FR3068960A1 - DEVICE FOR MONITORING THE VOLTAGE OF A POWER LINK OF AN AUTONOMOUS MOBILE HOUSING, FOR AN AUTOMATIC REEL - Google Patents

Abstract

A control device (DC) equips an automatic winder (EA) comprising an axis (AT) rotated by an electric motor (ME) and to which is coupled in rotation a drum (TC) on which is wound a link of power supply (LA) comprising an end connected to a mobile housing moving autonomously on a running surface. This device (DC) comprises detection means (MD) generating a signal representative of a voltage of the supply link (LA) between the mobile housing and the drum (TC), and control means (MC) which control the rotational speed of the axis (AT) as a function of the generated signal so that the voltage of the power link (LA) remains constant during a phase of unwinding or winding of the power link (LA).

Description

DEVICE FOR MONITORING THE TENSION OF A LINK

POWER SUPPLY FOR A SELF-CONTAINED MOBILE HOUSING

AUTOMATIC REEL

The invention relates to automatic reels which comprise a spindle driven in rotation by an electric motor and to which is coupled in rotation a drum on which a feed link is wound, and more precisely the control devices which equip such automatic reels .

Certain autonomous systems include a mobile box which can move autonomously on a rolling surface, and an automatic rewinder comprising a power supply link having one end connected to this mobile box. Here, the term "autonomous movement" means a movement which is controlled internally by the mobile unit so that the latter can go from a starting point to an arrival point, knowing how to avoid obstacles.

For example, the mobile case can be an induction charging (or contactless) case for a vehicle battery, and the power supply link can be a power supply cable. In this case, the starting point can be a storage place for the mobile unit and the arrival point can be a place where the secondary circuit on board the vehicle is installed, generally under the part of the body that defines the floor, and responsible for transforming electrical energy, transferred by the primary circuit installed in the mobile unit, into recharging current intended to supply the vehicle battery.

In this type of autonomous system, the automatic rewinder can either be embedded in the mobile box, or be installed near the power source. When the distances covered are relatively large and / or the supply link has a relatively large section (as for example in the case of an electrical supply cable which must provide a high power), the automatic rewinder is installed at near the power source.

It frequently happens that the mobile unit must move independently on a relatively congested rolling surface and / or on which people are also moving. Therefore, it is desirable that its feeding link does not constitute an obstacle to its own movement, and that it does not constitute an obstacle to the movement of people when it is stationary. However, the first situation (mobility) requires that the power link is stretched between the mobile unit and its power source so as not to rest on the ground (or minimally), while the second situation (immobility) requires the power link to be relaxed and rest on the ground. No known automatic winder today has a control device capable, at least, of imposing a voltage on the supply link between the associated mobile housing and the power source, which constitutes an obstacle to use of certain autonomous mobile boxes.

The invention therefore aims in particular to improve the situation.

To this end, it offers a control device intended to equip an automatic winder comprising an axis driven in rotation by an electric motor and to which is coupled in rotation a drum on which is wound a supply link comprising an end connected to a housing. mobile moving independently on a rolling surface.

This control device is characterized by the fact that it includes:

- detection means generating a signal representative of a voltage of the power supply link between the mobile unit and the drum, and

- Control means which control a speed of rotation of the axis as a function at least of the signal generated so that the voltage of the supply link remains constant during a phase of unwinding or winding of the supply link.

Thus, the rotational speed of the axis and therefore of the drum is permanently controlled, which makes it possible to keep the supply link substantially taut during unwinding as in winding so that it does not rest on the ground (or minimally).

The control device according to the invention may include other characteristics which can be taken separately or in combination, and in particular:

- Its control means can control the speed of rotation of the axis also as a function of a speed of movement of the movable housing and a unrolled length of the supply link;

- its control means can trigger a rotation on a selected angular sector of the axis, inducing a minimum tension of the supply link, when they are informed of a shutdown of the mobile unit;

its control means can trigger a) a temporary increase in the current rotation speed when the signal is representative of a voltage of the supply link which is greater than a threshold during a phase of unwinding of the supply link in order keep the voltage of the supply link constant, and b) a temporary stop of rotation when the signal is representative of a voltage of the supply link which is greater than the threshold during a winding phase of the supply link in order to keep the voltage of the supply link constant;

> its detection means may comprise, firstly, an arm comprising a first end, mounted for free rotation on a support in order to move between a first position corresponding to a minimum tension and a second position corresponding to a higher tension at the threshold, and a second end, on which is mounted for free rotation a wheel comprising a groove partially housing the feed link, secondly, a return means recalling the arm to its first position when the tension is lower at the threshold, and, thirdly, a sensor determining a placement angle of the arm relative to a reference angular position of the latter when it is in its first position, and generating a signal which is a function of the determined placement angle;

• the sensor can generate an alert signal when the determined placement angle is equal to an extreme angle strictly greater than a placement angle corresponding to the second position. In this case, the control means can trigger a stop of the rotation of the axis and of the mobile case in the event of reception of the alert signal.

The invention also provides an automatic winder comprising, on the one hand, an axis driven in rotation by an electric motor and to which is coupled in rotation a drum on which is wound a supply link comprising an end suitable for being connected to a mobile housing moving autonomously on a rolling surface, and, on the other hand, a control device of the type presented above.

The invention also provides an autonomous system comprising a mobile housing moving autonomously on a rolling surface, and an automatic rewinder of the type presented above and one end of the power supply link of which is connected to the mobile housing.

For example, the mobile box can be an induction charging box for a vehicle battery placed on a driving surface, and the power supply link can be an electric power cable. As a variant, the mobile housing can be chosen from a pneumatic and / or electric tool transport housing, and a transport housing of a spray lance.

Other characteristics and advantages of the invention will appear on examining the detailed description below, and the attached drawings, in which:

- Figure 1 schematically illustrates, in a side view, a parking lot comprising a driving surface comprising five parking zones, on one of which is parking a vehicle whose battery is to be recharged by induction by a system autonomous according to the invention coupled to an electrical power source,

FIG. 2 schematically illustrates, in a side view, the vehicle of FIG. 1 once parked and being recharged by induction of its battery by the autonomous system coupled to the power supply source, and

- Figure 3 illustrates schematically, in a sectional view in a vertical plane, part of an example of automatic rewinder comprising an embodiment of a control device according to the invention and forming part of the autonomous system of the figures 1 and 2.

The object of the invention is in particular to propose a DC control device intended to equip an automatic rewinder EA with an autonomous system SA also comprising a mobile housing BM, coupled to this automatic rewinder EA via a supply link LA and moving independently on a SR rolling surface.

In what follows, it is considered, by way of nonlimiting example, that the mobile housing BM is a housing intended to recharge by induction (or without contact) a battery BR of a vehicle V, and that the power supply link LA is an electrical power cable which is connected to an automatic rewinder EA installed in the vicinity of an electrical power source. The SA autonomous system is therefore a system for recharging vehicle batteries. However, the invention is not limited to this type of autonomous system. It relates in fact to any type of autonomous system comprising a mobile housing coupled to an automatic reel via a power supply link LA and moving autonomously on a rolling surface. Thus, the mobile housing BM could, for example, be a pneumatic and / or electric tool transport housing (and in this case the supply link LA is a compressed air supply pipe and / or a cable d 'power supply), or a transport case for a spray lance (and in this case the LA supply link is a water supply pipe).

Furthermore, it is considered in what follows, by way of nonlimiting example, that the vehicle V is of the automobile type. It is for example, and as illustrated without limitation in Figures 1 and 2, a car. However, the invention is not limited to this type of vehicle. It relates in fact to any type of vehicle comprising at least one rechargeable battery by induction. Consequently, it also relates to utility vehicles, coaches (or buses), trucks, trams, construction machinery, agricultural vehicles, road vehicles, ULMs (“Ultra Light Motorized”) and helicopters.

In addition, it is considered in what follows, by way of nonlimiting example, that vehicle V comprises an all-electric type powertrain. However, the vehicle could include a powertrain of the rechargeable hybrid type, that is to say comprising at least one heat engine and at least one electric motor coupled to at least one rechargeable battery.

Schematically illustrated in FIG. 1 is a parking lot PK comprising a rolling surface SR comprising five parking areas Zk (k = 1 to 5). It will be noted that the invention relates to any rolling surface SR on which a mobile box BM can move, whether or not it includes one or more parking zones Zk. It will also be noted that the rolling surface SR can be interior or exterior, public or private, flat or not. It can therefore be a covered or uncovered space, such as a parking lot, a garage, the floor of a building or factory, a green space (garden, park, racetrack), or a wood.

The PK car park is here equipped with a single autonomous system SA comprising an automatic rewinder EA coupled to a mobile box BM via a power supply link LA. But it could include several.

The mobile unit BM includes (here) a charging device DR responsible for recharging the rechargeable battery BR of a vehicle V once it has positioned itself precisely below the latter (V), and more precisely under a secondary circuit CS of induction charging which is coupled to this BR (rechargeable) battery, as illustrated in Figure 2.

This secondary circuit CS notably comprises a secondary coil, associated with a capacitor, and capable of transforming the electrical energy transferred by the recharging device DR into recharging current for the battery BR.

The DR recharging device comprises at least one primary circuit CP comprising a primary coil, associated with a capacitor, and suitable for being supplied with current by the supply link LA, in order to inductively transfer electrical energy to the coil secondary of the secondary circuit CS of the vehicle V, once it has been positioned precisely under this secondary coil (see FIG. 2).

The power supply link LA is coupled to the primary circuit CP (possibly via at least one electronic circuit and / or at least one electronic component (possibly power)).

The mobility of the mobile housing BM can be obtained by means of wheels RM mounted on rotation on the latter (BM), as in the example illustrated in FIGS. 1 and 2. Many wheel arrangements can be envisaged.

Thus, the mobile housing BM can comprise at least two non-steerable wheels and one steerable wheel (possibly idle). In a first variant, the mobile housing BM can comprise at least three steerable wheels (possibly idle). In a second variant, the mobile housing BM can comprise at least three holonomical wheels (possibly with rollers).

It will be noted that this mobility could also be obtained by means of caterpillars coupled to wheels secured in rotation to the mobile housing BM.

Since the mobile BM box is autonomous, its movements are motorized thanks to the presence of at least one electric motor MT suitable for driving at least one of the wheels RM (which is then driving), as illustrated in the FIG. 2. When the mobile housing BM comprises several driving wheels RM, it also comprises, a priori, as many electric motors MT as there are driving wheels RM. All combinations of drive wheel (s), steerable or non-steerable, and non-drive wheel (s), steerable or non-steerable, can be considered here.

Each MT electric motor can, for example, be supplied with current by a battery, preferably rechargeable, which includes the mobile housing BM (and which is not shown). Note that we can consider taking advantage of vehicle recharging phases to recharge this battery via the power supply link LA which is then supplied with current.

The mobile box BM also comprises (second) control means MC ′ arranged so as to control its movements towards a vehicle V parked in one of the zones Zk (the third (Z3) in FIGS. 1 and 2), up to that its primary coil is precisely placed under the secondary coil of the secondary circuit CS of this vehicle V. In order to allow this control, the mobile unit BM can also include means for analyzing the environment MA and means for navigation MN, for example and as illustrated in Figure 2.

As is better seen in FIG. 3, the automatic rewinder EA comprises an axis AT, an electric motor ME, a drum TC, and a control device DC according to the invention.

When the autonomous system SA is dedicated to the parking lot PK and its rolling surface SR, its automatic rewinder EA is preferably fixedly secured to the ground and / or to a wall.

The AT axis is intended to be driven in rotation by the ME electric motor. It is for example guided in rotation by two distant ball bearings, and coupled to the ME electric motor, for example by adhesion thanks to the presence of a shrink disk.

The TC drum is coupled in rotation to the AT axis, with which it defines what is often called a drum.

The LA power supply link (here a power supply cable) is intended to be wound on the TC drum under the control of the DC control device. This power supply link LA comprises a first end connected to the mobile housing BM and a second end connected to a power source (here electrical). For example and as illustrated, the supply link LA crosses the drum TC and the axis AT, is housed inside the latter (AT), and emerges from the axis AT by one end (possibly via a seal turning JT) in order to be connected to the power source.

The electrical power source can be a wall box, for example, connected to an electrical power network (or sector) and responsible for the distribution of electrical energy and protection ( circuit breakers, fuses, differential protection), or an electrical supply network (or mains).

The control device DC comprises detection means MD and (first) control means MC.

The detection means MD are arranged so as to generate a signal which is representative of the (mechanical) voltage of the power supply link LA between the mobile housing BM and the drum TC. This signal can be analog or digital.

The first control means MC are arranged so as to control the speed of rotation of the axis AT as a function at least of the signal generated by the detection means MD so that the voltage of the supply link LA remains constant during a phase of unwinding or a winding phase of the supply link LA.

“Unwinding phase” is understood here to mean a phase in which the mobile unit BM moves, here towards a vehicle V (to recharge its battery BR), and therefore moves away from the automatic rewinder EA, and by “phase d 'winding' a phase in which the mobile unit BM moves towards the automatic rewinder EA, here after having recharged the battery BR of the vehicle V. Furthermore, it will be understood that the control of the speed of rotation of the axis AT is performed by the first control means MC by means of commands (digital or analog) transmitted to the electric motor ME.

Thanks to the permanent control of the speed of rotation of the axis AT and therefore of the drum TC, in two opposite directions of rotation, it is now possible to keep the supply link LA substantially tensioned during unwinding as during a winding so that it does not rest on the ground (or minimally). Consequently, in mobility, the power supply link LA does not constitute an obstacle for the mobile housing BM.

Preferably, the first control means MC can also be arranged to control the speed of rotation of the axis AT also as a function of the speed of movement of the mobile housing BM and the unwrapped (or unwound) length of the supply link. THE. The speed of movement of the mobile unit BM can, for example, be transmitted to the first control means MC by the second control means MC 'via the supply link LA, or else by waves when the mobile unit BM and the EA automatic rewinder are equipped for this purpose. The unwrapped (or unwound) length of the supply link LA can, for example, be deduced from the number of turns made by the AT axis relative to a known reference position. Knowing this unwrapped length, the first control means MC can deduce therefrom the weight of the portion of the supply link located at all times between the mobile housing BM and the automatic rewinder EA, and therefore the tension necessary for the suspension (at minus minimally) of this portion.

The higher the speed of movement of the mobile BM box, the higher the speed of rotation of the AT axis. Furthermore, the greater the unwound length of the supply link LA (and therefore the greater the weight of the latter (LA)), the more the torque exerted on the axis ET must be significant in order to obtain a substantially constant tension.

It will be noted that it is particularly advantageous that the first control means MC are also arranged so as to trigger a rotation on a chosen angular sector of the axis AT, which induces a minimum voltage of the supply link LA, when are informed of a shutdown of the BM mobile unit.

This minimum voltage can, for example, be zero so that the part of the supply link LA located between the mobile unit BM and the automatic rewinder EA rests on the rolling surface SR and thus does not constitute an obstacle to the movement of people when the BM mobile unit is stopped.

The stop information can, for example, be transmitted to the first control means MC by the second control means MC 'via the supply link LA, or else by waves when the mobile unit BM and the automatic rewinder EA are equipped for this purpose.

For example, the first control means MC can be arranged so as to trigger:

- Or a temporary increase in the speed of rotation during the axis AT when the signal generated by the detection means MD is representative of a voltage of the supply link LA greater than a threshold during a phase of unwinding of the link LA power supply, in order to keep the voltage of the latter constant (LA),

- Or a temporary stop of the rotation of the axis AT when the signal generated by the detection means MD is representative of a voltage of the supply link LA greater than this threshold during a winding phase of the supply link LA, in order to keep the tension of the latter constant (LA).

In the first situation (unwinding phase), the speed of rotation is temporarily increased so that the speed of the feed link LA at the output of the automatic rewinder EA becomes slightly higher than the speed of movement of the mobile housing BM, so to induce a decrease in tension.

In the second situation (winding phase), the rotation is temporarily stopped so that the speed of the feed link LA at the output of the automatic rewinder EA becomes lower than the speed of movement of the mobile housing BM, so as to induce a decrease in blood pressure.

In order to implement the last option, the detection means MD can, as illustrated without limitation in FIG. 3, include an arm BD, a return means MR and a sensor CD.

The arm BD comprises first and second ends opposite to each other. The first end is mounted with free rotation on a support SB in order to move between a first position, illustrated in solid lines and corresponding to the minimum voltage of the supply link MA, and a second position illustrated in dashes and corresponding to a voltage. above the threshold. An RC wheel is mounted for free rotation on the second end, and includes a groove partially housing the feed link LA in order to wedge it while guiding it in translation.

The return means MR is arranged so as to return the arm BD to its first position when the voltage is below the threshold. For example, and as illustrated without limitation in FIG. 3, this return means MR can be arranged in the form of a helical spring. This also helps limit intensive oscillations or beats.

When the tension increases, the supply link LA exerts pressure on the wheel RC, and therefore drives the arm BD in rotation, here to the left, away from its first position (preferably in abutment to the right). The more the tension will increase, the more the BD arm will tend towards its second position, here to the left. Conversely, when the voltage decreases, the pressure exerted by the supply link LA on the wheel RC decreases, and therefore the arm BD returns to its first position, helped by the return means MR. The more the tension decreases, the more the BD arm tends towards its first position.

The CD sensor is arranged so as to determine a placement angle of the arm BD relative to an angular reference position in which the latter (BD) is placed when it is in its first position, and to generate a signal which is function (or representative) of this determined placement angle.

It will be noted that this CD sensor can also, if necessary, be arranged so as to generate an alert signal when the placement angle that it has determined is equal to an extreme angle strictly greater than a placement angle corresponding to the second position (and here located more to the left than the latter). In this case, the first control means MC trigger a stop of the rotation of the axis AT and a stop of the mobile unit BM when they receive this alert signal from the sensor CD.

For example, this alert signal can be transmitted to the second control means MC ′ by the first control means MC via the supply link LA, or alternatively by waves when the mobile unit BM and the automatic rewinder EA are equipped for this purpose.

Such an option is intended to avoid possible deterioration of the detection means MD and / or of the mobile box BM in the presence of too high a voltage, characteristic of a blockage of the power supply link LA or of the mobile box BM.

As illustrated without limitation in FIG. 3, the CD sensor can, for example, include a housing BC and a rod TG that can move relative to the housing BC. The box BC is installed fixedly in the vicinity of the zone where a part of the arm BD passes when the latter (BD) is driven in rotation. In the example illustrated without limitation in FIG. 3, the rod TG comprises a first end rotatably mounted relative to the housing BC and a second end (here provided with a flywheel) free and intended to be contacted by the above-mentioned part of the BD arm. The first end of the rod TG is for example fixedly secured to an axis whose angular position relative to a reference position is representative of the placement angle of the arm BD relative to the angular reference position. The box BC accommodates conversion means responsible for converting an angle setpoint in the angular position of the axis (secured to the first end of the rod TG) into a signal which is representative of this angle of placement of the arm BD. For example, these conversion means can be arranged in the form of an angle sensor, such as a rotary or linear potentiometer. The more the BD arm drives the rod TG in rotation, here to the left, the greater the placement angle of the BD arm relative to the angular reference position.

In an alternative embodiment, the rod TG could be mounted in translation perpendicular to the housing BC. In this case, the more the rod TG is translated, here to the left, the greater the angle of placement of the arm BD relative to the angular reference position.

Of course, other types of CD sensor known to those skilled in the art can be used. Thus, one could, for example, use an optical angular position sensor.

It will also be noted, as illustrated without limitation in FIG. 3, that the automatic rewinder EA can comprise, between the drum TC and the detection means MD, guide means MG intended to avoid blocking of the supply link LA during of a unwinding or of a winding due to an oblique overlap of portions belonging to different "turns".

For example, these guide means MG can comprise an endless screw VS, a slide CO, and a slide GL.

The worm screw VS is installed parallel to the axis AT and rotatably coupled to the latter (AT), for example via a CR belt, possibly notched, which is coupled to two wheels (or pulleys) fixedly secured to the lower ends of the axis AT and the worm screw VS. Preferably, the latter (VS) is guided in rotation by two ball bearings installed on its lower and upper ends.

The CO slide is mounted in translation on the GL slide and in rotation on the worm screw VS. An anchoring element EL, such as for example a ring, is fixedly secured to this slider CO and allows the coupling of the supply link LA to the slider CO with a possibility of translation relative to it (EL).

With this arrangement, when the axis AT is rotated in one direction, it rotates the worm screw VS, which causes the translation of the slide CO up or down in this direction, and therefore a upward or downward shift of the portion of the supply link LA in order to constitute on the (or remove from) the drum TC a turn placed under the previous turn.

It will be noted that the drum TC may include a helical groove so as to impose a helical winding of the supply link LA, without overlap between turns.

Of course, other MG guidance means known to those skilled in the art can be used.

It will also be noted that the automatic rewinder EA can comprise, as illustrated in FIG. 3, a box BO comprising an upper part, housing the electric motor ME, the control means MC, the axis AT, the drum TC, and the possible guide means MG, and a lower part, housing the detection means MD as well as possibly the mobile box BM when it is not in use.

It will also be noted that the first control means MC are preferably produced in the form of a combination of electronic circuits (or "hardware") and software modules (or computer or even "software"). For example, they can be in the form of an electronic microprocessor card or a specialized circuit possibly of the ASIC type.

Claims (10)

1. Control device (DC) for an automatic winder (EA) comprising an axis (AT) driven in rotation by an electric motor (ME) and to which is coupled in rotation a drum (TC) on which a link d power supply (LA) comprising one end connected to a mobile housing (BM) moving autonomously on a rolling surface (SR), characterized in that it comprises i) detection means (MD) generating a representative signal of a voltage of said supply link (LA) between said mobile housing (BM) and drum (TC), and ii) control means (MC) which control a speed of rotation of said axis (AT) as a function at least of said signal generated so that said voltage of the supply link (LA) remains constant during a phase of unwinding or winding of said supply link (LA). 2. Device according to claim 1, characterized in that said control means (MC) control said speed of rotation of the axis (AT) also according to a speed of movement of said movable housing (BM) and a unrolled length of said feed link (LA). 3. Device according to claim 1 or 2, characterized in that said control means (MC) trigger a rotation on a chosen angular sector of said axis (AT), inducing a minimum tension of said supply link (LA), when they are informed of a shutdown of said mobile unit (BM). 4. Device according to one of claims 1 to 3, characterized in that said control means (MC) trigger a) a temporary increase in the current speed of rotation when said signal is representative of a voltage of said link supply (LA) greater than a threshold during a unwinding phase of said supply link (LA) in order to maintain constant said voltage of the supply link (LA), and b) a temporary stop of said rotation when said signal is representative a voltage of said supply link (LA) greater than said threshold during a winding phase of said supply link (LA) in order to keep said voltage of the supply link (LA) constant. 5. Device according to claim 4, characterized in that said detection means (MD) comprise i) an arm (BD) comprising a first end, mounted with free rotation on a support (SB) in order to move between a first position corresponding to a minimum tension and a second position corresponding to a tension higher than said threshold, and a second end, on which is mounted with free rotation a wheel (RC) comprising a groove partially housing said supply link (LA), ii) return means (MR) returning said arm (BD) to its first position when said voltage is below said threshold, and iii) a sensor (CD) determining an angle of placement of said arm (BD) relative to an angular position of reference of the latter (BD) when it is in its first position, and generating a signal as a function of said determined placement angle. 6. Device according to claim 5, characterized in that said sensor (CD) generates an alert signal when said determined placement angle is equal to an extreme angle strictly greater than a placement angle corresponding to said second position, and in that said control means (MC) trigger a stop of said rotation and of said movable box (BM) in the event of reception of said alert signal. 7. Automatic reel (EA) comprising an axis (AT) driven in rotation by an electric motor (ME) and to which is coupled in rotation a drum (TC) on which a supply link (LA) is wound comprising an end suitable for being connected to a mobile box (BM) moving autonomously on a rolling surface (SR), characterized in that it comprises a control device (DC) according to one of the preceding claims. 8. Autonomous system (SA) comprising a mobile box (BM) moving autonomously on a rolling surface (SR), characterized in that it further comprises an automatic rewinder (EA) according to claim 7 and one of which end of the power link (LA) is connected to said mobile housing (BM). 9. Autonomous system according to claim 8, characterized in that said mobile box (BM) is a box for recharging by induction of a vehicle battery (V) placed on a driving surface (SR), and said link power supply (LA) is a power supply cable. 10. Autonomous system according to claim 8, characterized in that said mobile housing (BM) is chosen from a pneumatic and / or electric tool transport housing, and a transport housing of a spray lance 5.