Automatic charging system

Abstract

The invention provides an automatic charging system capable of suppressing contact between an occupant of a vehicle and a charging robot during charging operation of the charging robot. An automatic charging system according to the present invention is configured from a vehicle driven by power supplied from a power storage device, a charger provided with a charging cable having a charging connector, and a charging robot capable of autonomously walking. A charging robot is provided with a robot arm that grabs a charging connector and automatically inserts and pulls the charging connector into and out of a charging port of a vehicle located in a parking space, the charging robot being charged by inserting the charging connector into the charging port and supplying power from a charger to a power storage device, and is provided with a control device. The control device controls the vehicle to lock the door and window closest to the charging port at least during a charging operation from when the charging robot receives an instruction to start automatic charging and autonomously travels from a predetermined standby position to when the charging robot returns to the predetermined standby position after the charging of the power storage device is completed.

Description

Technical Field

[0001] The present invention relates to an automatic charging system. Background Art

[0002] Patent Document 1 discloses a technology in which a power supply robot holds a power supply connector of a power supply device, moves toward a vehicle parked in a parking space, and connects the power supply connector to a socket provided in the vehicle, thereby supplying power from the power supply device to a battery of the vehicle for charging.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2021-032721 Summary of the invention

[0006] Problems to be solved by the invention

[0007] In the technology disclosed in Patent Document 1, during the charging operation of the charging robot, if a passenger gets out of the vehicle through a door or reaches out through a window of the vehicle, the passenger of the vehicle and the charging robot may come into contact with each other.

[0008] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide an automatic charging system capable of suppressing contact between a vehicle occupant and a charging robot during a charging operation of the charging robot.

[0009] Means for solving problems

[0010] In order to solve the above-mentioned problems and achieve the purpose, the automatic charging system of the present invention is composed of a vehicle, a charger and a charging robot capable of autonomous movement, the vehicle is driven by electric power supplied from a power storage device, the charger has a charging cable, the charging cable has a charging connector, the charging robot has a robot arm, the robot arm grasps the charging connector and automatically inserts and removes the charging connector relative to a charging port of the vehicle located in a parking space, inserts the charging connector into the charging port, and supplies electric power from the charger to the power storage device for charging, and is characterized in that the automatic charging system has a control device, and the control device controls the vehicle to lock the doors and windows closest to the charging port at least during the charging operation, and the charging operation is an operation from the time the charging robot receives an instruction to start automatic charging and starts autonomous movement from a specified standby position to the time when the charging of the power storage device is completed and the charging robot returns to the specified standby position.

[0011] As a result, during the charging operation of the charging robot, it is possible to prevent passengers from getting in or out of the vehicle through the door closest to the charging port or reaching out through the window, thereby preventing passengers from coming into contact with the charging robot.

[0012] In addition, the automatic charging system according to the present invention is composed of a vehicle, a charger and a charging robot capable of autonomous movement, wherein the vehicle is driven by electric power supplied from a power storage device, the charger has a charging cable, the charging cable has a charging connector, and the charging robot has a robotic arm, which grasps the charging connector and automatically inserts and removes the charging connector relative to a charging port of the vehicle located in a parking space, inserts the charging connector into the charging port, and supplies electric power from the charger to the power storage device for charging. It is characterized in that the automatic charging system has a control device, and the control device controls the vehicle to lock all doors and windows on the charging port side at least during the charging operation, and the charging operation is an operation from the time the charging robot receives an instruction to start automatic charging and starts to autonomously move from a specified standby position to the time when the charging of the power storage device is completed and the charging robot returns to the specified standby position.

[0013] As a result, during the charging operation of the charging robot, it is possible to suppress the occupants of the vehicle from getting in or out of all the doors on the charging port side of the vehicle or reaching out their hands through the windows, thereby suppressing contact between the occupants of the vehicle and the charging robot.

[0014] In addition, in the above-mentioned automatic charging system, it may be provided with a vehicle detection device, which detects whether there is another vehicle at a position on the side opposite to the charging port relative to the vehicle. Based on the detection result of the vehicle detection device, the control device controls the vehicle to lock all the doors and windows on the side opposite to the charging port when there is the other vehicle, at least during the charging operation.

[0015] This can prevent the occupants of the vehicle from coming into contact with other charging robots that are automatically charging other vehicles.

[0016] In addition, in the above-mentioned automatic charging system, it may be provided with a vehicle detection device, which detects whether there is another vehicle at a position relative to the vehicle and opposite to the charging port. Based on the detection result of the vehicle detection device, the control device controls the locking of all doors and windows of the other vehicle on the side opposite to the charging port when the other vehicle is present, at least during the charging operation.

[0017] As a result, during automatic charging of a vehicle by the charging robot, it is possible to suppress contact between passengers of other vehicles and the charging robot.

[0018] Effects of the Invention

[0019] The automatic charging system according to the present invention has the effect of preventing a vehicle occupant from coming into contact with the charging robot during the charging operation of the charging robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a diagram showing a charging system in a parking lot according to the first embodiment.

[0021] Figure 2 This is a diagram showing the configuration of the automatic charging system according to the first embodiment.

[0022] Figure 3 This is a flowchart showing an example of automatic charging control according to the first embodiment.

[0023] Figure 4 This is a flowchart showing an example of automatic charging control according to the second embodiment.

[0024] Figure 5 This is a diagram showing a parking lot to which the automatic charging system according to the third embodiment is applied.

[0025] Figure 6 This is a flowchart showing an example of automatic charging control according to the third embodiment.

[0026] Figure 7 This is a diagram showing a parking lot to which the automatic charging system according to the fourth embodiment is applied.

[0027] Figure 8 This is a flowchart showing an example of automatic charging control according to the fourth embodiment.

[0028] Description of symbols

[0029] 1 Automatic charging system

[0030] 10. Parking

[0031] 11a, 11b, 11c parking spaces

[0032] 20, 20a, 20b Charging robot

[0033] 21, 21a, 21b Robot body

[0034] 22, 22a, 22b Robotic Arm

[0035] 23, 23a, 23b Robot

[0036] 30, 30a, 30b charger

[0037] 31, 31a, 31b Charger body

[0038] 32, 32a, 32b Charging cable

[0039] 33, 33a, 33b Charging connector

[0040] 100, 100a, 100b, 100c Vehicle

[0041] 110FL, 110FR, 110RL, 110RR doors

[0042] 111FL, 111FR, 111RL, 111RR windows DETAILED DESCRIPTION

[0043] (Implementation Method 1)

[0044] Hereinafter, a first embodiment of the automatic charging system according to the present invention will be described. It should be noted that the present invention is not limited to this embodiment.

[0045] Figure 1 1 is a diagram showing a parking lot 10 to which the automatic charging system 1 according to the first embodiment is applied. Figure 1 This is a diagram showing parking lot 10 as viewed from above. Figure 2 This is a diagram showing a schematic configuration of an automatic charging system 1 according to the first embodiment.

[0046] exist Figure 1 , three parking spaces 11a, 11b, and 11c are shown among a plurality of parking spaces provided in a parking lot 10 as a parking facility, and the parking spaces 11a, 11b, and 11c are used as charging spaces. The three parking spaces 11a, 11b, and 11c are arranged in a row in the short-side direction (the left-right direction of the vehicle) of each parking space 11a, 11b, and 11c. It should be noted that in the following description, when the parking spaces 11a, 11b, and 11c are not particularly distinguished, they are also simply referred to as parking spaces 11.

[0047] exist Figure 1In the parking space 11b, a vehicle 100 to be charged is parked. The vehicle 100 includes a charging port 101, front and rear doors 110FL, 110FR, 110RL, 110RR, and front and rear windows 111FL, 111FR, 111RL, 111RR, etc. The charging port 101 is provided at the front side of the vehicle 100, which is closer to the front side of the vehicle than the front left door 110FL. The front and rear doors 110FL, 110FR, 110RL, 110RR are provided on the vehicle body (vehicle body) via hinges in a manner that can be opened and closed. The front and rear windows 111FL, 111FR, 111RL, 111RR are provided on the front and rear doors 110FL, 110FR, 110RL, 110RR, respectively, in a manner that can be opened and closed. In addition, the front, rear, left, and right doors 110FL, 110FR, 110RL, and 110RR can be locked and unlocked individually by controlling the locking mechanisms provided corresponding to the respective doors using a vehicle control device or the like provided in the vehicle 100. In addition, the front, rear, left, and right windows 111FL, 111FR, 111RL, and 111RR can be locked and unlocked individually by controlling the locking mechanisms provided corresponding to the respective doors using a vehicle control device or the like.

[0048] A charging robot 20 and a charger 30 are provided near the parking spaces 11a, 11b, and 11c for charging the vehicles 100 parked in the parking spaces 11a, 11b, and 11c. In the automatic charging system 1 according to the first embodiment, the charging robot 20 and the charger 30 constitute an automatic charging device 2. The charging robot 20 and the charger 30 are configured to be able to communicate with each other.

[0049] In the automatic charging system 1 according to the first embodiment, the automatic charging of the vehicle 100 parked in the parking space 11 of the parking lot 10 by the automatic charging device 2 is managed and implemented by the charging service control server 4. The charging service control server 4 has a function for implementing at least Figure 2 A control device for various controls related to automatic charging shown in (1) to (6).

[0050] The charging service control server 4 is configured to be able to communicate with a communication terminal owned by a user 3 of a vehicle 100 parked in a parking space 11 of a parking lot 10. The charging service control server 4 can receive various information (such as charging reservation for the vehicle 100) sent from the communication terminal of the user 3. Figure 2 (1) in the figure.

[0051] In addition, the charging service control server 4 is configured to be able to communicate with the parking lot monitoring system 6 that monitors the parking lot 10. The charging service control server 4 can confirm the presence (parking status) of the vehicle 100 in the parking spaces 11a, 11b, and 11c based on the detection results of the vehicle detection device composed of the camera device and various sensors of the parking lot monitoring system 6 ( Figure 2 (2) in the figure.

[0052] The charging service control server 4 is configured to be able to communicate with the vehicle 100 parked in the parking space 11 via the vehicle information server 5 that can communicate with the vehicle 100. The charging service control server 4 can receive various information such as information related to the SOC (State Of Charge) and required power of the battery, which is a power storage device mounted on the vehicle 100, and vehicle information related to the position of the charging port 101 of the vehicle 100 from the vehicle 100 via the vehicle information server 5 ( Figure 2 (3) in the figure). In addition, the charging service control server 4 can send instruction signals for unlocking the charging port 101 of the vehicle 100 and opening and closing the charging cover freely to the vehicle 100 via the vehicle information server 5. In addition, the charging service control server 4 can send instruction signals for opening and closing the front, rear, left, and right doors 110FL, 110FR, 110RL, 110RR of the vehicle 100 and the front, rear, left, and right windows 111FL, 111FR, 111RL, 111RR of the vehicle 100 freely to the vehicle 100 via the vehicle information server 5 ( Figure 2 (4) and (5) in the text).

[0053] In addition, the charging service control server 4 is configured to be able to communicate with the automatic charging device 2 (charging robot 20 and charger 30) installed in the parking lot 10. The charging service control server 4 can send various information such as information related to the charging power of the battery mounted on the vehicle 100 and vehicle information related to the position of the charging port 101 of the vehicle 100 to the automatic charging device 2 (charging robot 20 and charger 30). In addition, the charging service control server 4 can send a signal indicating the start of charging to the automatic charging device 2 (charging robot 20 and charger 30) based on the charging reservation from the user 3. Figure 2 (6) in the figure.

[0054] The charging robot 20 includes a robot body 21 which is a mobile body capable of autonomous movement (capable of autonomous walking), a robot arm 22 having a base end connected to the robot body 21 , and a robot hand 23 provided at a distal end of the robot arm 22 .

[0055] The charger 30 is composed of a charger body 31, a charging cable 32, and a charging connector 33. Figure 1 As shown, the charger body 31 is fixedly arranged on the ground.

[0056] In the charging system of the parking lot 10 according to the first embodiment, the chargers 30 are arranged corresponding to the three parking spaces 11a, 11b, and 11c. Figure 1 In the illustrated state, the vehicle 100 parked in the parking space 11 b can be charged using the charger 30 .

[0057] For example, when the vehicle 100 parked in the parking space 11b is automatically charged using the charger 30, the robot body 21 of the charging robot 20 autonomously moves to a position where the robot arm 22 of the charging robot 20 can be extended and the charging connector 33 of the charger 30 can be grasped by the robot hand 23. The charging robot 20 recognizes the charging connector 33 using a camera that is a photographing device provided on the robot arm 22 and grasps the charging connector 33 using the robot hand 23. Thereafter, the robot body 21 autonomously moves to a position where the charging robot 20 can insert the charging connector 33 into the charging port 101 of the vehicle 100. Then, the charging robot 20 recognizes the charging port 101 of the vehicle 100 using the camera provided on the robot arm 22, extends the robot arm 22, and inserts the charging connector 33 into the charging port 101 of the vehicle 100. When the charging connector 33 is inserted into the charging port 101 of the vehicle 100, the charger 30 supplies power from the power supply device provided in the charger body 31 to the vehicle 100 via the charging cable 32 and the charging connector 33, and charges the battery, which is a power storage device provided in the vehicle 100. In addition, after the charging robot 20 inserts the charging connector 33 into the charging port 101 of the vehicle 100, it releases the manipulator 23 from the charging connector 33 and returns the manipulator arm 22 to the preset arm reference position.

[0058] When the charging of the vehicle 100 is completed, the robot body 21 of the charging robot 20 moves autonomously to a position where the robot arm 22 can be extended to grab the charging connector 33 inserted into the vehicle 100 with the robot hand 23. Then, the charging robot 20 grabs the charging connector 33 with the robot hand 23 and removes the charging connector 33 from the vehicle 100. Thereafter, in order to return the charging connector 33 to the plug reference position preset in the charger 30, the robot body 21 of the charging robot 20 moves toward the charger 30 side. Then, the charging robot 20 extends the robot arm 22 and returns the charging connector 33 to the plug reference position.

[0059] In this way, each vehicle 100 parked in the parking spaces 11 a , 11 b , and 11 c of the parking lot 10 can be automatically charged by the automatic charging device 2 (the charging robot 20 and the charger 30 ).

[0060] In the automatic charging system 1 according to the first embodiment, the charging service control server 4 controls the opening and closing of the door 110 and the window 111 of the vehicle 100 to be charged according to the content of the automatic charging operation of the charging robot 20. Specifically, in the automatic charging system 1 according to the first embodiment, if the charging service control server 4 receives the charging reservation from the user 3, the control of locking the door 110FL and the window 111FL of the vehicle 100 to be charged, which are closest to the charging port 101, is executed. In addition, in the automatic charging system 1 according to the first embodiment, after the door 110FL and the window 111FL closest to the charging port 101 are locked, the charging operation of the charging robot 20 is started.

[0061] In the automatic charging system 1 according to the first embodiment, when the charging robot 20 inserts and removes the charging connector 33, by locking the door 110FL of the vehicle 100 closest to the charging port 101, it is possible to prevent passengers in the vehicle from getting out of the vehicle through the door 110FL, thereby reducing the risk of contact between the passengers in the vehicle 100 and the charging robot 20 (mechanical arm 22). In addition, in the automatic charging system 1 according to the first embodiment, by locking the opening action of the window 111FL of the vehicle 100 closest to the charging port 101, it is possible to prevent passengers in the vehicle from reaching out through the window 111FL and contacting the charging robot 20 (mechanical arm 22).

[0062] In the automatic charging system 1 according to the first embodiment, the charging robot 20 is provided with a contact detection sensor for detecting that a passenger or the like has contacted the charging robot 20. In addition, during the charging operation of the charging robot 20, control is performed to always monitor the presence or absence of contact with the charging robot 20. In addition, when contact with the charging robot 20 is detected, the autonomous walking of the robot body 21 is stopped, or the movement of the robot arm 22 is stopped, or the power supply from the charger 30 is stopped, thereby terminating the charging operation. Thereafter, if contact with the charging robot 20 is no longer detected, the charging operation is resumed, for example, after a certain period of time has passed.

[0063] Figure 3 This is a flowchart showing an example of automatic charging control according to the first embodiment.

[0064] First, in the process of step S1, the charging service control server 4 obtains the charging reservation from the user 3. Next, in the process of step S2, the charging service control server 4 obtains the position of the charging port 101 of the vehicle 100 to be charged from the vehicle information server 5. Next, in the process of step S3, the charging service control server 4 causes the vehicle 100 to lock the door 110FL and the window 111FL closest to the charging port 101 in the vehicle 100 through the vehicle information server 5. Next, in the process of step S4, the charging service control server 4 instructs the automatic charging device 2 to start charging.

[0065] Next, in the process of step S5, it is determined whether the contact of the charging robot 20 is detected. If it is determined that the contact of the charging robot 20 is detected (yes in the process of step S5), the process proceeds to step S9. In the process of step S9, the charging operation of the charging robot 20 is suspended. Thereafter, the process proceeds to step S5.

[0066] On the other hand, if the contact of the charging robot 20 is not detected in the process of step S5 (No in the process of step S5), the process moves to step S6. In the process of step S6, the charging operation of the charging robot 20 is continued. Then, in the process of step S7, when the battery of the vehicle 100 is supplied with power and the charging is completed, the charging operation of the charging robot 20 is ended. Then, in the process of step S8, the charging service control server 4 causes the vehicle 100 to unlock the door 110FL and the window 111FL closest to the charging port 101 in the vehicle 100 through the vehicle information server 5. Thereafter, the charging service control server 4 ends a series of automatic charging controls.

[0067] In the automatic charging system 1 according to the first embodiment, when the charging operation of the charging robot 20 is performed, control is performed to lock only the door 110FL and the window 111FL of the vehicle 100 that are closest to the charging port 101. Therefore, in the automatic charging system 1 according to the first embodiment, during the charging operation when the charging robot 20 is closest to the charging port 101, it is possible to prevent the occupant from opening the door 110FL near the charging port 101 to get on and off. In addition, it is possible to prevent the occupant in the vehicle from opening the window 111FL near the charging port 101 and reaching out to the outside of the vehicle. Therefore, in the automatic charging system 1 according to the first embodiment, during the charging operation of the charging robot 20, it is possible to prevent the charging robot 20 and the charging cable 32 from contacting the occupant and the door 110FL of the vehicle 100.

[0068] (Implementation Method 2)

[0069] Hereinafter, a second embodiment of the automatic charging control device according to the present invention will be described. In the second embodiment, description of the same configuration as that of the first embodiment will be appropriately omitted.

[0070] In the automatic charging system 1 according to the second embodiment, when the charging service control server 4 receives the charging reservation from the user 3, the control is executed to lock the front and rear (all) doors 110FL, 110RL and windows 111FL, 111RL on the charging port 101 side of the vehicle 100. In addition, in the automatic charging system 1 according to the second embodiment, after the front and rear (all) doors 110FL, 110RL and windows 111FL, 111RL on the charging port 101 side of the vehicle 100 are locked, the automatic charging of the charging robot 20 is started.

[0071] In the automatic charging system 1 according to the second embodiment, during the charging operation of the charging robot 20, the presence or absence of contact with the charging robot 20 is always monitored using a contact detection sensor. In the automatic charging system 1 according to the second embodiment, control is performed to always monitor the presence or absence of contact with the charging cable 32 using a load sensor.

[0072] In the automatic charging system 1 according to the second embodiment, a load sensor is provided on the robot arm 22, and the load sensor detects the load applied to the robot arm 22 of the charging robot 20. In addition, during the charging operation of the charging robot 20, when the load sensor detects a load greater than a preset threshold, control is performed to determine that the charging cable 12 has contacted a certain object. In addition, when it is determined that the charging cable 12 has contacted a certain object (when the load sensor detects a load greater than the threshold), the charging operation is suspended, and when the load sensor no longer detects a load greater than the threshold, the charging operation is resumed.

[0073] Figure 4 This is a flowchart showing an example of automatic charging control according to the second embodiment.

[0074] First, in the process of step S11, the charging service control server 4 obtains the charging reservation from the user 3. Next, in the process of step S12, the charging service control server 4 obtains the position of the charging port 101 of the vehicle 100 to be charged from the vehicle information server 5. Next, in the process of step S13, the charging service control server 4 causes the vehicle 100 to lock the front and rear (all) doors 110FL, 110RL and windows 111FL, 111RL on the charging port 101 side of the vehicle 100 through the vehicle information server 5. Next, in the process of step S14, the charging service control server 4 instructs the automatic charging device 2 to start charging.

[0075] Next, in the process of step S15, it is determined whether the contact of the charging robot 20 or the contact of the charging cable 32 is detected. If it is determined that the contact of the charging robot 20 or the contact of the charging cable 32 is detected (yes in the process of step S15), the process proceeds to step S19. In the process of step S19, the charging operation of the charging robot 20 is suspended. Thereafter, the process proceeds to step S15.

[0076] On the other hand, when the contact of the charging robot 20 and the contact of the charging cable 32 are not detected in the process of step S15 (No in the process of step S15), the process moves to step S16. In the process of step S16, the charging operation of the charging robot 20 is continued. Then, in the process of step S17, when the battery of the vehicle 100 is supplied with power and the charging is completed, the charging operation of the charging robot 20 is ended. Next, in the process of step S18, the charging service control server 4 causes the vehicle 100 to unlock the front and rear (all) doors 110FL, 110RL and windows 111FL, 111RL on the side of the charging port 101 in the vehicle 100 through the vehicle information server 5. Thereafter, the charging service control server 4 ends a series of automatic charging controls.

[0077] In the automatic charging system 1 according to the second embodiment, control is performed to lock the front and rear (all) doors 110FL, 110RL and windows 111FL, 111RL on the charging port 101 side of the vehicle 100. As a result, it is possible to prevent passengers from getting on and off from the front and rear (all) doors 110FL, 110RL on the charging port 101 side of the vehicle 100. In addition, it is possible to prevent passengers in the vehicle 100 from reaching out their hands from the front and rear (all) windows 111FL, 111RL on the charging port 101 side. As a result, in the automatic charging system 1 according to the second embodiment, during the charging operation of the charging robot 20, it is possible to prevent the charging robot 20 and the charging cable 32 from contacting the passengers.

[0078] (Implementation 3)

[0079] Hereinafter, a third embodiment of the automatic charging control device according to the present invention will be described. In the third embodiment, description of the same configuration as that of the first embodiment will be appropriately omitted.

[0080] Figure 5 1 is a diagram showing a parking lot 10 to which the automatic charging system 1 according to the third embodiment is applied.

[0081] In the automatic charging system 1 according to the third embodiment, Figure 5As shown, a vehicle 100a is parked in a parking space 11b, and a vehicle 100b is parked in a parking space 11c. The vehicle 100a includes a charging port 101a, front and rear doors 110aFL, 110aFR, 110aRL, 110aRR, and front and rear windows 111aFL, 111aFR, 111aRL, 111aRR, etc. The vehicle 100b includes a charging port 101b, front and rear doors 110bFL, 110bFR, 110bRL, 110bRR, and front and rear windows 111bFL, 111bFR, 111bRL, 111bRR, etc. The structures of the vehicles 100a and 100b are the same as those of the vehicle 100 of the first embodiment, and therefore detailed descriptions thereof are omitted.

[0082] In the automatic charging system 1 according to the third embodiment, the vehicle 100a parked in the parking space 11b is automatically charged by the charging robot 20a and the charger 30a constituting the automatic charging device. In addition, the vehicle 100b parked in the parking space 11c is automatically charged by the charging robot 20b and the charger 30b constituting the automatic charging device. The charging robots 20a and 20b are composed of robot bodies 21a and 21b, robot arms 22a and 22b, and robot hands 23a and 23b. The chargers 30a and 30b are composed of charger bodies 31a and 31b, charging cables 32a and 32b, and charging connectors 33a and 33b. In addition, the configurations of the charging robots 20a and 20b and the chargers 30a and 30b are the same as those of the charging robots 20 and the charger 30 in the first embodiment, and therefore detailed descriptions thereof are omitted.

[0083] In the automatic charging system 1 according to the third embodiment, when receiving an instruction to start automatic charging from the user 3 of the vehicle 100a parked in the parking space 11b, the position of the charging port 101a of the vehicle 100a is acquired. In addition, in the automatic charging system 1 according to the third embodiment, control is performed to lock the front and rear doors 110aFL, 110aRL and windows 111aFL, 111aRL on the charging port 101a side of the vehicle 100a.

[0084] In the automatic charging system 1 according to the third embodiment, it is determined whether another vehicle 100 is parked in the parking space 11c on the opposite side of the vehicle 100a parked in the parking space 11b from the charging port 101a (the presence or absence of another vehicle 100). Figure 5In the case where it is determined that there is no other vehicle 100 parked in the parking space 11c on the side opposite to the charging port 101a of the vehicle 100a (there are other vehicles 100), control to lock all (front and rear) doors 110aFR, 110aRR and windows 111aFR, 111aRR on the side opposite to the charging port 101a of the vehicle 100a is not performed. On the other hand, in the case where it is determined that there is no other vehicle 100 parked in the parking space 11c on the side opposite to the charging port 101a of the vehicle 100a (there are no other vehicles 100), control to lock all (front and rear) doors 110aFR, 110aRR and windows 111aFR, 111aRR on the side opposite to the charging port 101a of the vehicle 100a is not performed.

[0085] In the automatic charging system 1 according to the third embodiment, similarly to the automatic charging system 1 according to the second embodiment, during the charging operation of the charging robot 20, the presence or absence of contact with the charging robot 20 is always monitored using a contact detection sensor. In the automatic charging system 1 according to the third embodiment, control is performed to always monitor the presence or absence of contact with the charging cable 32 using a load sensor.

[0086] Figure 6 This is a flowchart showing an example of automatic charging control according to the third embodiment.

[0087] First, in the process of step S21, the charging service control server 4 obtains the charging reservation from the user 3. Next, in the process of step S22, the charging service control server 4 obtains the position of the charging port 101a of the vehicle 100a to be charged from the vehicle information server 5. Next, in the process of step S23, the charging service control server 4 causes the vehicle 100a to lock the front and rear (all) doors 110aFL, 110aRL and windows 111aFL, 111aRL on the charging port 101a side of the vehicle 100a through the vehicle information server 5. Next, in the process of step S24, the charging service control server 4 determines whether another vehicle is parked on the side opposite to the charging port 101a of the vehicle 100a based on the detection result of the parking lot monitoring system 6. If it is determined that no other vehicle is parked on the side opposite to the charging port 101a of the vehicle 100a (No in step S24), the process moves to step S26. On the other hand, if it is determined that another vehicle (vehicle 100b) is parked on the side opposite to the charging port 101a of the vehicle 100a (Yes in step S24), the process proceeds to step S25. In the process of step S25, the front and rear (all) doors 110aFR, 110aRR and windows 111aFR, 111aRR on the side opposite to the charging port 101a of the vehicle 100a are locked. Next, in the process of step S26, the charging service control server 4 instructs the automatic charging device composed of the charging robot 20a and the charger 30a to start charging.

[0088] Next, in the process of step S27, it is determined whether the contact of the charging robot 20a or the contact of the charging cable 32a is detected. If it is determined that the contact of the charging robot 20a or the contact of the charging cable 32a is detected (yes in the process of step S27), the process proceeds to step S31. In the process of step S31, the charging operation of the charging robot 20a is suspended. Thereafter, the process proceeds to step S27.

[0089] On the other hand, if it is determined in the process of step S27 that the contact of the charging robot 20a and the contact of the charging cable 32a are not detected (No in the process of step S27), the process moves to step S28. In the process of step S28, the charging operation of the charging robot 20a is continued. Then, in the process of step S29, when the battery of the vehicle 100a is supplied with power and the charging is completed, the charging operation of the charging robot 20a is terminated. Next, in the process of step S30, the charging service control server 4 causes the vehicle 100 to unlock the front and rear (all) doors 110aFL, 110aRL and windows 111aFL, 111aRL on the charging port 101a side of the vehicle 100a through the vehicle information server 5. It should be noted that, when the front and rear (all) doors 110aFL, 110aRL and windows 111aFL, 111aRL on the side opposite to the charging port 101a in the vehicle 100a are locked in the process of step S25, the doors 110aFL, 110aRL and windows 111aFL, 111aRL are also unlocked. After that, the charging service control server 4 ends a series of automatic charging controls.

[0090] In the automatic charging control device according to the third embodiment, when the vehicle 100b is parked on the side of the vehicle 100a opposite to the charging port 101a during automatic charging by the charging robot 20a and the vehicle 100b is charged by another charging robot 20b, it is possible to prevent people from getting on and off the vehicle 100a through the doors 110aFR and 110aRR on the side closer to the charging robot 20b. In addition, it is possible to prevent passengers in the vehicle 100a from reaching out their hands through the windows 111aFR and 111aRR.

[0091] In the automatic charging system 1 according to the third embodiment, during the charging operation of the vehicle 100a by the charging robot 20a, it is possible to suppress contact between the occupant of the vehicle 100a and the charging robots 20a and 20b and the charging cables 32a and 32b.

[0092] It should be noted that in the automatic charging system 1 according to the third embodiment, when the charging robot 20a is charging the vehicle 100a, control may be performed to lock only the door 110aFL and window 111aFL of the vehicle 100a closest to the charging port 101a.

[0093] (Implementation 4)

[0094] Hereinafter, a fourth embodiment of the automatic charging control device according to the present invention will be described. In the fourth embodiment, description of the same configuration as that of the first embodiment will be appropriately omitted.

[0095] Figure 7 1 is a diagram showing a parking lot 10 to which the automatic charging system 1 according to the fourth embodiment is applied.

[0096] In the automatic charging system 1 according to the fourth embodiment, Figure 7 As shown, a vehicle 100a is parked in a parking space 11b, and a vehicle 100c is parked in a parking space 11a. The vehicle 100a includes a charging port 101a, front and rear doors 110aFL, 110aFR, 110aRL, 110aRR, and front and rear windows 111aFL, 111aFR, 111aRL, 111aRR, etc. The vehicle 100c includes a charging port 101c, front and rear doors 110cFL, 110cFR, 110cRL, 110cRR, and front and rear windows 111cFL, 111cFR, 111cRL, 111cRR, etc. The structures of the vehicles 100a and 100c are the same as those of the vehicle 100 of the first embodiment, and therefore detailed descriptions thereof are omitted.

[0097] In the automatic charging system 1 according to the fourth embodiment, when receiving an instruction to start automatic charging from the user 3 of the vehicle 100a parked in the parking space 11b, the position of the charging port 101a of the vehicle 100a is acquired. In addition, in the automatic charging system 1 according to the fourth embodiment, control is performed to lock all (front and rear) doors 110aFL, 110aRL and windows 111aFL, 111aRL on the charging port 101a side of the vehicle 100a.

[0098] In the automatic charging system 1 according to the fourth embodiment, it is determined whether another vehicle 100 is parked in the parking space 11a on the charging port 101a side of the vehicle 100a parked in the parking space 11b (the presence or absence of another vehicle 100). Figure 7 In the case where there are other vehicles 100) (the vehicle 100c is in the middle), the other vehicles 100 (in Figure 7 The control of locking all (front and rear) doors 110cFR, 110cRR and windows 111cFR, 111cRR on the charging port 101a side of the vehicle 100a in the vehicle 100c (the side opposite to the charging port 101a of the vehicle 100a in the other vehicle 100).

[0099] In the automatic charging system 1 according to the fourth embodiment, similarly to the automatic charging system 1 according to the second embodiment, during the charging operation of the charging robot 20, the presence or absence of contact with the charging robot 20 is always monitored using a contact detection sensor. In the automatic charging system 1 according to the fourth embodiment, control is performed to always monitor the presence or absence of contact with the charging cable 32 using a load sensor.

[0100] Figure 8 This is a flowchart showing an example of automatic charging control according to the fourth embodiment.

[0101] First, in the process of step S41, the charging service control server 4 obtains the charging reservation from the user 3. Next, in the process of step S42, the charging service control server 4 obtains the position of the charging port 101a of the vehicle 100a to be charged from the vehicle information server 5. Next, in the process of step S43, the charging service control server 4 causes the vehicle 100 to lock the front and rear (all) doors 110aFL, 110aRL and windows 111aFL, 111aRL on the charging port 101a side of the vehicle 100a through the vehicle information server 5. Next, in the process of step S44, the charging service control server 4 determines whether there is another vehicle parked on the charging port 101a side of the vehicle 100a based on the detection result of the parking lot monitoring system 6. When it is determined that there is no other vehicle parked on the charging port 101a side of the vehicle 100a (No in step S44), the process moves to step S46. On the other hand, if it is determined that another vehicle (vehicle 100c) is parked on the charging port 101a side of the vehicle 100a (Yes in step S44), the process moves to step S45. In the process of step S45, the front and rear (all) doors 110cFR, 110cRR and windows 111cFR, 111cRR on the charging port 101a side of the vehicle 100a of the other vehicle (vehicle 100c) are locked. Next, in the process of step S46, the charging service control server 4 instructs the automatic charging device 2 to start charging.

[0102] Next, in the process of step S47, it is determined whether the contact of the charging robot 20 or the contact of the charging cable 32 is detected. If it is determined that the contact of the charging robot 20 or the contact of the charging cable 32 is detected (yes in the process of step S47), the process proceeds to step S51. In the process of step S51, the charging operation of the charging robot 20 is suspended. Thereafter, the process proceeds to step S47.

[0103] On the other hand, if the contact of the charging robot 20 and the contact of the charging cable 32 are not detected in the process of step S47 (No in the process of step S47), the process proceeds to step S48. In the process of step S48, the charging operation of the charging robot 20 is continued. Then, in the process of step S49, when the battery of the vehicle 100a is supplied with power and charging is completed, the charging operation of the charging robot 20 is terminated. Next, in the process of step S50, the front and rear (all) doors 110aFL, 110aRL and windows 111aFL, 111aRL on the charging port 101a side of the vehicle 100a are unlocked. It should be noted that, when the front and rear (all) doors 110cFL, 110cRL and windows 111cFL, 111cRL on the charging port 101a side of the vehicle 100a in the other vehicle (vehicle 100c) are locked in the process of step S45, the doors 110cFL, 110cRL and windows 111cFL, 111cRL are also unlocked. After that, the charging service control server 4 ends a series of automatic charging control.

[0104] In the automatic charging system 1 according to the fourth embodiment, control is performed to lock all (front and rear) doors 110aFL, 110aRL and windows 111aFL, 111aRL on the charging port 101a side of the vehicle 100a. This can prevent passengers from getting on and off from the front and rear (all) doors 110aFL, 110aRL on the charging port 101a side of the vehicle 100a. In addition, it is possible to prevent passengers in the vehicle 100a from reaching out their hands from the front and rear (all) windows 111aFL, 111aRL on the charging port 101a side. Furthermore, in the automatic charging system 1 according to the fourth embodiment, control is performed to lock the front and rear (all) doors 110cFL, 110cRL and windows 111cFL, 111cRL on the charging port 101a side of the vehicle 100a in the vehicle 100c. Thus, it is possible to suppress people from getting on and off from the doors 110aFR and 110aRR on the charging port 101a side of the vehicle 100a in the vehicle 100c. In addition, it is possible to suppress the occupants in the vehicle 100c from reaching out their hands from the front and rear (all) windows 111cFR and 111cRR on the charging port 101a side of the vehicle 100a in the vehicle 100c. Thus, in the automatic charging system 1 according to the fourth embodiment, during the charging operation of the charging robot 20 on the vehicle 100a, it is possible to suppress the occupants of the vehicles 100a and 100c from contacting the charging robot 20 and the charging cable 32.

[0105] It should be noted that, in the automatic charging system 1 according to the fourth embodiment, when the charging robot 20a is charging the vehicle 100a, control may be performed to lock only the door 110aFL and the window 111aFL of the vehicle 100a that are closest to the charging port 101a. In addition, in the automatic charging system 1 according to the fourth embodiment, when the charging robot 20a is charging the vehicle 100a, control may be performed to lock only the door 110cFR and the window 111cFR of the vehicle 100c that are closest to the charging port 101a of the vehicle 100a.

Claims

1. An automatic charging system, consisting of a vehicle, a charger and a charging robot capable of autonomous movement. the vehicle is driven by electric power supplied from the power storage device, The charger includes a charging cable having a charging connector. The charging robot includes a robot arm that grasps the charging connector and automatically inserts and removes the charging connector from a charging port of the vehicle located in a parking space. The charging connector is inserted into the charging port, and electric power is supplied from the charger to the power storage device to charge the power storage device. It is characterized in that The automatic charging system includes a control device, which controls the vehicle to lock the doors and windows closest to the charging port at least during the charging operation. The charging operation is an operation from the time the charging robot receives an instruction to start automatic charging and starts autonomous walking from a specified standby position until the charging of the power storage device is completed and the charging robot returns to the specified standby position.

2. An automatic charging system, consisting of a vehicle, a charger and a charging robot capable of autonomous movement. the vehicle is driven by electric power supplied from the power storage device, The charger includes a charging cable having a charging connector. The charging robot includes a robot arm that grasps the charging connector and automatically inserts and removes the charging connector from a charging port of the vehicle located in a parking space. The charging connector is inserted into the charging port, and electric power is supplied from the charger to the power storage device to charge the power storage device. It is characterized in that The automatic charging system includes a control device, which controls the vehicle to lock all doors and windows on the charging port side at least during the charging operation. The charging operation is an operation from the time the charging robot receives an instruction to start automatic charging and starts autonomous walking from a specified standby position until the charging of the power storage device is completed and the charging robot returns to the specified standby position.

3. The automatic charging system according to claim 1 or 2, characterized in that: The automatic charging system includes a vehicle detection device that detects whether there is another vehicle at a position on the opposite side of the charging port relative to the vehicle. The control device controls the vehicle to lock all doors and windows on the side opposite to the charging port when the other vehicle is present, at least during the charging operation, based on the detection result of the vehicle detection device.

4. The automatic charging system according to claim 1 or 2, characterized in that: The automatic charging system includes a vehicle detection device that detects whether there is another vehicle at a position opposite to the charging port relative to the vehicle. The control device controls, based on the detection result of the vehicle detection device, to lock all doors and windows of the other vehicle on a side facing the charging port when the other vehicle is present, at least during the charging operation.

Images