Automatic charging system

Abstract

Provided is an automatic charging system capable of inserting a charging connector into a charging port on the basis of the latest position information of the charging port. Comprises: a vehicle driven by electric power supplied from an electric storage device; a charger provided with a charging cable having a charging connector; a position information acquisition device that acquires position information of a charging port of a vehicle located in the parking space; and a charging robot including a robot arm that grabs the charging connector and automatically inserts and pulls the charging connector into and out of the charging port, the charging robot inserting the charging connector into the charging port based on the position information, supplying power from the charger to the power storage device, and charging. The automatic charging system is provided with a detection device which detects that the charging port is likely to displace in the vertical direction, and the detection device detects that the charging port is likely to displace in the vertical direction when the position information is acquired from the position information acquisition device until the insertion of the charging connector into the charging port is completed, and the detection device detects that the charging port is likely to displace in the vertical direction. The position information is acquired again by the position information acquisition device.

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 to a vehicle parked in a parking space, connects the power supply connector to an inlet provided in the vehicle, and thereby supplies 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] If passengers get on or off the vehicle, or cargo is loaded or unloaded, etc., during charging by the power supply robot, the position of the charging port may deviate from the position of the initially recognized charging port, and the power supply connector may not be inserted into the charging port.

[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 inserting a charging connector into a charging port based on the latest position information of the charging port.

[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, a position information acquisition device and a charging robot, the vehicle is driven by power supplied from a power storage device, the charger has a charging cable with a charging connector, the position information acquisition device acquires position information of a charging port of the vehicle located in a parking space, the charging robot has a mechanical arm that grasps the charging connector and automatically inserts and removes the charging connector relative to the charging port, the charging robot inserts the charging connector into the charging port based on the position information, and supplies power from the charger to the power storage device for charging, the automatic charging system has a detection device, the detection device detects a movement in which the charging port may be displaced in the up-down direction, and during the period from when the position information is acquired by the position information acquisition device to when the insertion of the charging connector into the charging port is completed, when the detection device detects a movement in which the charging port may be displaced in the up-down direction, the position information is acquired again by the position information acquisition device.

[0011] Thus, the charging connector can be inserted into the charging port based on the latest position information of the charging port.

[0012] In the above, the position information acquisition device may be a photographing device provided in the robot arm and configured to photograph the charging port.

[0013] In this way, the robot arm can be moved to the vicinity of the charging port, and the charging port can be photographed by the imaging device to obtain the position information of the charging port.

[0014] In the above, the operation in which the charging port may be displaced in the up-down direction may be an opening and closing operation of a door provided on the vehicle.

[0015] This can prevent the charging connector from being inserted into the charging port in a state where the position of the charging port is shifted in the vertical direction when an occupant gets on or off the vehicle in association with the opening and closing operation of the door.

[0016] Furthermore, in the above description, the operation in which the charging port may be displaced in the up-down direction may be an opening and closing operation of a trunk provided in the vehicle.

[0017] This can prevent the charging connector from being inserted into the charging port in a state where the position of the charging port is shifted in the vertical direction when the luggage in the luggage box is loaded or unloaded as the luggage box is opened or closed.

[0018] In the above, the operation in which the charging port may be displaced in the up-down direction may be a vehicle height adjustment operation performed by an electric air suspension provided in the vehicle.

[0019] This can prevent the charging connector from being inserted into the charging port in a state where the position of the charging port is shifted in the up-down direction due to the vehicle height adjustment operation by the electric air suspension.

[0020] Effects of the Invention

[0021] The automatic charging system according to the present invention has the effect of being able to insert the charging connector into the charging port based on the latest position information of the charging port. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a diagram showing a parking lot to which the automatic charging system according to the embodiment is applied.

[0023] Figure 2 It is a diagram showing a schematic configuration of an automatic charging system according to an embodiment.

[0024] Figure 3 (a) is a diagram showing the position of the charging port when the position information is acquired at the charging port. Figure 3 (b) is a diagram showing a state in which the position of the charging port is shifted in the vertical direction after the position information of the charging port is acquired.

[0025] Figure 4 This is a flowchart showing an example of automatic charging control according to the embodiment. DETAILED DESCRIPTION

[0026] Hereinafter, an embodiment of the automatic charging system according to the present invention will be described. However, the present invention is not limited to this embodiment.

[0027] Figure 1 1 is a diagram showing a parking lot 10 to which the automatic charging system 1 according to the embodiment is applied. Figure 1 This is a diagram showing the parking lot 10 as viewed from above. Figure 2 1 is a diagram showing a schematic configuration of an automatic charging system 1 according to an embodiment.

[0028] 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. In addition, 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.

[0029] exist Figure 1 In the parking space 11b, a vehicle 100 to be charged is parked. The vehicle 100 includes a charging port 101, a trunk 102, front and rear doors 110FL, 110FR, 110RL, 110RR, front and rear windows 111FL, 111FR, 111RL, 111RR, a door opening and closing detection sensor, a trunk opening and closing detection sensor, an electric air suspension, and the like.

[0030] The charging port 101 is provided at a position closer to the front side of the vehicle than the door 110FL on the front left side of the vehicle 100. The front, rear, left, and right doors 110FL, 110FR, 110RL, and 110RR are provided on the vehicle body (vehicle body) via hinges in a manner that allows them to be opened and closed. Door opening and closing detection sensors are provided corresponding to the front, rear, left, and right doors 110FL, 110FR, 110RL, and 110RR, respectively. The vehicle control device can detect the opening and closing actions of the front, rear, left, and right doors 110FL, 110FR, 110RL, and 110RR based on the detection results of the door opening and closing detection sensors. In addition, in the following description, when the front, rear, left, and right doors 110FL, 110FR, 110RL, and 110RR are not particularly distinguished, they are also simply referred to as doors 110.

[0031] The trunk 102 is a trunk installed at the rear of the vehicle and is opened and closed relative to the vehicle body (body) via a hinge. A trunk opening and closing sensor is provided corresponding to the trunk 102. The vehicle control device can detect the opening and closing action of the trunk 102 based on the detection result of the trunk opening and closing detection sensor.

[0032] The front, rear, left, and right windows 111FL, 111FR, 111RL, and 111RR are provided on the front, rear, left, and right doors 110FL, 110FR, 110RL, and 110RR, respectively, so as to be openable and closable.

[0033] When a passenger presses a rising switch or a falling switch disposed near a driver's seat, for example, the electric air suspension supplies compressed air to an air spring mounted between a vehicle body and an axle, and discharges the compressed air from the air spring, thereby adjusting the vehicle height in accordance with the number of times the rising switch or the falling switch is pressed. When the rising switch or the falling switch is pressed, the vehicle control device can detect that the electric air suspension is operated and the vehicle height is adjusted by receiving a pressing signal including the number of times the pressing is performed.

[0034] 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 embodiment, the charging robot 20 and the charger 30 constitute the automatic charging device 2. The charging robot 20 and the charger 30 are configured to be able to communicate with each other.

[0035] In the automatic charging system 1 according to the embodiment, the charging service control server 4 manages and implements the automatic charging of the vehicle 100 parked in the parking space 11 of the parking lot 10 by the automatic charging device 2. The charging service control server 4 has at least one Figure 2 The server control device shown performs various controls related to automatic charging.

[0036] 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 the parking space 11 of the parking lot 10. The charging service control server 4 can receive various information such as charging reservation for the vehicle 100 transmitted from the communication terminal of the user 3.

[0037] 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 or absence (parking state) of the vehicle 100 relative to the parking spaces 11a, 11b, 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.

[0038] In addition, 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. The charging service control server 4 can receive various information such as information on the SOC (State Of Charge) and the required power amount 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. In addition, the charging service control server 4 can send an instruction signal for unlocking the charging port 101 of the vehicle 100 and allowing the charging cover to be freely opened and closed to the vehicle 100, etc.

[0039] 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 on the charging power of the battery mounted on the vehicle 100 and vehicle information on 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.

[0040] The charging robot 20 is composed of a robot body 21, a robot arm 22, a manipulator 23, a camera 24, a robot control device, and the like. The robot body 21 is a mobile body that can move autonomously (can travel autonomously). The base end of the manipulator 22 is connected to the robot body 21. The manipulator 23 is provided at the front end portion of the manipulator 22. The camera 24 is a photographing device provided at the front end portion near the manipulator 23 in the manipulator 22. As the camera 24, for example, a stereo camera can be used. The robot control device is provided in the robot body 21, and can perform various controls and various calculations related to the charging operation of the charging robot 20. For example, the left-right direction (short side direction) of the vehicle in the parking lot 10 is set as the X-axis, the front-back direction (long side direction) of the vehicle in the parking lot 10 is set as the Y-axis, and the height direction of the vehicle from the ground in the parking lot 10 is set as the Z-axis. In addition, the robot control device can calculate the position coordinates (for example, YZ coordinates) of the charging port 101 in the image data of the charging port 101 in the vehicle 100 captured by the camera 24.

[0041] The charger 30 is composed of a charger body 31, a charging cable 32, and a charging connector 33. The charger body 31 is fixedly installed on the ground.

[0042] In the charging system of the parking lot 10 according to the 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 .

[0043] 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 is extended and the robot hand 23 grasps the charging connector 33 of the charger 30. The charging robot 20 recognizes the charging connector 33 by the camera 24 provided on the robot arm 22 and grasps the charging connector 33 by the robot hand 23. Thereafter, the robot body 21 of the charging robot 20 autonomously moves to a position where the charging connector 33 can be inserted into the charging port 101 of the vehicle 100. Furthermore, the charging robot 20 recognizes the charging port 101 of the vehicle 100 by the camera 24 provided on the robot arm 22 and obtains the position information of the charging port 101, and based on the obtained position information (position coordinates) of the charging port 101, the robot arm 22 is extended to insert the charging connector 33 into the charging port 101 of the vehicle 100. After 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 connector 33 is inserted into the charging port 101 of the vehicle 100, the charging robot 20 releases the manipulator 23 from the charging connector 33 and returns the manipulator arm 22 to the preset arm reference position.

[0044] 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 is extended and the robot hand 23 grasps the charging connector 33 inserted into the vehicle 100. Then, the charging robot 20 grasps 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. Then, the charging robot 20 extends the robot arm 22 and returns the charging connector 33 to the plug reference position.

[0045] In this way, each of the vehicles 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 (charging robot 20 and charger 30 ).

[0046] Figure 3(a) is a diagram showing the position of the charging port 101 when the position information of the charging port 101 is acquired. Figure 3 (b) is a diagram showing a state in which the position of the charging port 101 is shifted in the up-down direction after the position information of the charging port 101 is acquired.

[0047] like Figure 3 As shown in (a), after setting the target coordinates of the charging port 101 of the vehicle 100, as shown in Figure 3 As shown in (b), there is a case where the position of the charging port 101 changes in the vertical direction. Figure 3 (b) shows the position of the charging port 101 relative to Figure 3 The position of the charging port 101 in (a) is shifted upward in the vertical direction.

[0048] The position of the charging port 101 is shifted in the vertical direction, for example, when the door 110 is opened to allow passengers to get on and off the vehicle, when the trunk 102 is opened to load and unload cargo, or when the height of the vehicle 100 is adjusted by the electric air suspension. In this way, when the position of the charging port 101 is shifted in the vertical direction, even if the charging connector 33 is connected to the charging port 101, it cannot be connected correctly. In addition, if the position of the charging port 101 is shifted in the vertical direction while the charging connector 33 is being inserted into the charging port 101, it may cause damage to vehicle components.

[0049] For example, during the period from when the camera 24 of the charging robot 20 acquires the position information of the charging port 101 of the vehicle 100 to when the charging connector 33 is inserted into the charging port 101, if the door 110 is open, passengers may get on and off the vehicle, and the weight of the vehicle 100 may change, resulting in a change in the vehicle height, and the position of the charging port 101 may shift. In addition, during the period from when the camera 24 of the charging robot 20 acquires the position information of the charging port 101 of the vehicle 100 to when the charging connector 33 is inserted into the charging port 101, if the trunk 102 is open, cargo in the trunk 102 may be loaded or unloaded, and the weight of the vehicle 100 may change, resulting in a change in the vehicle height, and the position of the charging port 101 may shift. In addition, during the period from when the position information of the charging port 101 of the vehicle 100 is obtained by the camera 24 of the charging robot 20 to when the charging connector 33 is inserted into the charging port 101, if the vehicle height adjustment is performed to increase the height of the vehicle 100 by the electric air suspension, the position of the charging port 101 may be offset due to the change in vehicle height.

[0050] Therefore, in the automatic charging system involved in the embodiment, during the period from the acquisition of the position information of the charging port 101 by the position information acquisition device to the completion of the insertion of the charging connector 33 into the charging port 101, when the detection device detects that the charging port 101 may be displaced in the up and down directions, the charging operation of the charging robot 20 is temporarily stopped and the acquisition of the position information of the charging port 101 is resumed. In addition, as the position information acquisition device, for example, the camera 24 provided in the robot arm 22 of the charging robot 20 can be used. In addition, as the detection device, for example, a door opening and closing detection sensor, a trunk opening and closing detection sensor, and an up switch and a down switch can be used. The detection result of the detection device is sent to the charging service control server 4 by a communication device provided in the vehicle 100 through wireless communication.

[0051] The charging service control server 4 can determine whether there is an action that the charging port 101 may be displaced in the up and down direction based on the detection result of the detection device received from the vehicle 100. For example, the charging service control server 4 can determine whether the door 110 is opened or closed based on the detection result of the door opening and closing detection sensor. In addition, the charging service control server 4 can determine whether the luggage compartment 102 is opened or closed based on the detection result of the luggage compartment opening and closing detection sensor. In addition, the charging service control server 4 can determine whether the electric air suspension is operated based on the pressing signal of the up switch or the down switch.

[0052] Thus, in the automatic charging system involved in the embodiment, during the period from when the position information of the charging port 101 of the vehicle 100 is obtained by the camera 24 of the charging robot 20 to when the charging connector 33 is inserted into the charging port 101, even if the door 110 is opened and closed, the trunk 102 is opened and closed, or the vehicle height is adjusted based on the electric air suspension, the charging connector 33 can be inserted into the charging port 101 based on the latest correct position information of the charging port 101.

[0053] Furthermore, the position information acquisition device for acquiring the position information of the charging port 101 in the vehicle 100 to be charged parked in the parking space 11 is not limited to the camera 24 provided in the robot arm 22 of the charging robot 20. For example, a camera provided in the robot body 21 of the charging robot 20, a camera provided in the parking lot 10, or the like may be used as the position information acquisition device for acquiring the position information of the charging port 101.

[0054] Figure 4 This is a flowchart showing an example of automatic charging control according to the embodiment.

[0055] 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 server control device of the charging service control server 4 instructs the automatic charging device 2 to start charging. Next, in the process of step S3, the robot control device of the charging robot 20 performs control to move the charging connector 33 to the vicinity of the charging port 101 through the robot arm 22. Next, in the process of step S4, the robot control device uses the camera 24 of the robot arm 22 to photograph the charging port 101 of the vehicle 100. Next, in the process of step S5, the robot control device obtains the position information of the charging port 101 based on the image data of the charging port 101 photographed by the camera 24, and calculates the position coordinates of the charging port 101.

[0056] Next, in the processing of step S6, the server control device determines whether the door 110 is opened or closed, whether the trunk 102 is opened or closed, or whether the electric suspension is operated based on the detection result of the detection device received from the vehicle 100? When the server control device determines that the door 110 is opened or closed, the trunk 102 is opened or closed, or the electric suspension is operated (yes in step S6), it transfers to the processing of step S14. In the processing of step S14, the server control device causes the robot control device to execute control to temporarily stop the charging operation of the charging robot 20. Thereafter, it transfers to the processing of step S4. On the other hand, when the server control device determines that there is no opening or closing of the door 110, no opening or closing of the trunk 102, and no operation of the electric suspension (no in step S6), it transfers to the processing of step S7. In the process of step S7 , the server control device causes the robot control device to execute control such as moving robot arm 22 based on the position information (position coordinates) of charging port 101 to move the tip of charging connector 33 toward the center of charging port 101 .

[0057] Next, in the processing of step S8, after moving the front end of the charging connector 33 toward the center of the charging port 101, the server control device determines whether the door 110 is opened or closed, whether the trunk 102 is opened or closed, or whether the electric suspension is operated based on the detection result of the detection device newly received from the vehicle 100? When the server control device determines that the door 110 is opened or closed, the trunk 102 is opened or closed, or the electric suspension is operated (yes in step S8), it transfers to the processing of step S15. In the processing of step S15, the server control device causes the robot control device to execute control to temporarily stop the charging operation of the charging robot 20. Thereafter, it transfers to the processing of step S4. On the other hand, when the server control device determines that there is no opening or closing of the door 110, no opening or closing of the trunk 102, and no operation of the electric suspension (no in step S8), it transfers to the processing of step S9. In the process of step S9 , the server control device causes the robot control device to execute control to start the insertion operation of charging connector 33 into charging port 101 .

[0058] Next, in the process of step S10, after the insertion action of the charging connector 33 into the charging port 101 is started, the server control device determines whether the door 110 is opened or closed, whether the trunk 102 is opened or closed, or whether the electric suspension is operated based on the detection result of the detection device newly received from the vehicle 100? When the server control device determines that the door 110 is opened or closed, the trunk 102 is opened or closed, or the electric suspension is operated (yes in step S10), it transfers to the process of step S16. In the process of step S16, the server control device causes the robot control device to execute control to temporarily stop the charging operation of the charging robot 20. Thereafter, it transfers to the process of step S4. On the other hand, when the server control device determines that there is no opening or closing of the door 110, no opening or closing of the trunk 102, and no operation of the electric suspension (no in step S10), it transfers to the process of step S11.

[0059] In the process of step S11, the charging robot 20 completes the insertion operation of inserting the charging connector 33 into the charging port 101. Next, in the process of step S12, the server control device supplies power from the charger 30 to the battery of the vehicle 100 to charge the battery. Next, in the process of step S13, if the charging of the battery of the vehicle 100 is completed, the server control device ends the charging operation of the charging robot 20. Thereafter, the server control device ends a series of automatic charging controls.

[0060] The automatic charging system 1 according to the embodiment can insert the charging connector 33 into the charging port 101 based on the latest position information of the charging port 101 during the period from when the position information of the charging port 101 is obtained to when the charging connector 33 is inserted into the charging port 101 even if the charging port 101 is displaced in the up-down direction.

[0061] Description of Reference Numerals

[0062] 1Automatic charging system

[0063] 10Parking lot

[0064] 11a, 11b, 11c parking spaces

[0065] 20 Charging Robot

[0066] 21 Robot body

[0067] 22 Robotic Arm

[0068] 23 Robot

[0069] 24 cameras

[0070] 30 Charger

[0071] 31 Charger body

[0072] 32 Charging cable

[0073] 33 Charging connector

[0074] 100 vehicles

[0075] 101 charging port

[0076] 102 Luggage

[0077] 110FL, 110FR, 110RL, 110RR doors

[0078] 111FL, 111FR, 111RL, 111RR windows.

Claims

1. An automatic charging system, comprising a vehicle, a charger, a position information acquisition device and a charging robot, the vehicle is driven by electric power supplied from the power storage device, The charger includes a charging cable having a charging connector. The position information acquisition device acquires position information of a charging port of the vehicle located in a parking space, The charging robot includes a robot arm that grasps the charging connector and automatically inserts and removes the charging connector from the charging port. The charging robot inserts the charging connector into the charging port based on the position information, and supplies electric power from the charger to the power storage device to charge the power storage device. The automatic charging system is characterized in that: The automatic charging system includes a detection device for detecting a movement of the charging port that may be displaced in the up-down direction. If the detection device detects a movement of the charging port that may be displaced in the up-down direction during the period from when the position information acquisition device acquires the position information to when the charging connector is completely inserted into the charging port, the position information acquisition device acquires the position information again.

2. The automatic charging system according to claim 1, characterized in that: The position information acquisition device is a photographing device provided on the robot arm and configured to photograph the charging port.

3. The automatic charging system according to claim 1 or 2, characterized in that: The action in which the charging port may be displaced in the up-down direction is an opening and closing action of a door provided on the vehicle.

4. The automatic charging system according to claim 1 or 2, characterized in that: The action in which the charging port may be displaced in the up-down direction is an opening and closing action of a trunk provided in the vehicle.

5. The automatic charging system according to claim 1 or 2, characterized in that: The operation in which the charging port may be displaced in the up-down direction is a vehicle height adjustment operation performed by an electric air suspension provided in the vehicle.

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