un exploitant d'infrastructure de la borne de recharge. Dans ce cas, il convient de faire appel à un technicien pour remédier à l'erreur.This embodiment of the invention offers the possibility of correcting the relative position of the respective charging terminal, which is transmitted to the vehicles via the wireless communication link. When the same correction need is transmitted by different vehicles to the charging system or to the charging station, this indicates a systematic error which can be advantageously corrected by this embodiment. If the detected erroneous divergence of the relative position is too great, a corresponding error may occur in the charging station and the charging terminal may be signaled as not being ready for use by, for example, a system operator an infrastructure operator at the charging station. In this case, a technician should be called in to correct the error.
15 En règle générale, l'étape du déplacement du véhicule dans la première position ne dépend pas seulement du marquage et de la position relative, mais dépend aussi d'une position relative supplémentaire qui définit la position du dispositif de charge du véhicule par rapport au 20 véhicule (ou plus précisément par rapport à un point marquant du véhicule, tel que le milieu de l'axe longitudinal médian du véhicule). Lorsque, pour le même véhicule, la position relative a été corrigée de la même manière dans différentes bornes de recharge, cela signale 25 une autre position relative erronée, de telle sorte que l'autre position relative est modifiée de manière correspondante. En d'autres termes, lorsque dans différentes bornes de recharge la deuxième position ou position de charge est 30 décalée de la même manière par rapport à la première position, cela signale que la position d'installation du dispositif de charge (par exemple, la bobine secondaire) du véhicule s'écarte de l'autre position relative. Par conséquent, l'autre position relative est modifiée de, 35 manière correspondante, de telle sorte que lors du prochain déplacement vers l'une de ces bornes de recharge, la 3029862 9 première position correspond à la deuxième position, la position de charge ou position optimale correspond donc déjà à la première position. Dans le cadre de la présente invention, il est 5 également proposé un dispositif pour un véhicule, lequel est configuré pour déterminer une position de charge d'un dispositif de charge d'une borne de recharge. Le dispositif selon l'invention comporte des moyens de détection (par exemple, une caméra) permettant de détecter un marquage de 10 la borne de recharge, et des moyens de commande. Le dispositif est configure pour favoriser un déplacement du véhicule en fonction du marquage et d'une position relative qui indique une position du dispositif de charge de la borne de recharge par rapport au marquage, vers une 15 première position, dans laquelle un dispositif de charge du véhicule est disposé aussi près que possible du dispositif de charge de la borne de recharge. À l'aide des moyens de commande est alors déterminée, à partir de la première position, une deuxième position du véhicule en tant que 20 position de charge, du fait qu'un couplage entre le dispositif de charge du véhicule et le dispositif de charge de la borne de recharge est optimisé. Les avantages du dispositif selon l'invention correspondent sensiblement aux avantages du procédé selon 25 l'invention, lesquels ont été exposés en détail ci-dessus, de telle sorte que ceux-ci ne seront pas répétés ici. Enfin, dans le cadre de la présente invention est aussi proposé un véhicule qui comporte un dispositif selon l'invention.As a general rule, the step of moving the vehicle in the first position does not depend only on the marking and the relative position, but also depends on an additional relative position which defines the position of the vehicle load device relative to the Vehicle (or more precisely with respect to a highlight of the vehicle, such as the middle of the median longitudinal axis of the vehicle). When, for the same vehicle, the relative position has been corrected in the same way in different charging stations, this signals another erroneous relative position, so that the other relative position is correspondingly modified. In other words, when in different charging terminals the second position or charging position is shifted in the same way with respect to the first position, this indicates that the installation position of the charging device (for example, the secondary coil) of the vehicle deviates from the other relative position. Therefore, the other relative position is correspondingly modified so that on the next move to one of these charging terminals, the first position corresponds to the second position, the position of charge or optimal position therefore already corresponds to the first position. In the context of the present invention, there is also provided a device for a vehicle, which is configured to determine a charging position of a charging device of a charging station. The device according to the invention comprises detection means (for example, a camera) for detecting a marking of the charging terminal, and control means. The device is configured to promote vehicle movement according to the marking and a relative position which indicates a charging device position of the charging terminal with respect to the marking, to a first position, in which a charging device the vehicle is located as close as possible to the charging device of the charging station. With the help of the control means, a second position of the vehicle as a load position is determined from the first position, since a coupling between the vehicle load device and the load device charging station is optimized. The advantages of the device according to the invention substantially correspond to the advantages of the process according to the invention, which have been described in detail above, so that they will not be repeated here. Finally, in the context of the present invention is also proposed a vehicle which comprises a device according to the invention.
30 La présente invention permet de perfectionner la recharge sans contact d'un accumulateur d'énergie du véhicule au moyen d'une borne de recharge. Grâce à l'utilisation de la présente invention, la bobine primaire de la borne de recharge peut être installée de manière fixe 35 (et non mobile) à coûts avantageux. Avec la présente invention, il est possible, par l'utilisation de capteurs 3029862 10 (par exemple, une caméra) du véhicule, déjà présents pour d'autres raisons, de procéder à un calibrage du système de charge sans qu'il soit nécessaire d'utiliser des dispositifs de mesure supplémentaires.The present invention makes it possible to improve the non-contact charging of a vehicle energy store by means of a charging station. By using the present invention, the primary coil of the charging terminal can be fixedly installed (and not mobile) at an advantageous cost. With the present invention, it is possible, by the use of sensors 3029862 10 (for example, a camera) of the vehicle, already present for other reasons, to carry out a calibration of the charging system without it being necessary. to use additional measuring devices.
5 La présente invention convient en particulier à des véhicules automobiles. Il est évident que la présente invention n'est pas limitée à ce domaine d'application préféré, étant donné que la présente invention peut aussi être utilisée pour des bateaux, des avions, ainsi que des 10 véhicules sur rails ou guidés sur une voie. La présente invention est expliquée ci-après de manière détaillée par référence à l'unique figure, à l'appui de modes de réalisation selon l'invention. L'unique figure représente schématiquement un véhicule 15 selon l'invention équipé d'un dispositif selon l'invention. L'unique figure représente schématiquement un véhicule 10 selon l'invention équipé d'un dispositif 20 selon l'invention et une borne de recharge 30. Outre le dispositif 20 selon l'invention, le véhicule 10 comporte 20 une bobine secondaire 11 faisant fonction de dispositif de charge. La borne de recharge 30 représentée schématiquement comporte, outre une bobine primaire 31, un dispositif de communication 32 pour la communication sans fil avec le véhicule 10, et une mémoire 33. Le dispositif 20 selon 25 l'invention comporte des moyens de commande 1, une caméra 2, un dispositif de communication 3 destiné à la communication sans fil avec le dispositif de communication 32 de la borne de recharge 30, et une mémoire 4. L'invention est expliquée ci-après à l'appui d'un 30 exemple de processus de recharge. Le véhicule 10 selon l'invention s'approche de la borne de recharge 30 inductive pour recharger de manière inductive un accumulateur d'énergie non représenté du véhicule 10. À l'aide de la caméra 2 est détecté un 35 marqueur visible de la borne de recharge 30, lequel se situe sur la borne de recharge, idéalement dans le 3029862 11 voisinage visible de la caméra 2. En fonction de ce marqueur et en fonction d'une position relative, la position de la bobine primaire 31 de la borne de recharge 30 peut être déterminée. Si le véhicule 10 se situe pour la 5 première fois près de la borne de recharge 30, la position relative est encore inconnue. Dans ce cas, le dispositif 20 du véhicule 10 prend contact, via le dispositif de communication 3, avec le dispositif de communication 32 de la borne de recharge 30 pour détecter la position relative 10 qui est stockée dans la mémoire 33 de la borne de recharge 30 et pour la stocker dans la mémoire 4 du dispositif 20. Ensuite, le véhicule 10 roule vers une première position, dans laquelle la bobine secondaire 11 du véhicule 10 se situe à proximité de la bobine primaire 31 de la borne de 15 recharge 30. Au moyen d'une recharge test inductive (avec, par exemple, de courtes impulsions de charge de 10 % de la puissance de charge), il est possible de déterminer le rendement pour la première position. Ensuite, le véhicule 20 est déplacé dans le sens transversal, par exemple par des mouvements appropriés du volant de direction, une autre recharge test inductive étant effectuée dans diverses positions pour déterminer le rendement de chaque position. La position optimale ou position de charge est la position 25 dans laquelle est obtenu le rendement le plus élevé. Si la position de charge ne correspond pas à la première position, la position relative est corrigée en conséquence et est stockée sous la forme corrigée dans la mémoire 4 du dispositif 20. Le véhicule 10 selon l'invention possède 30 maintenant pour la borne de recharge 30 correspondante la position relative exacte de la bobine primaire 31 et peut, lors du prochain processus de recharge sur cette borne de recharge 30, être déplacé en fonction du marqueur immédiatement dans la position optimale. 35The present invention is particularly suitable for motor vehicles. It is obvious that the present invention is not limited to this preferred field of application, since the present invention can also be used for boats, aircraft, as well as railroad vehicles or guided on a track. The present invention is explained below in detail with reference to the single figure, in support of embodiments according to the invention. The single figure schematically shows a vehicle 15 according to the invention equipped with a device according to the invention. The single figure shows schematically a vehicle 10 according to the invention equipped with a device 20 according to the invention and a charging terminal 30. In addition to the device 20 according to the invention, the vehicle 10 comprises a secondary coil 11 to function charging device. The charging terminal 30 shown schematically comprises, in addition to a primary coil 31, a communication device 32 for wireless communication with the vehicle 10, and a memory 33. The device 20 according to the invention comprises control means 1, a camera 2, a communication device 3 for wireless communication with the communication device 32 of the charging terminal 30, and a memory 4. The invention is explained below in support of an example recharge process. The vehicle 10 according to the invention approaches the inductive charging terminal 30 to inductively recharge an unrepresented energy accumulator of the vehicle 10. Using the camera 2 is detected a marker visible from the terminal 30, which is located on the charging terminal, ideally in the visible vicinity of the camera 2. Depending on this marker and as a function of a relative position, the position of the primary coil 31 of the terminal of recharge 30 can be determined. If the vehicle 10 is located for the first time near the charging terminal 30, the relative position is still unknown. In this case, the device 20 of the vehicle 10 makes contact, via the communication device 3, with the communication device 32 of the charging terminal 30 to detect the relative position 10 which is stored in the memory 33 of the charging station 30 and store it in the memory 4 of the device 20. Next, the vehicle 10 rolls to a first position, in which the secondary coil 11 of the vehicle 10 is located near the primary coil 31 of the charging terminal 30. By means of inductive test charging (with, for example, short charge pulses of 10% of the charging power), it is possible to determine the efficiency for the first position. Then, the vehicle 20 is moved in the transverse direction, for example by appropriate movements of the steering wheel, another inductive test refill being performed in various positions to determine the performance of each position. The optimum position or load position is the position in which the highest yield is obtained. If the load position does not correspond to the first position, the relative position is corrected accordingly and is stored in the corrected form in the memory 4 of the device 20. The vehicle 10 according to the invention now has 30 for the charging station Corresponding to the exact relative position of the primary coil 31 and may, during the next charging process on this charging terminal 30, be moved according to the marker immediately in the optimum position. 35
Claims (10)
Applications Claiming Priority (2)
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| DE102014225927.4A DE102014225927A1 (en) | 2014-12-15 | 2014-12-15 | System and method for detecting the position of a touch on a surface in the interior of a vehicle |
| DE102014225927.4 | 2014-12-15 |
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|---|---|
| FR3029862A1 true FR3029862A1 (en) | 2016-06-17 |
| FR3029862B1 FR3029862B1 (en) | 2020-03-13 |
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| FR1559703A Active FR3029862B1 (en) | 2014-12-15 | 2015-10-13 | DETERMINING A CHARGING POSITION OF A CHARGING DEVICE OF A RECHARGE TERMINAL |
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|---|---|
| CN (1) | CN105691218B (en) |
| DE (1) | DE102014225927A1 (en) |
| FR (1) | FR3029862B1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112783217A (en) * | 2020-12-24 | 2021-05-11 | 格力博(江苏)股份有限公司 | Auxiliary positioning device, automatic working system and working method thereof |
| CN113386593A (en) * | 2021-06-24 | 2021-09-14 | 青岛海尔科技有限公司 | Wireless charging method and device for electric automobile, storage medium and electronic equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP6765923B2 (en) * | 2016-10-05 | 2020-10-07 | 東芝テック株式会社 | Power receiving device and charge control program |
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| DE102016224804A1 (en) * | 2016-12-13 | 2018-06-14 | Bayerische Motoren Werke Aktiengesellschaft | Method for determining the position of a charging station for the wireless transmission of electrical energy to a vehicle |
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Also Published As
| Publication number | Publication date |
|---|---|
| DE102014225927A1 (en) | 2016-06-30 |
| CN105691218A (en) | 2016-06-22 |
| CN105691218B (en) | 2018-05-18 |
| FR3029862B1 (en) | 2020-03-13 |
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