Charging system

Abstract

The invention relates to a charging system. Provided is a charging system capable of minimizing installation space. This charging system is provided with: a charger provided with a charging connector; an arm mechanism capable of holding the charging connector and moving the charging connector within a predetermined range; and a control device that controls the charger, the arm mechanism, and the plurality of vehicles, the portion of the charging connector gripped by the arm mechanism being disposed toward the arm mechanism side.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a charging system. BACKGROUND

[0002] A charging system that charges a plurality of vehicles using an arm mechanism and a charger is disclosed in Patent Literature 1.

[0003] PRIOR ART DOCUMENTS

[0004] PATENT LITERATURE

[0005] Patent Literature 1: Japanese Patent No. 6497478 SUMMARY

[0006] PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] In the technology disclosed in Patent Literature 1, it is necessary to secure a movable region of the arm mechanism to a certain extent, and thus there is room for improvement in terms of installation space.

[0008] The present disclosure has been achieved in view of the above, and an object thereof is to provide a charging system that can minimize installation space.

[0009] SOLUTION TO PROBLEM

[0010] The charging system of the present disclosure has: a charger that has a charging connector; an arm mechanism that can hold the charging connector and move the charging connector within a predetermined range; and a control device that controls the charger, the arm mechanism, and a plurality of vehicles, a portion of the charging connector that is held by the arm mechanism being disposed toward the arm mechanism side.

[0011] EFFECT OF THE INVENTION

[0012] According to the present disclosure, by disposing the charging connector toward the arm mechanism, the movable region of the arm mechanism can be reduced, and thus the width of the stand can be reduced, and installation space can be minimized. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 is a block diagram showing the schematic structure of a charging system of an embodiment.

[0014] Figure 2 is a perspective view showing the schematic structure of a charging system of an embodiment.

[0015] Figure 3 is a plan view showing the schematic structure of a charging system of an embodiment.

[0016] Figure 4 is a side view showing the schematic structure of a charging system of an embodiment.

[0017] Figure 5 is a diagram showing a locus and a direction in which the charging connector is arranged when the arm mechanism grips the charging connector in the charging system of the embodiment.

[0018] Figure 6 is a diagram showing an example of a structure of the front end portion of the arm mechanism and the charging connector in the charging system of the embodiment and is a state in which the arm-side bracket is open.

[0019] Figure 7 is a diagram showing an example of a structure of the front end portion of the arm mechanism and the charging connector in the charging system of the embodiment and is a state in which the arm-side bracket is closed.

[0020] Figure 8 is a diagram showing an outline of the overall flow of the charging method performed by the charging system of the embodiment.

[0021] Figure 9 is a diagram showing an example of a case in which two vehicles are simultaneously charged using the arm mechanism in the charging system of the embodiment.

[0022] Figure 10 is a diagram showing an example of a case in which two vehicles are simultaneously charged using the arm mechanism in the charging system of the embodiment.

[0023] Figure 11 is a flowchart showing the overall flow of the charging method performed by the charging system of the embodiment.

[0024] BRIEF DESCRIPTION OF DRAWINGS

[0025] 1, charger; 11, control portion; 12, communication portion; 13, 13A, 13B, charging connector; 131, connector-side bracket; 131a, outer surface; 132, tapered hole; 14, charging cable; 2, arm mechanism; 21, control portion; 22, communication portion; 23, camera; 24, front end portion; 241, arm-side bracket; 241a, inner surface; 242, tapered pin; 3, control device; 31, control portion; 32, communication portion; 4, infrastructure; 41, control portion; 42, communication portion; 43, sensor; 5, vehicle; 51, control portion; 52, communication portion; 53, charging port; N, network; Sp1, charging space; Sp2, standby space. DETAILED DESCRIPTION

[0026] A charging system of an embodiment of the present disclosure will be described with reference to the drawings. Note that the constituent elements in the following embodiments include elements that can be and are easily substituted by those skilled in the art, or substantially identical elements.

[0027] (Charging system)

[0028] ReferenceFigures 1-10 A charging system according to an embodiment will be described. The charging system according to the embodiment is used, for example, to simultaneously charge a plurality of vehicles using chargers provided in a parking lot or the like. As shown in FIG. 1, the charging system according to the embodiment has a charger 1, an arm mechanism 2, a control device 3, an infrastructure 4, and a vehicle 5. The charger 1, the arm mechanism 2, the control device 3, the infrastructure 4, and the vehicle 5 each have a communication function and are configured to be able to communicate with each other via a network N and exchange various information. The network N is constituted, for example, by an Internet line network, a mobile phone line network, or the like. Figure 1

[0029] (Charger)

[0030] The charger (charging column, charging station) 1 is used to supply electric power to a vehicle 5 that is a charging target. As shown in FIG. 2, the charger 1 is provided on a stand 6. In addition, the charger 1 is connected to a control panel 7. The control panel 7 is connected, for example, to a transformer device (box type) that performs voltage conversion on electric power from a power plant or the like. Figures 2-4

[0031] As shown in FIG. 3, the charger 1 has a control section 11, a communication section 12, a charging connector 13, and a charging cable 14. Figure 1

[0032] The control section 11 is realized, for example, by a processor constituted by a CPU (Central Processing Unit) or the like and a memory (main storage section) constituted by a RAM (Random Access Memory), a ROM (Read Only Memory), or the like. The control section 11 supplies electric power to the vehicle 5 that is the charging target based on an instruction from the control device 3.

[0033] The communication section 12 is constituted, for example, by a LAN (Local Area Network) interface board, a wireless communication circuit for wireless communication, or the like. The communication section 12 performs exchange of information between, for example, the arm mechanism 2 and the control device 3 through communication via the network N.

[0034] The charging connector (charging gun, charging plug) 13 is used to supply electric power to the vehicle 5 that is the charging target. The charging connector 13 is latched to the side of the charger 1 in a non-charging state. Then, when charging of the vehicle 5 is started, the charging connector 13 is held by the arm mechanism 2 of a fixed type and is inserted into a charging port 53 of the vehicle 5. In this state, electric power is supplied from the charger 1 side to the vehicle 5 side via the charging connector 13. After that, when charging of the vehicle 5 is completed, the charging connector 13 is held again by the arm mechanism 2 and is latched to the side of the charger 1 after being pulled out of the charging port 53 of the vehicle 5.

[0035] Here,​​​Figure 5 indicates the trajectory X when the arm mechanism 2 grips the charging connector 13 while the vehicle 5 is charging, and the direction in which the charging connector 13 is disposed. The trajectory X matches the movement of the arm mechanism 2 as shown in Figure 5 The width of the stand 6 (curbstone width) is set to match the trajectory X of the movement of the arm mechanism 2 as shown in Figure 5 Y-direction view).

[0036] Thus, by disposing the base end portion of the charging connector 13 toward the direction of the arm mechanism 2, for example as shown in the Z portion of Figure 5 , the arm mechanism 2 moves in the length direction of the stand 6 when the arm mechanism 2 grips the charging connector 13. Thus, compared to the case where the base end portion of the charging connector 13 is not disposed toward the direction of the arm mechanism 2, the movable area of the arm mechanism 2, specifically the width of the trajectory X, can be reduced. As a result, the width of the stand 6 (curbstone width) in which the arm mechanism 2 is provided can be reduced, and the installation space of the arm mechanism 2 can be minimized. In addition, by minimizing the width of the stand 6 in which the charger 1 and the arm mechanism 2 are mounted, the width of the stand 6 can be set to the same length as the width of the charger 1.

[0037] Note that in Figures 2-5 , an example is shown in which one charging connector 13 is provided for one charger 1, but a plurality of charging connectors 13 can be provided for one charger 1.

[0038] The charging cable 14 is provided between the charging connector 13 and the charger 1 (charger main body). The charging cable 14 is configured to be a length that enables the charging connector 13 to be inserted into the charging port 53 regardless of the position of the charging port 53 in the vehicle 5. For example, in Figure 3 , an example is shown in which the charging port 53 is disposed on the left front side of the vehicle 5, but depending on the vehicle model, there are cases where the charging port 53 is disposed on the left rear side, the center front side, the center rear side, or the like of the vehicle 5. Therefore, the charging cable 14 is configured to be a length that enables the charging connector 13 to be inserted regardless of which of the left front side, the left rear side, the center front side, or the center rear side of the vehicle 5 the charging port 53 is disposed.

[0039] Note that depending on the vehicle model of the vehicle 5, there are cases where the charging port 53 is disposed on the right front side or the right rear side of the vehicle 5. In this case, for example in Figure 3 , the vehicle 5 is parked in opposite directions in front and rear of the left and right charging spaces Sp1, respectively, and the charging port 53 is charged toward the direction of the charger 1, respectively. For example Figure 3The vehicle 5 on the right side is parked in the charging space Sp1 with the vehicle front facing downward and the vehicle rear facing upward. In addition, the vehicle 5 on the left side is parked with the vehicle front facing upward and the vehicle rear facing downward.

[0040] (Arm mechanism 2)

[0041] The arm mechanism (automatic charging robot) 2 is used to hold the charging connector 13 when charging from the charger 1 to the vehicle 5 is performed. The arm mechanism 2 can hold a plurality of charging connectors 13 and move each charging connector 13 within a predetermined range. The arm mechanism 2 is provided and fixed to the stand 6.

[0042] As shown in Figure 1 , the arm mechanism 2 includes a control section 21, a communication section 22, and a camera 23.

[0043] The control section 21 is realized by, for example, a processor constituted by a CPU or the like and a memory (main storage section) constituted by a RAM, a ROM, or the like. The control section 21 holds the charging connector 13 based on an instruction from the control device 3 and performs insertion of the charging connector 13 into the charging port 53 and extraction of the charging connector 13 from the charging port 53.

[0044] In addition, the control section 21 determines the position of the charging port 53 and the distance to the charging port 53 (the distance of the charging connector 13 from the charging port 53) when the held charging connector 13 is inserted into the charging port 53, for example, based on an image captured by the camera 23 provided at the front end of the arm mechanism 2. The shape of the charging port 53 of the vehicle 5 is standardized. Therefore, the position of the charging port 53 can be determined by pattern matching based on an image of the charging port 53 captured by the camera 23. In addition, the distance of the charging connector 13 held from the arm mechanism 2 to the charging port 53 can be determined by acquiring information in the depth direction using a 3D (three-dimensional) camera as the camera 23.

[0045] The communication section 22 is constituted by, for example, a LAN interface board, a wireless communication circuit for wireless communication, or the like. The communication section 22 performs exchange of information between, for example, the charger 1 and the control device 3 through communication via the network N.

[0046] The camera 23 is used to capture the charging port 53. The camera 23 is provided at the front end of the arm mechanism 2 (arm mechanism main body). In addition, as the camera 23, a 3D camera capable of acquiring information in the depth direction is preferably used.

[0047] Figure 6 and Figure 7 An example of the structure of the front end portion 24 of the arm mechanism 2 and the charging connector 13 of the charger 1 is shown. In addition, Figure 6The arm-side bracket 241, described later, is shown in an open state and is a state in which the arm mechanism 2 does not hold the charging connector 13. In addition, Figure 7 The arm-side bracket 241, described later, is shown in a closed state and is a state in which the arm mechanism 2 holds the charging connector 13.

[0048] The arm-side bracket 241 is installed at the front end portion 24 of the arm mechanism 2. The arm-side bracket 241 is used to hold the connector-side bracket 131, described later.

[0049] The arm-side bracket 241 is configured to be opened and closed with respect to the connector-side bracket 131, described later, by a not-shown servo motor provided in the front end portion 24. In addition, as shown in an enlarged view of Figure 6 As shown in an enlarged view of

[0050] The connector-side bracket 131 is installed at the base end of the charging connector 13. The connector-side bracket 131 is fixed to the base end of the charging connector 13. In addition, a plurality of tapered holes 132 are provided on the outside of the connector-side bracket 131. The tapered holes 132 are respectively provided on the outer surfaces 131a of both sides of the connector-side bracket 131.

[0051] As shown in an enlarged view of Figure 6 and Figure 7 The arm mechanism 2 holds the connector-side bracket 131 with the arm-side bracket 241, and inserts the plurality of tapered pins 242 into the plurality of tapered holes 132, thereby holding the charging connector 13.

[0052] Thus, in the charging system of the embodiment, by making the holding of the charging connector 13 in a manner in which the tapered pins 242 are inserted into the tapered holes 132 rather than in a manner of friction, the charging connector 13 can be reliably held with a small servo motor provided in the arm mechanism 2. As a result, the size and weight of the arm mechanism 2 can be reduced, and thus the installation space of the arm mechanism 2 can be minimized.

[0053] (CONTROL DEVICE 3)

[0054] The control device 3 is used to control the charger 1, the arm mechanism 2, and multiple vehicles 5. The control device 3 performs functions such as charging control of the charger 1, controlling the movement of the arm mechanism 2, controlling the infrastructure 4, and controlling the movement (mobility) of the vehicles 5. The control device 3 can be implemented using a workstation, a general-purpose computer such as a personal computer, or a server configured in the cloud. It should be noted that the control device 3 can also be constructed with different hardware depending on the controlled objects (charger 1, arm mechanism 2, infrastructure 4, and vehicles 5). Furthermore, the function of controlling the charging of the charger 1 in the control device 3 can also be performed by the control panel 7.

[0055] like Figure 1 As shown, the control device 3 includes a control unit 31 and a communication unit 32.

[0056] The control unit 31 is implemented, for example, by a processor consisting of a CPU or the like and a memory consisting of RAM, ROM or the like (main storage unit). The specific processing operations of the control unit 31 will be described below.

[0057] The control unit 31 controls the movement of the vehicle 5 based on information obtained from the infrastructure 4 (such as the location information of the vehicle 5). Additionally, the control unit 31 remotely controls the vehicle 5 to move it to a predetermined range (the working range of the arm mechanism 2). Furthermore, the control unit 31 parks the vehicle 5 within the predetermined range with its charging port 53 facing the charger 1.

[0058] For example, the control unit 31 accepts a charging reservation for the vehicle 5 from the user (e.g., the driver) of the vehicle 5. The charging reservation can be accepted based on information entered by the user into their information terminal (e.g., a smartphone connected to the network N) or based on information entered by the user into the vehicle terminal (e.g., a car navigation system connected to the network N).

[0059] When the charging sequence of vehicle 5 is close, such as Figure 8 As shown, the control unit 31 uses the location information of the vehicle 5 obtained from the infrastructure 4 to automatically move the vehicle 5 from the parking space where the vehicle 5 is parked to the standby space Sp2 and then automatically park it. In this way, by moving the vehicle 5 to the standby space Sp2 in advance and putting it into standby mode, the replacement time of the vehicle 5 being charged can be minimized, and the operating rate of the charger 1 can be improved.

[0060] Next, when it is time to charge vehicle 5, the control unit 31 uses the location information of vehicle 5 obtained from infrastructure 4 to make vehicle 5 automatically move from standby space Sp2 to charging space Sp1 and then automatically stop. Then, the control unit 31 uses arm mechanism 2 to hold charging connector 13 and insert it into charging port 53 to start charging of charger 1.

[0061] Next, when vehicle 5 has finished charging, control unit 31 uses arm mechanism 2 to hold charging connector 13 again, causing charging connector 13 to be pulled out of charging port 53. Next, control unit 31 uses the location information of vehicle 5 obtained from infrastructure 4 to make vehicle 5 automatically drive from charging space Sp1 to standby space Sp2 and then automatically stop.

[0062] When the vehicle 5 is parked in the charging space Sp1, the control unit 31 parks it with the charging port 53 facing the charger 1. For example, when charging the vehicle 5 with the charging port 53 located on the left front, the control unit 31... Figure 3 As shown, in the charging space Sp1 on the right side of the charger 1, with the charging port 53 on the left, the vehicle 5 is parked with the front of the vehicle facing upwards and the rear of the vehicle facing downwards. Conversely, in the charging space Sp1 on the left side of the charger 1, with the charging port 53 on the right, the vehicle 5 is parked with the front of the vehicle facing downwards and the rear of the vehicle facing upwards.

[0063] It should be noted that, based on the model of vehicle 5, there are also similarities. Figure 3 Conversely, the charging port 53 is positioned at the front right and rear right side of vehicle 5. In this case, for example, in Figure 3 In the example of the two vehicles 5 shown, in the charging space Sp1 on the right side of the charger 1, with the charging port 53 on the left, the vehicle 5 is parked with its front facing down and its rear facing up. Conversely, in the charging space Sp1 on the left side of the charger 1, with the charging port 53 on the right, the vehicle 5 is parked with its front facing up and its rear facing down.

[0064] The control unit 31 operates the charging connector 13 using an arm mechanism 2, thereby simultaneously charging two or more vehicles 5. In this case, such as Figure 9 As shown, the control unit 31 moves the first vehicle 5 (hereinafter referred to as "vehicle A") to a predetermined position (charging space Sp1 on the right side of the paper). Next, the control unit 31 causes the arm mechanism 2 to grasp the charging connector 13A of the first charger 1 (charger 1 on the upper side of the paper). Next, the control unit 31 inserts the charging connector 13A held by the arm mechanism 2 into the charging port 53 of vehicle A, and begins charging vehicle A.

[0065] Next, as Figure 10 As shown, the control unit 31 moves the second vehicle 5 (hereinafter referred to as "vehicle B") to a predetermined position (charging space Sp1 on the left side of the paper). Next, the control unit 31 causes the arm mechanism 2 to hold the charging connector 13B of the second charger 1 (charger 1 on the lower side of the paper). Next, while vehicle A is charging, the control unit 31 inserts the charging connector 13B held by the arm mechanism 2 into the charging port 53 of vehicle B, thus starting the charging of vehicle B.

[0066] Thus, in the charging system of this embodiment, two or more charging connectors 13A and 13B can be operated using one arm mechanism 2 to charge two or more vehicles 5 simultaneously. As a result, the charging turnover rate can be improved.

[0067] It should be noted that, in Figure 9 and Figure 10 In this example, the control unit 31 can also hold the charging connector 13A of the first charger 1 (the charger 1 on the upper side of the paper) and put it into standby mode before the vehicle A stops at the predetermined position (the charging space Sp1 on the right side of the paper). Similarly, the control unit 31 can also hold the charging connector 13B of the second charger 1 (the charger 1 on the lower side of the paper) and put it into standby mode before the vehicle B stops at the predetermined position (the charging space Sp1 on the left side of the paper).

[0068] In addition, Figure 9 and Figure 10 In the example, "reserved location" refers to the charging space Sp1. Additionally, in Figure 9 and Figure 10 In the example where only one vehicle 5 is being charged, the control unit 31 can return the arm mechanism 2 to a predetermined standby position after inserting the charging connector 13A (or charging connector 13B) into the charging port 53. Alternatively, the control unit 31 can return the arm mechanism 2 to a predetermined standby position after unplugging the charging connector 13A (or charging connector 13B) from the charging port 53. Furthermore, the control unit 31 can also return the arm mechanism 2 to a predetermined standby position if, for example, there are no vehicles 5 waiting to be charged, or if no vehicles 5 have completed charging.

[0069] Additionally, during the charging of the first vehicle 5 (vehicle A), the control unit 31 can also use the arm mechanism 2 to move the second vehicle 5 (vehicle B) to a range where the charging connector 13B of the second charger 1 can be inserted. This allows for rapid charging of the second vehicle 5.

[0070] Furthermore, when charging the first vehicle 5 (vehicle A) is complete, the control unit 31 moves the arm mechanism 2 to the charging port 53 of the first vehicle 5. After releasing the lock of the charging connector 13A, the control unit 31 uses the arm mechanism 2 to pull the charging connector 13A out of the charging port 53 of the first vehicle 5. Similarly, when charging the second vehicle 5 (vehicle B) is complete, the control unit 31 moves the arm mechanism 2 to the charging port 53 of the second vehicle 5. After releasing the lock of the charging connector 13B, the control unit 31 uses the arm mechanism 2 to pull the charging connector 13B out of the charging port 53 of the second vehicle 5.

[0071] Thus, in the charging system of the embodiment, by pre-holding and idling the charging connectors 13A and 13B using the arm mechanism 2 before the vehicle 5 arrives at the charging space Sp1, the charging turnover rate can be further improved.

[0072] In addition, Figure 9 and Figure 10 In the example, the control unit 31 can also determine whether to immediately disconnect the charging connector 13A from the currently charging vehicle A based on whether the subsequent vehicle B is nearby (whether the vehicle B can be charged immediately).

[0073] In this scenario, when charging of vehicle A is complete and vehicle B is parked at a predetermined position (charging space Sp1 on the left side of the paper), control unit 31 uses arm mechanism 2 to insert the charging connector 13B of the second charger 1 (charger 1 on the lower side of the paper) into the charging port 53 of vehicle B to begin charging. Then, control unit 31 removes the charging connector 13A of the first charger 1 (charger 1 on the upper side of the paper) from the charging port 53 of vehicle A. That is, at the moment when charging of vehicle A is complete, and vehicle B is parked in charging space Sp1 so that charging of vehicle B can begin immediately, control unit 31 prioritizes inserting the charging connector 13B into vehicle B rather than removing the charging connector 13A from vehicle A.

[0074] On the other hand, when charging of vehicle A is completed, if vehicle B is not parked in the predetermined position (charging space Sp1 on the left side of the paper), control unit 31 uses arm mechanism 2 to unplug the charging connector 13A of the first charger 1 (charger 1 on the upper side of the paper) from the charging port 53 of vehicle A. Then, after vehicle B parks in the predetermined position, control unit 31 inserts the charging connector 13B of the second charger 1 (charger 1 on the lower side of the paper) into the charging port 53 of vehicle B to start charging. That is, at the moment when charging of vehicle A is completed, if vehicle B is not parked in the charging space Sp1 and cannot be charged immediately, control unit 31 prioritizes unplugging the charging connector 13A from vehicle A over inserting the charging connector 13B into vehicle B.

[0075] Thus, in the charging system of this embodiment, when operating multiple charging connectors 13A and 13B using a single arm mechanism 2, the system determines whether to first remove charging connectors 13A and 13B from vehicle 5 or insert other charging connectors 13A and 13B into other vehicles 5, depending on the level of charging congestion. For example, in a congested charging situation, if the insertion of charging connectors 13A and 13B is prepared first, then even if the removal completion time is delayed, insertion into other vehicles 5 is prioritized. On the other hand, in a non-congested charging situation, charging connectors 13A and 13B are removed first, and then insertion into other vehicles 5 begins.

[0076] Thus, in the charging system of the embodiment, by efficiently performing the actions of inserting charging connectors 13A and 13B into multiple vehicles 5 and removing charging connectors 13A and 13B from multiple vehicles 5, the charging turnover rate can be further improved.

[0077] The communication unit 32 is composed, for example, of a LAN (Local Area Network) interface board and a wireless communication circuit for wireless communication. The communication unit 32 exchanges information with, for example, the charger 1, the arm mechanism 2, the infrastructure 4, and the vehicle 5 via communication through the network N.

[0078] (Infrastructure 4)

[0079] Infrastructure 4, for example, is used to enable automated driving of vehicles 5 within a parking lot and automated parking based on advanced parking (advanced parking assistance functions). For example... Figure 8 As shown, infrastructure 4 is configured around the charging space Sp1 of vehicle 5, around the standby space Sp2 of vehicle 5, and along the driving path of vehicle 5 (on both sides of the driving path, etc.).

[0080] like Figure 1 As shown, infrastructure 4 includes a control unit 41, a communication unit 42, and a sensor 43.

[0081] The control unit 41 is implemented, for example, by a processor consisting of a CPU or the like and a memory consisting of RAM, ROM or the like (main storage unit). The control unit 41 sends, for example, information related to the position of the vehicle 5 detected by the sensor 43 to the control device 3.

[0082] The communication unit 42 is composed, for example, of a LAN (Local Area Network) interface board and a wireless communication circuit for wireless communication. The communication unit 42 exchanges information, for example, with the control device 3 and the vehicle 5, through communication via network N.

[0083] Sensor 43 may consist of, for example, LiDAR (Light Detection and Ranging), Laser Imaging Detection and Ranging, cameras, etc.

[0084] (Vehicle 5)

[0085] Vehicle 5 is, for example, an electric vehicle capable of generating its own power, such as a plug-in hybrid electric vehicle (PHEV) or a battery electric vehicle (BEV). Vehicle 5 can also be an autonomous vehicle capable of driving without driver intervention. Furthermore, vehicle 5 may also possess automatic parking functions (automatic parking) and parking assistance functions (assisted parking).

[0086] like Figure 1 As shown, vehicle 5 includes a control unit 51, a communication unit 52, and a charging port 53. It should be noted that... Figure 1 The diagram only shows the structure of vehicle 5 that is necessary for the charging system to implement the embodiment; other structures are omitted from the diagram.

[0087] The control unit 51 is, for example, an electronic control unit (ECU) with a microcomputer consisting of a CPU, RAM, ROM, etc. as its main components. The control unit 51 comprehensively controls the operation of various components of the vehicle 5 by executing various programs.

[0088] Based on instructions from the control device 3, the control unit 51 performs actions such as automatic driving and automatic parking within a parking lot. For example, if the user of vehicle 5 has made a charging reservation based on charger 1, they drive vehicle 5 to a parking lot equipped with charger 1 and park in a parking space within the parking lot. Then, when the user gets out of vehicle 5, they open the cover of charging port 53 (hereinafter referred to as "charging port cover") and leave the parking space.

[0089] When the charging sequence for vehicle 5 approaches, the control unit 51, following instructions from the control device 3, automatically moves vehicle 5 from the parking space to the standby space Sp2 and then automatically stops it. Next, when the charging sequence for vehicle 5 arrives, the control unit 51, following instructions from the control device 3, automatically moves vehicle 5 from the standby space Sp2 to the charging space Sp1 and then automatically stops it. Then, the charging connector 13, held by the arm mechanism 2, is inserted into the charging port 53, and charging begins.

[0090] Next, upon completion of charging, the arm mechanism 2 pulls the charging connector 13 out of the charging port 53. Following instructions from the control device 3, the control unit 51 automatically moves the vehicle 5 from the charging space Sp1 to the standby space Sp2 and then automatically stops.

[0091] The communication unit 52 is composed of, for example, a DCM (Data Communication Module). The communication unit 52 exchanges information with, for example, the charger 1, the arm mechanism 2, the control device 3, and the infrastructure 4 via communication through the network N.

[0092] The charging port (inlet) 53 is used to receive power from the charger 1. By inserting the charging connector 13 of the charger 1 into this charging port 53, power from the charger 1 is stored in the battery of the vehicle 5 (not shown). The charging port 53... Figures 2-4 In the example, it is positioned at the front left of vehicle 5, but it can also be positioned at the rear left, front right, rear right, front center, rear center, etc. of vehicle 5.

[0093] Platform 6 can be installed, for example, in a parking lot capable of accommodating vehicles 5. Platform 6 is independent of the type of parking lot; for example, it can be installed in any type of parking lot, such as a surface parking lot, a mechanical multi-level parking garage, or an automated multi-level parking garage. Furthermore, such as... Figures 2-4 As shown, a charger 1, an arm mechanism 2, and a control panel 7 are arranged on the platform 6. Furthermore, in this embodiment, two chargers 1 are installed on the platform 6, enabling simultaneous charging of two or more vehicles 5.

[0094] When the charger 1 is installed in a parking lot, it is installed on a per-stand basis. That is, the charger 1, the arm mechanism 2, and the control panel 7 are pre-installed on a stand 6 in a factory or other facility. After adjusting the movement of the arm mechanism 2 (robot teaching), aligning the charger 1 and the arm mechanism 2, and completing the wiring, each stand 6 is moved into the parking lot for installation (e.g., anchoring). By installing on a stand-by-stand basis, the flexibility in installing the charger 1 and the arm mechanism 2 can be increased, and construction costs can be minimized.

[0095] (Charging method)

[0096] Reference Figure 11 The flow of the charging method performed by the charging system of the embodiment will be described.

[0097] First, the user makes a charging reservation (step S1). This charging reservation can be made, for example, through the user's information terminal (e.g., a smartphone connected to network N) or through an in-vehicle terminal (e.g., a car navigation system connected to network N).

[0098] Next, the control device 3 obtains charging reservation information from the aforementioned information terminal or vehicle terminal (step S2). This reservation information includes information required by the charger 1 to charge the vehicle 5.

[0099] The reservation information includes, for example, information for identifying the user (e.g., user ID), information related to the date and time of sending the charging reservation, and information related to the desired date and time of charging. In addition, the reservation information also includes information for identifying vehicle 5 (e.g., vehicle number), the shape of vehicle 5 (body type), information related to the location of the charging port 53 of vehicle 5, information related to the remaining battery charge (SOC: State of Charge) of vehicle 5, and the current location of vehicle 5. It should be noted that "information related to the location of the charging port 53" refers to, for example, information regarding where the charging port 53 is located on vehicle 5, such as the left front, left rear, right front, right rear, center front, or center rear.

[0100] Next, the control device 3 determines the charging order of the vehicles 5 that have accepted the charging reservations (step S3). In step S3, the charging order of the vehicles 5 is determined, for example, based on the number of other vehicles 5 that accepted charging reservations at the same time or around the same time, and the time until charging is completed as predicted based on the remaining battery capacity of those other vehicles 5. In addition, in step S3, the control device 3 sends information related to the determined order (order information) to the vehicles 5 (as well as the user's information terminal and vehicle terminal).

[0101] Next, the user parks vehicle 5 in the parking space of the parking lot (the parking lot equipped with charger 1) (step S4). Next, after getting out of vehicle 5, the user opens the charging port cover (step S5) and leaves the parking space.

[0102] Next, vehicle 5 automatically drives from the parking space to the standby space Sp2 based on the instructions of control device 3 (step S6). Then, when the charging sequence arrives, vehicle 5 automatically drives from the standby space Sp2 to the charging space Sp1 based on the instructions of control device 3 (step S7).

[0103] When vehicle 5 is parked in charging space Sp1, control device 3 sends an instruction to arm mechanism 2 to hold charging connector 13 (holding instruction) (step S8). In response, arm mechanism 2 holds charging connector 13 (step S9), moving charging connector 13 to the vicinity of charging port 53. Next, arm mechanism 2 detects the position of charging port 53, for example, by pattern matching based on an image of charging port 53 (step S10), and inserts charging connector 13 into charging port 53 (step S11).

[0104] Next, the arm mechanism 2 locks the charging connector 13 in a manner that prevents it from disengaging from the charging port 53, using a locking mechanism (not shown) or the like (step S12), releases the grip on the charging connector 13, and returns it to a predetermined standby position (step S13). The "predetermined standby position" is, for example, as... Figure 2 As shown, the positions where the arm mechanism 2 is housed within the frame 6 (positions not extending from the frame 6) can be listed. Furthermore, in step S13, the arm mechanism 2 sends information to the control device 3 related to its current operational state (e.g., current position, whether the charging connector 13 is locked, etc.).

[0105] Here, the return of the arm mechanism 2 to the predetermined standby position as in S13 means, for example, if there are no other vehicles 5 waiting to be charged, or if there are no other vehicles 5 that have already completed charging. For example, if there are other vehicles 5 waiting to be charged, the arm mechanism 2 does not return to the predetermined standby position (step S13 is not implemented), and the processing after step S9 is directly implemented for the other vehicle 5. Alternatively, if there are other vehicles 5 that have already completed charging, the arm mechanism 2 does not return to the predetermined standby position (step S13 is not implemented), and the processing after step S17 is directly implemented for the other vehicle 5.

[0106] Next, the control device 3 sends a message to the charger 1 instructing it to start charging the vehicle 5 (charging start instruction message) (step S14). Next, the charger 1 starts charging the vehicle 5 (step S15). Next, when charging the vehicle 5 is complete (step S16), the charger 1 sends a message indicating that charging is complete (charging completion message) to the arm mechanism 2.

[0107] Next, the arm mechanism 2 releases the lock of the charging connector 13 (step S17), grasps the charging connector 13 (step S18), and pulls the charging connector 13 out of the charging port 53 (step S19). Next, the arm mechanism 2 returns the pulled-out charging connector 13 to a predetermined position of the charger 1 (e.g., the side of the charger 1) (step S20), releases the grasp of the charging connector 13, and returns to a predetermined standby position (step S21).

[0108] Here, the return of the arm mechanism 2 to the predetermined standby position as in S21 means, for example, if there are no other vehicles 5 waiting to be charged, or if there are no other vehicles 5 that have already completed charging. For example, if there are other vehicles 5 waiting to be charged, the arm mechanism 2 does not return to the predetermined standby position (step S21 is not implemented), and the processing after step S9 is directly implemented for the other vehicle 5. Alternatively, if there are other vehicles 5 that have already completed charging, the arm mechanism 2 does not return to the predetermined standby position (step S21 is not implemented), and the processing after step S17 is directly implemented for the other vehicle 5.

[0109] Next, based on the instructions of the control device 3, vehicle 5 automatically drives from charging space Sp1 to standby space Sp2 (step S22). Next, the user closes the charging port 53 in standby space Sp2, gets into vehicle 5 (step S23), and exits the parking lot.

[0110] It should be noted that, although in Figure 11 While illustrations are omitted, in steps S6, S7, and S22 where vehicle 5 operates automatically, automatic driving is achieved through continuous communication between control device 3 and vehicle 5. In this case, control device 3 determines the location of vehicle 5 based on information obtained from infrastructure 4, and sequentially sends the locations of standby space Sp2 and charging space Sp1, as well as the driving paths to these spaces, to vehicle 5. Thus, control device 3 controls the movement of vehicle 5 within the parking lot.

[0111] According to the charging system of the embodiment described above, by arranging the charging connector 13 of the charger 1 toward the arm mechanism 2, the movable area of ​​the arm mechanism 2 can be reduced. Figure 5 The width of the trajectory X). As a result, the width of the platform 6 on which the boom mechanism 2 is installed (curbstone width) can be reduced, thus minimizing the installation space of the boom mechanism 2.

[0112] Additionally, in the charging system of the implementation method, such as Figure 6 and Figure 7 As shown, the charging connector 13 is held by inserting the tapered pin 242 into the tapered hole 132, rather than by friction. This allows the charging connector 13 to be reliably held using a small servo motor provided in the arm mechanism 2. Consequently, the size and weight of the arm mechanism 2 can be reduced, thus minimizing the installation space required for the arm mechanism 2.

[0113] Furthermore, in the charging system of this embodiment, multiple charging connectors 13 are operated by a fixed arm mechanism 2 to charge multiple vehicles 5 simultaneously. Since the arm mechanism 2 itself cannot move, the vehicles 5 are moved while charging is being performed using the charging connectors 13, thereby charging multiple vehicles 5 simultaneously.

[0114] Thus, according to the charging system of this embodiment, regardless of the location of the charging port 53 of vehicle 5 or the type of parking lot, two or more vehicles 5 can be charged simultaneously with a simple structure, thereby improving charging turnover. As a result, the user's charging waiting time can be shortened, and the profitability of charging vehicles 5 as a business can be improved. In the charging system of this embodiment, charging is performed using the automatic driving and automatic parking of vehicle 5, so users do not need to wait for charging, thus improving user convenience.

[0115] Those skilled in the art can readily derive further effects and variations. Therefore, the invention is not limited to the specific details and representative embodiments shown and described above. Thus, various modifications can be made without departing from the comprehensive concept or scope of the invention as defined by the appended claims and their equivalents.

Claims

1. A charging system, comprising: The charger has a charging connector. An arm mechanism is capable of holding the charging connector and moving it within a predetermined range; as well as The control device controls the charger, the arm mechanism, and multiple vehicles. The portion of the charging connector held by the arm mechanism is positioned toward the arm mechanism side.

2. The charging system according to claim 1, wherein, An arm-side bracket, which can be opened and closed and has a tapered pin on its inner side, is installed at the front end of the arm mechanism. A connector side bracket with a tapered hole on the outer side is installed at the base of the charging connector. The arm mechanism holds the charging connector by using the arm-side bracket to hold the connector-side bracket and inserting the tapered pin into the tapered hole.

3. The charging system according to claim 1, wherein, The control device causes the vehicle to park with its charging port facing the charger within the predetermined range.

4. The charging system according to claim 1, wherein, The width of the platform on which the charger and the arm mechanism are mounted is the same as the length of the charger.

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