• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a reloading assembly comprising a mobile vehicle and a recharging base (200) of shape complementary to the mobile vehicle and adapted to receive the mobile vehicle and intended to recharge a battery of a mobile vehicle comprising at least one wheel ( 50, 51, 52), the base (200) being connectable to an electrical source, characterized in that the base (200) comprises: • a receiving surface (210) and a base plane (220) intended to be placed on a reference plane (230), the receiving surface (210) and the base plane (220) of the base (200) forming an acute angle (240); • a hemispherical cavity (250) hollowed out in the surface of receiving (210) and intended to receive the at least one wheel (50, 51, 52), • at least one electrical connector (260) arranged to allow the connection of the base (200) with the battery during the descent at least one wheel (50, 51, 52) in the hemispherical cavity (250). The invention also relates to a charging method implementing a reloading assembly according to the invention.
    公开号:FR3021914A1
    申请号:FR1455102
    申请日:2014-06-05
    公开日:2015-12-11
    发明作者:Vincent Clerc；Nicolas Garcia；Lucas Souchet；Vincent Chevry
    申请人:Aldebaran Robotics SA；
    IPC主号:
    专利说明:

    [0001] BACKGROUND OF THE INVENTION The invention relates to a recharging assembly comprising a mobile vehicle and a base for charging a rechargeable battery of the mobile vehicle and applies in particular to the field of charging. the robotics. The invention also relates to a method of charging a rechargeable battery using such an assembly. A mobile battery-powered vehicle requires at some point a recharge of its battery. A mobile vehicle may for example be a robot with a humanoid character. By humanoid robot is meant a robot with similarities to the human body. It may be the upper body, or only an articulated arm ending in a clamp comparable to a human hand. In the present invention, the upper body of the robot is similar to that of a human trunk. A humanoid robot can be more or less sophisticated. He can control his own balance statically and dynamically and walk on two limbs, possibly in three dimensions, or simply ride on a base. It can collect signals from the environment (sound, sight, touch, etc.) and react according to one or more more or less sophisticated behaviors, and interact with other robots or human beings, either by speech or by body language. For a current generation of humanoid robots, programmers are able to create scenarios, more or less sophisticated, as sequences of events to the robot and / or actions performed by the robot. These actions may be conditional on certain behaviors of people interacting with the robot. But in these humanoid robots of the first generation, the application programming is done in a development tool and each application needs to be launched by a trigger producing the occurrence included in the application. In the field of humanoid robotics, therefore, there is a need for a humanoid robot capable of living an "autonomous life", as a human being, who is able to behave in a certain way, depending on the environment in which it evolves.
    [0002] Generally, such a robot is supplied with electricity by one or more storage batteries, or more commonly one or more batteries. It is a set of electric accumulators connected together so as to create an electrical generator of voltage and desired capacity. The first purpose of the battery is to provide the intensity and voltage necessary for the robot to move. The battery can also be used to power the electronic equipment on board the robot. It is then necessary, at a given moment, to recharge the battery of the robot. Generally, a robot running on battery is able to move as long as the battery is charged and becomes stationary at the end of its charge. It then takes an outside intervention to, for example, go lay the robot on a charging base of the battery. Some robots are able to return to their base reloading autonomously but they sometimes have difficulties connecting to their base 15 reloading, either because of a bad positioning of the robot on its base, or because poor contact between the connectors of the robot and the charging base. Moreover, when the robot connects to its recharging base, electric arcs are created between the electrical connectors of the robot and the recharging base, which can damage the robot and / or the base. The aim of the invention is to overcome all or some of the problems mentioned above by proposing a recharging assembly comprising a mobile vehicle and a recharging base of a battery of the mobile vehicle, as well as a method implementing such an assembly. allowing any mobile vehicle such as a robot to recharge autonomously. For this purpose, the subject of the invention is a charging assembly comprising a mobile vehicle and a recharging base of shape complementary to the mobile vehicle and capable of receiving the mobile vehicle and intended to recharge a battery of a mobile vehicle comprising at least one mobile vehicle. at least one wheel, the base being connectable to an electrical source, characterized in that the base comprises: - a receiving surface and a base plane intended to be placed on a reference plane, the receiving surface and the base plane of the base forming an acute angle, - a hemispherical cavity hollowed out in the receiving surface and intended to receive the at least one wheel, - at least one electrical connector arranged to allow connection of the base with the battery when the descent of the at least one wheel in the hemispherical cavity. According to one embodiment, the recharging base further comprises a presence connector of the mobile vehicle on the base so as to be activated after the connection of the electrical connector and the battery. According to one embodiment, the reloading base comprises a first counterfoil positioned at the intersection between the receiving surface and the base plane, intended to form a stop for a second wheel of the vehicle. According to another embodiment, the reloading base 20 comprises a slideway formed in the receiving surface between the intersection of the receiving surface and the base plane and the cavity, the slide being intended to guide at least one wheel towards the cavity. Advantageously, the slider is configured to center the wheel about a main direction of the slider, and the centering accuracy increases as it approaches the recess. According to another embodiment, the cavity has a center and a pole, an axis Z passing through the center and the pole being substantially perpendicular to the reference plane, and the base comprises a recess passing through the base from the pole of the cavity and substantially parallel to the axis Z. Advantageously, the connector comprises a movable contact 35 in a direction substantially perpendicular to the base plane.
    [0003] Advantageously, the base comprises a periphery adapted to fit the shapes of the moving vehicle.
    [0004] The invention also relates to a charging method using a base according to one of the preceding claims and a vehicle configured to recharge on the base, characterized in that it comprises the following steps: - Translation of the mobile vehicle on the receiving surface - Inserting the at least one wheel into the hemispherical cavity and simultaneously bringing the base connector into contact with the battery of the mobile vehicle Advantageously, the charging method comprises a step of activating the charging of the the battery comprising the following steps: - verification of the presence of the mobile vehicle on the basis of recharging by depression of the presence connector, - measurement of the voltage at the terminals of the battery and comparison of the measured voltage with a minimum value and a value maximum voltage, 20 - Measurement of the internal resistance of the battery and comparison of the resistance to a minimum value and a value maximum resistance. The method may further comprise a step of abutting the second wheel against the counterfoil. The method may comprise beforehand a step of guiding at least one wheel towards the cavity by means of the slideway. The mobile vehicle is for example a robot. This robot has 30 at least one wheel to allow its movement on a reference plane. Alternatively, the mobile vehicle can be any type of vehicle having at least one wheel.
    [0005] The invention also relates to a humanoid robot comprising a reloading base according to the invention. The invention will be better understood and other advantages will appear on reading the detailed description of an embodiment given by way of example, a description illustrated by the attached drawing in which: FIG. humanoid character configured to recharge on a reloading base according to the invention; - Figure 2 shows an example of a pedestal comprising wheels for a humanoid robot configured to recharge on a reloading base according to the invention FIG. 3 schematically represents a sectional view of a recharging base according to the invention; FIG. 4 represents a view of a recharging base according to the invention; FIG. 5 schematically represents the steps of FIG. a charging method according to the invention. - Figure 6 schematically shows different stages during which a mobile vehicle joins a charging base 20 according to the invention. For the sake of clarity, the same elements will bear the same references in the different figures. In the description, the invention is described with the example of a robot moving by means of at least one wheel. However, the invention is applicable to any other mobile vehicle having at least one wheel. FIG. 1 represents a robot 100 with a humanoid character 30 configured to recharge on a reloading base according to the invention. The robot 100 in FIG. 1 is taken as an example of a humanoid robot configured to be recharged on a base according to the invention. The lower part of the robot 100 in Figure 1 is not operative for walking, but can move in any direction on its base 140 which rolls on the surface on which the robot 100 is located. In our example, the robot 100 has a height 110 which may be about 120 cm, a depth 120 of about 65 cm and a width 130 of about 40 cm. In a specific configuration, the robot has a tablet 150 with which it can communicate messages (audio, video, web pages) to its environment, or receive user input through a touch interface of the tablet. In addition to the processor of the tablet, the robot also uses the processor of its own motherboard which can be for example an ATOM TM Z530 card of lntelTM. Advantageously, the robot also has a processor dedicated to the data flow between the motherboard and the cards supporting the magnetic rotary sensors or abbreviated MRE for the Magnetic Rotary Encoders and sensors that control the motors of the joints in a member and the balls that the robot uses as wheels, in one embodiment of the invention. The motors can be of different types, depending on the amplitude of the maximum torque required for a defined articulation. For example, e-minebea ™ non-core brushless DC motors (eg SE24P2CTCA) can be used, or brushless DC motors from MaxonTM (EC45 _70W for example). Magnetic rotary sensors preferentially use the Hall effect, with 12 or 14 bits of precision.
    [0006] In embodiments of the invention, the robot illustrated in Figure 1 also includes different types of sensors. Some sensors are used to control the position and movements of the robot. This is the case, for example, of an inertial unit located in the torso of the robot and comprising a 3-axis gyroscope and a 3-axis accelerometer. The robot may also include two RGB color 2D cameras on the front of the robot (up and down) of the system-on-chip (or SOC) type, such as those of Shenzen V-Vision Technology LtdTM ( 0V5640), with a resolution of 5 megapixels at 5 frames per second and a field of view (also called FOV for the Anglo-Saxon term Field Of View) of about 57 ° horizontal and 44 ° vertical. A 3D captera can also be included behind the eyes of the robot, like the ASUS XTIONTM SOC sensor with a resolution of 0.3 megapixels at 20 frames per second, with about the same field of view as 2D cameras. The robot can also be equipped with laser line generators, for example three at the head and three in the base, so as to be able to detect its relative position with respect to objects and / or human beings in its environment. The robot may also include microphones to be able to detect sounds in its environment. In one embodiment, four microphones with a sensitivity of 300mV / Pa +/- 3dB at 1kHz and a frequency range of 300Hz to 12kHz (-10dB relative to 1kHz) can be implanted in the robot's head. The robot may also include two sonar sensors, possibly positioned in front of and behind its base, to measure the distance that separates it from objects and / or human beings in its environment. The robot may also include tactile sensors on its head and hands to allow interactions with humans. He may also include bumpers on his base to protect himself from obstacles he encounters on his course. To translate his emotions and communicate with humans in his environment, the robot can also include: - LEDs or light-emitting diodes, for example in his eyes, ears and on his shoulders; - Speakers, for example two in number, located in his ears. The robot can communicate with a base or other robots via an RJ45 or 802.11 WiFi Ethernet connection. The robot can be powered by a Lithium Iron Phosphate battery with an energy of about 400 Wh or a Lithium Polymer Trimix battery (Lithium Cobalt Manganese) about 860Wh. The robot can access a charging base adapted to the type of battery it contains. The position and movements of the robot are controlled by its motors, using algorithms that are activated by defined strings in each member and effectors defined at the termination of each member, taking into account the measurements of the sensors. FIG. 2 shows an example of a base 140 comprising wheels 50, 51, 52 for a humanoid robot configured to recharge on a reloading base according to the invention. In the example shown in Figure 2, the base 140 comprises three wheels 50, 51, 52. In order to be configured to recharge on a reloading base according to the invention, the base 140 must comprise at least one wheel 50. Of course he can understand many others. Figure 3 schematically shows a sectional view of a base 200 of the reloading assembly according to the invention. The charging base 200 is intended to recharge a battery of a mobile vehicle comprising at least one wheel 50. The base 200 is connectable to an electrical source. The base 200 comprises a receiving surface 210 and a base plane 220 intended to be placed on a reference plane 230. The receiving surface 210 and the base plane 220 form an acute angle 240. The base 200 comprises a hemispherical cavity 250 intended to The base also includes an electrical connector 260. The electrical connector 260 may for example be on the receiving surface 210. The connector 260 comprises a movable contact 330 in a direction substantially perpendicular to the base plane 220. The contact Mobile 330 can be obtained by means of a spring or any other piece having a certain elasticity. The base 200 also includes a presence connector 265 of the mobile vehicle on the base 200 so as to be activated after the connection of the electrical connector 260 and the battery. The presence connector 265 has a degree of freedom in translation in a direction substantially perpendicular to the base plane 220. Thus, when the mobile vehicle takes place on the recharging base 200 in order to recharge its battery, the presence connector 265 is translated under the weight of the moving vehicle.
    [0007] In other words, the presence connector 265 sinks into the receiving surface 210 of the base 200 when the mobile vehicle is present on its base. The electrical connector 260 and the presence connector 265 are slightly offset. Thus, during the descent of the wheel 50 into the hemispherical cavity 250, firstly, there is the electrical connection between the electrical connector 260 and the base 200. Then, only after the electrical connection, the presence connector 265 is activated, ie depressed, because of the presence of the mobile vehicle on the charging base 200. The recharge then takes place. Depressing the presence connector 265 last will prevent arcing, which can lead to damage to the parts. Conversely, once the recharging of the battery made and when the mobile vehicle leaves its base, there is first disconnection of the presence connector 265, thereby generating an electrical disconnection. Then, there is disconnection of the electrical connector 260 of the mobile vehicle (that is to say a physical disconnection), since the mobile vehicle leaves the base 200. Figure 4 shows a view of the base 200 of recharging according to the invention. The base 200 comprises a first counterfoil 270 positioned at the intersection between the receiving surface 210 and the base plane 220. The first counterfoil 270 is intended to form a stop for a second wheel 52 of the mobile vehicle, in the case where the vehicle includes two wheels. In the case where the vehicle comprises three wheels 50, 51, 52 as illustrated in Figure 2, the base 200 comprises a second counter 280, also intended to form a stop for the third wheel 51 of the mobile vehicle. The base 200 comprises a slide 290 made in the receiving surface 210 between the intersection of the receiving surface 210 and the base plane 220 and the cavity 250. The slide 290 is intended to guide the wheel 50 towards the cavity 250. The base 200 allows a good positioning of the mobile vehicle for reloading on the base 200. In the case of a mobile vehicle comprising three wheels 50, 51, 52, the wheel 50 is inserted into the slide 290 which allows the guiding the wheel 50 to the hemispherical cavity 250 of the recharging base 200. In other words, the slide 290 is configured to center the wheel 50 around a main direction of the slide 290, and the centering accuracy increases as it approaches the cavity 250. In its translation on the receiving surface 210 the wheel 50 is guided by the slide 290, ideally at its center. When the wheel 50 comes into contact with the hemispherical cavity 250, the wheel 50 follows the line of greater slope of the cavity so that the wheel 50 takes a position at the center of the hemispherical cavity 250. In other words, the trajectory of the wheel 50 corresponds to a rise towards the hemispherical cavity 250 and then a descent into the hemispherical cavity 250. The insertion of the wheel 50 into the cavity 250 takes place simultaneously with the contacting of the electrical connector 260 with the battery of the mobile vehicle. The wheel 50 is inserted into the cavity 250. The degree of freedom in translation of the moving vehicle is blocked. The wheels 51, 52 abut against the counterfoils 270, 280. The degree of freedom in rotation of the moving vehicle is blocked. Thus the mobile vehicle is perfectly placed on its base 200 of reloading. The electrical connector 260 of the base 200 is then in contact with an electrical connector of the mobile vehicle to recharge the battery of the mobile vehicle. In FIG. 4, two connectors 260 are shown. The base 200 according to the invention may comprise one or more than two. The cavity 250 has a center 300 and a pole 310, an axis Z passing through the center 300 and the pole 310 being substantially perpendicular to the reference plane 230. The base 200 comprises a recess 320 passing through the base 200 from the pole 310 of the cavity 250 and substantially parallel to the axis Z. The recess 320 allows to evacuate water or any other liquid substance accumulated in the cavity 250, directly or indirectly via the wheel 50. The base 200 comprises a circumference 340 able to conform to the shapes of the mobile vehicle. Thus, once set up on its base 200 of reloading, the mobile vehicle is well maintained by its base. And the circumference 340 is also a way to ensure that it is a mobile vehicle corresponding to the base that comes to recharge. Figure 5 shows schematically the steps of a charging method according to the invention. According to the invention, the charging method comprises the following steps: - Guiding at least one wheel 50 to the hemispherical cavity 250, - Translation of the mobile vehicle on the receiving surface 210, 30 - Inserting at least one wheel 50 in the hemispherical cavity 250 and simultaneously contacting the connector 260 of the base with the battery of the moving vehicle, - bringing the second wheel 52 of the vehicle into abutment against the counterfoil 270. The method further comprises a step of Activation of the recharging comprising the following steps: - Verification of the presence of the mobile vehicle on the base 200 by depression by the moving vehicle of the presence connector 265, - Measurement of the voltage at the terminals of the battery and comparison of the voltage measured at a minimum value and a maximum voltage value, - Measurement of the internal resistance of the battery and comparison of the resistance measured with a minimum value and a maximum value of d e resistance.
    [0008] In order for the recharging of the battery to be activated, the three steps mentioned above must be performed. It must therefore be ensured that the mobile vehicle is well positioned on its base. This is verified when the presence connector 265 is depressed. Since the base is of complementary shape to the mobile vehicle and includes a periphery that conforms to the shapes of the mobile vehicle, this step ensures the presence of an accredited mobile vehicle for this reloading base. In addition, the voltage across the battery must be between a preset minimum value and a maximum voltage value. For example, for a nominal 25.4 V battery, the voltage measured across the battery should be between 17 and 26V. Finally, the internal resistance of the battery must be between a minimum value and a maximum value of predefined resistor. This value is a few tens of milliohms. It can be emphasized that the internal resistance of the human body is a few kiloohms. This measure is therefore a security to prevent any flow of a current in the case where a human body would be positioned on the reloading base. When these three conditions are met, the recharge is activated. Figures 6a, 6b, 6c, 6d show schematically different steps during which a moving vehicle joins a charging base according to the invention. To lighten the figures, only the base 140 of the mobile vehicle has been shown.
    [0009] In Figure 6a, the moving vehicle approaches its base 200 of reloading. To detect its base 200, the vehicle may comprise an obstacle detection device comprising at least one electromagnetic beam emitter capable of forming a virtual plane that can intersect with the obstacle, at least one image sensor capable of producing an image of the intersection of the virtual plane and the obstacle, an image analysis means capable of determining the obstacle, configured to compare the image with a reference image. More specifically, the detection device may comprise a first said horizontal transmitter of a first horizontal beam extending in a first virtual plane substantially parallel to the reference plane and the first image sensor capable of producing an image of the intersection the first virtual plane and the obstacle. The mobile vehicle having a preferred direction of movement in a first direction along an X axis, the first virtual plane forms an angular sector around the X axis, and the obstacle detection device further comprises a second said horizontal transmitter d a second horizontal beam extending in a second virtual plane in a first direction, forming an angular sector about a Y axis perpendicular to the X axis and substantially parallel to the reference plane. The obstacle detection device comprises a second image sensor capable of producing an image of the intersection of the second virtual plane and the obstacle. The device comprises a third said horizontal transmitter of a third horizontal beam extending in a third virtual plane in a second direction, opposite to the first direction, forming an angular sector around the Y axis and substantially parallel to the reference plane. The obstacle detection device comprises a third image sensor adapted to produce an image of the intersection of the third virtual plane and the obstacle.
    [0010] The first, second and third so-called horizontal transmitters are positioned on the mobile vehicle at a certain height of the reference plane. The virtual planes respectively formed by the transmitters can intersect with an obstacle located at a height greater than the height or with an obstacle of which part is at the level of the virtual planes. The transmitters allow an obstacle detection that can be described as panoramic detection. The image sensor may also be a so-called "wide-angle" image sensor allowing only one shot of the three horizontal virtual planes 5. The obstacle detection device comprises a shovel beam transmitter extending in a virtual plane configured to intersect with the reference plane along a line perpendicular to the X axis. The first image sensor is able to produce an image of the line resulting from the intersection of the virtual plane and the reference plane. The virtual plane formed by the transmitter can intersect with an obstacle located at a height corresponding to the distance between the virtual plane and the reference plane. It can be an obstacle on the reference plane of large size or small size. An example of obstacles is a door hole or bumper. The obstacle detection device comprises a first transmitter said oblique of a first oblique beam extending in a first oblique virtual plane in the first direction along the axis X and secant to the reference plane. The obstacle detection device comprises a second so-called oblique transmitter of a second oblique beam extending in a second oblique virtual plane in the first direction along the X axis and intersecting with the reference plane. The first image sensor is adapted to produce an image around the intersection of the oblique virtual planes with the reference plane. The oblique beams may intersect with smaller obstacles, holes, or larger obstacles, with which the horizontal beams might not have been able to intersect. Thus, the six beams allow the obstacle detection device to form an intersection with virtual planes and any obstacle located in a close environment. In the case of the recharging base 200, the intersection between the virtual planes and the base 200 will form a known accurate image of the moving vehicle. Thus, the mobile vehicle will detect the base 200 and can go there to recharge its battery. The wheel 50 is guided towards the cavity 250 by means of the slideway 290. The slide has the particularity of forming a loose centering at the intersection between the pedestal plane 220 and the receiving surface 210. Thus the wheel 50 can translating on the receiving surface 210 in the direction of the slide 290, even if the mobile vehicle is not perfectly centered with the base 200. The further the slide 290 is near the cavity 250, the more the centering is refined. Thus, at the end of the translation of the mobile vehicle on the receiving surface 210, the mobile vehicle is perfectly placed on its base 200. During the translation of the mobile vehicle on the receiving surface 210, as shown in FIG. 6b, the base 140 passes over the connector 260, avoiding any scraping and friction between the base 140 and the connector 260. Thus, the connector is not damaged. In addition, it avoids the creation of arcing between the connectors of the base 200 and the vehicle. It should be noted that FIG. 6b is a sectional view, the wheel 50 translates into the slide 290 and does not touch the connector 260, placed outside the slideway 290. The translation of the moving vehicle towards the cavity 250 continues (see Figure 6c). Finally, the wheel 50 is inserted into the cavity 250 along the line of greater slope of the cavity 250, the wheel 52 then comes into abutment 20 against the counterfoil 270, and the connector 260 of the base 200 then simultaneously enters into contact with the positive and negative electric poles of the battery of the mobile vehicle under the double action of the descent into the cavity and the end of the translation along the longitudinal axis of the slide 290. The mobile vehicle is then perfectly placed on its base 200 of 25 reloading. The good contact between the connector 260 and the battery is favored by the double action of the movable contact 330 and the pressure exerted by the action of gravity on the moving vehicle. It should be noted that the direction of installation of the mobile vehicle on the connector 260 is different from a translation along the reference plane. The mobile vehicle lands on the connector 260 in a translation substantially perpendicular to the reference plane. This has the advantage of bringing the connector 260 into contact with the battery (more precisely with the battery terminals) just at the moment when recharging can begin, in order to avoid any friction during the contacting, and also to avoid the formation of arcs
    权利要求:
    Claims (12)
    [0001]
    REVENDICATIONS1. Reloading assembly comprising a mobile vehicle and a recharging base (200) complementary to the mobile vehicle and adapted to receive the mobile vehicle and for recharging a battery of a mobile vehicle comprising at least one wheel (50, 51, 52 ), the base (200) being connectable to an electrical source, characterized in that the base (200) comprises: - a receiving surface (210) and a base plane (220) intended to be placed on a reference plane ( 230), the receiving surface (210) and the base plane (220) of the base (200) forming an acute angle (240), - a hemispherical cavity (250) recessed in the receiving surface (210) and intended to receive the at least one wheel (50, 51, 52), - at least one electrical connector (260) arranged to allow connection of the base (200) with the battery during the descent of the at least one wheel (50, 51, 52) in the hemispherical cavity (250)
    [0002]
    2. reloading assembly according to one of the preceding claims, characterized in that the base further comprises a presence connector (265) of the mobile vehicle on the base (200) so as to be activated after the connection of the electrical connector ( 260) and the battery.
    [0003]
    3. reloading assembly according to one of the preceding claims, characterized in that the base comprises a first counterfoil (270) positioned at the intersection between the receiving surface (210) and the base plane (220), intended to form a stop for a second wheel (51, 52) of the vehicle.
    [0004]
    4. reloading assembly according to one of the preceding claims, characterized in that the receiving surface comprises a slide (290) formed in the receiving surface (210) between the intersection of the receiving surface (210) and the base plane (220) and the cavity (250), the slide (290) being intended to guide the at least one wheel (50, 51, 52) towards the cavity (250).
    [0005]
    5. reloading assembly according to the preceding claim, characterized in that the slide (290) is configured to ensure a centering of the wheel (50) around a main direction of the slide (290), and in that the accuracy centering increases as it approaches the cavity (250).
    [0006]
    6. Reloading assembly according to one of the preceding claims, characterized in that the cavity (290) has a center (300) and a pole (310), an axis Z passing through the center (300) and the pole (310). ) being substantially perpendicular to the reference plane (230), and in that the base (200) comprises a recess (320) passing through the base (200) from the pole (310) of the cavity (250) and substantially parallel to the Z axis.
    [0007]
    7. Reloading assembly according to one of the preceding claims, characterized in that the connector (260) comprises a movable contact (330) in a direction substantially perpendicular to the base plane (220).
    [0008]
    8. reloading assembly according to one of the preceding claims, characterized in that it comprises a periphery (340) adapted to conform to the shapes of the moving vehicle.
    [0009]
    9. Refilling method using a reloading assembly according to one of claims 2 to 7, characterized in that it comprises the following steps: - Translation of the moving vehicle on the receiving surface (210) (step 1010) Inserting the at least one wheel (50, 51, 52) into the hemispherical cavity (250) and simultaneously contacting the electrical connector (260) of the base (200) with the battery of the moving vehicle (step 1020).
    [0010]
    10. A method of recharging according to the preceding claim, characterized in that it further comprises a step of activation of the recharge comprising the following steps: - Verification of the presence of the mobile vehicle on the base (200) by depression by the moving vehicle of the presence connector (265), - Measurement of the voltage at the battery terminals and comparison of the measured voltage with a minimum value and a maximum value of voltage, - Measurement of the internal resistance of the battery and comparison of the the resistance measured at a minimum value and a maximum resistance value.
    [0011]
    11. Refilling method implementing an assembly according to one of claims 2 to 8, characterized in that it further comprises a step (1030) of abutting the second wheel (51, 52) against the counterforms (270).
    [0012]
    12. Refilling method implementing an assembly according to one of claims 3 to 8, characterized in that it comprises beforehand a step (1000) for guiding the at least one wheel (50, 51, 52). to the cavity (250) by means of the slide (290).
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
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    法律状态:
    2015-06-08| PLFP| Fee payment|Year of fee payment: 2 |
    2015-12-11| PLSC| Publication of the preliminary search report|Effective date: 20151211 |
    2016-05-26| PLFP| Fee payment|Year of fee payment: 3 |
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    2019-06-03| PLFP| Fee payment|Year of fee payment: 6 |
    2021-03-12| ST| Notification of lapse|Effective date: 20210205 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1455102A|FR3021914B1|2014-06-05|2014-06-05|BASE FOR RECHARGING A BATTERY AND METHOD FOR CHARGING USING SUCH A BASE|
    FR1455102|2014-06-05|FR1455102A| FR3021914B1|2014-06-05|2014-06-05|BASE FOR RECHARGING A BATTERY AND METHOD FOR CHARGING USING SUCH A BASE|
    JP2016570981A| JP2017518195A|2014-06-05|2015-06-02|Battery charging base and recharging method implementing such a base|
    EP15728792.1A| EP3152080B1|2014-06-05|2015-06-02|Charging base for a battery and method for using such a base|
    NZ726257A| NZ726257A|2014-06-05|2015-06-02|Battery charging base and recharging method implementing such a base|
    RU2016151660A| RU2644760C1|2014-06-05|2015-06-02|Base for battery charging and method of charging using such base|
    US15/310,720| US20170080816A1|2014-06-05|2015-06-02|Battery charging base and recharging method implementing such a base|
    AU2015270600A| AU2015270600A1|2014-06-05|2015-06-02|Battery charging base and recharging method implementing such a base|
    DK15728792.1T| DK3152080T3|2014-06-05|2015-06-02|CHARGING BASE FOR A BATTERY AND PROCEDURE FOR CHARGING USING SUCH BASE|
    MX2016015828A| MX2016015828A|2014-06-05|2015-06-02|Battery charging base and recharging method implementing such a base.|
    CN201580029575.9A| CN106660214A|2014-06-05|2015-06-02|Battery charging base and recharging method implementing such a base|
    BR112016028248A| BR112016028248A2|2014-06-05|2015-06-02|battery charging base and recharging method implementing such a base|
    PCT/EP2015/062198| WO2015185525A1|2014-06-05|2015-06-02|Battery charging base and recharging method implementing such a base|
    CA2951060A| CA2951060C|2014-06-05|2015-06-02|Battery charging base and recharging method implementing such a base|
    ES15728792.1T| ES2692443T3|2014-06-05|2015-06-02|Base for recharging a battery and recharging procedure that implements such a base|
    KR1020177000013A| KR101999904B1|2014-06-05|2015-06-02|Battery charging base and recharging method implementing such a base|
    SG11201609422XA| SG11201609422XA|2014-06-05|2015-06-02|Battery charging base and recharging method implementing such a base|
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