Charging system

Abstract

The invention relates to a charging system. The charging system can charge more than two vehicles at the same time through a simple structure regardless of the position of a charging port of the vehicle and the type of a parking lot, and the charging turnover rate can be improved. The charging system includes a charger having a charging connector, an arm mechanism capable of holding the charging connector, and a control device for controlling the charger, the arm mechanism, and a plurality of vehicles. The control device determines the position of the vehicle at which the time for inserting the charging connector into the charging port is minimum on the basis of an arm trajectory indicating the trajectory when the arm mechanism grips the charging connector, the shape of the vehicle, and the position of the charging port of the vehicle, and causes the vehicle to automatically travel to the determined position and stop. The arm mechanism inserts the held charging connector into the charging port and starts charging.

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, there is room for improvement in terms of improving the turnover rate of charging vehicles regardless of the position of the charging port of the vehicle and the type of the parking lot.

[0008] The present disclosure was made in view of the above circumstances, and aims to provide a charging system that can charge two or more vehicles simultaneously regardless of the position of the charging port of the vehicle and the type of the parking lot by a simple structure and can improve the turnover rate of charging.

[0009] TECHNICAL SOLUTION TO THE PROBLEM

[0010] The charging system of the present disclosure has a charger provided with a charging connector, an arm mechanism capable of holding the charging connector, and a control device that controls the charger, the arm mechanism, and a plurality of vehicles, determines the position of the vehicle at which the time until the charging connector is inserted into the charging port is the shortest based on an arm trajectory that indicates a trajectory when the arm mechanism holds the charging connector, the shape of the vehicle, and the position of the charging port of the vehicle, causes the vehicle to automatically travel to the determined position and park, and causes the arm mechanism to insert the held charging connector into the charging port and start charging.

[0011] EFFECT OF THE INVENTION

[0012] According to the present disclosure, two or more vehicles can be charged simultaneously regardless of the position of the charging port of the vehicle and the type of the parking lot by a simple structure, and the turnover rate of charging can be improved. BRIEF DESCRIPTION OF DRAWINGS

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

[0014] Figure 2is a perspective view showing an outline configuration of a charging system of an embodiment.

[0015] Figure 3 is a plan view showing an outline configuration of a charging system of an embodiment.

[0016] Figure 4 is a side view showing an outline configuration of a charging system of an embodiment.

[0017] Figure 5 is a schematic diagram showing an overall flow of a charging method performed by a charging system of an embodiment.

[0018] Figure 6 is a schematic diagram showing an example in which two vehicles are simultaneously charged using an arm mechanism in a charging system of an embodiment.

[0019] Figure 7 is a schematic diagram showing an example in which two vehicles are simultaneously charged using an arm mechanism in a charging system of an embodiment.

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

[0021] (Symbol Explanation)

[0022] 1: charger; 11: control section; 12: communication section; 13, 13A, 13B: charging connector; 14: charging cable; 2: arm mechanism; 21: control section; 22: communication section; 23: camera; 3: control device; 31: control section; 32: communication section; 4: infrastructure; 41: control section; 42: communication section; 43: sensor; 5: vehicle; 51: control section; 52: communication section; 53: charging port; N: network; Sp1: charging space; Sp2: waiting space. DETAILED DESCRIPTION

[0023] With reference to the drawings, a charging system of an embodiment of the present disclosure will be described. Furthermore, among the structural elements in the following embodiments, there are included structural elements that can be substituted and simplified by those skilled in the art, or substantially identical structural elements.

[0024] (Charging System)

[0025] With reference to Figures 1-7 , a charging system of an embodiment will be described. The charging system of the embodiment is used to simultaneously charge a plurality of vehicles using, for example, a charger provided in a parking lot or the like. As shown in Figure 1As shown, the charging system of this embodiment includes a charger 1, an arm mechanism 2, a control device 3, infrastructure 4, and a vehicle 5. The charger 1, arm mechanism 2, control device 3, infrastructure 4, and vehicle 5 all have communication capabilities, configured to communicate with each other and exchange various information via a network N. This network N may be, for example, an Internet line network or a portable telephone line network.

[0026] (charger)

[0027] The charger (charging station, charging column) 1 is used to supply power to the vehicle 5, which is the object of charging. For example... Figures 2-4 As shown, charger 1 is mounted on stand 6. Furthermore, charger 1 is connected to control panel 7. This control panel 7 is, for example, connected to a transformer (distribution panel) that transforms power from a power plant.

[0028] like Figure 1 As shown, the charger 1 includes a control unit 11, a communication unit 12, a charging connector 13, and a charging cable 14.

[0029] The control unit 11 is implemented by a processor, such as a CPU (Central Processing Unit), and a memory (main storage unit) such as RAM (Random Access Memory) and ROM (Read Only Memory). Based on instructions from the control device 3, the control unit 11 supplies power to the vehicle 5, which is to be charged.

[0030] The communication unit 12 is composed of, for example, a LAN (Local Area Network) interface board and a wireless communication circuit for wireless communication. The communication unit 12 exchanges information, for example, with the arm mechanism 2 and the control device 3, via communication through the network N.

[0031] The charging connector (charging gun, charging plug) 13 is used to supply power to the vehicle 5, which is being charged. When not charging, the charging connector 13 is locked to the side of the charger 1. When charging the vehicle 5 begins, the charging connector 13 is held by the fixed arm mechanism 2 and inserted into the charging port 53 of the vehicle 5. In this state, power is supplied from the charger 1 side to the vehicle 5 side through the charging connector 13. Afterwards, when charging the vehicle 5 is complete, the charging connector 13 is again held by the arm mechanism 2 and pulled out from the charging port 53 of the vehicle 5, then locked to the side of the charger 1.

[0032] In addition, Figures 2-4 The example shown is a case where a charger 1 has one charging connector 13, but a charger 1 may also have multiple charging connectors 13.

[0033] A charging cable 14 is provided between the charging connector 13 and the charger 1 (charger main body). The charging cable 14 is configured in 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 of the vehicle 5. For example, in a case where the charging port 53 is disposed at the front left side of the vehicle 5, the charging cable 14 is configured in 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 of the vehicle 5. Figure 3 In the example shown in FIG. 1, the charging port 53 is disposed at the front left side of the vehicle 5, but depending on the vehicle model, there are cases where the charging port 53 is disposed at the rear left side, the front center, the rear center, or the like of the vehicle 5. Therefore, the charging cable 14 is configured in a length that enables the charging connector 13 to be inserted regardless of which of the front left side, the rear left side, the front center, and the rear center of the vehicle 5 the charging port 53 is disposed.

[0034] Further, depending on the vehicle model of the vehicle 5, there are cases where the charging port 53 is disposed at the front right side or the rear right side of the vehicle 5. In this case, in the example shown in FIG. 1, the vehicles 5 on the right side are parked in the charging spaces Sp1 with the front of the vehicle facing downward and the rear of the vehicle facing upward, and the vehicles 5 on the left side are parked in the charging spaces Sp1 with the front of the vehicle facing upward and the rear of the vehicle facing downward. Figure 3 In the example shown in FIG. 1, the vehicles 5 on the right side are parked in the charging spaces Sp1 with the front of the vehicle facing downward and the rear of the vehicle facing upward, and the vehicles 5 on the left side are parked in the charging spaces Sp1 with the front of the vehicle facing upward and the rear of the vehicle facing downward. Figure 3 In the example shown in FIG. 1, the vehicles 5 on the right side are parked in the charging spaces Sp1 with the front of the vehicle facing downward and the rear of the vehicle facing upward, and the vehicles 5 on the left side are parked in the charging spaces Sp1 with the front of the vehicle facing upward and the rear of the vehicle facing downward.

[0035] (Arm mechanism 2)

[0036] 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 gantry 6.

[0037] As shown in FIG. 2, the arm mechanism 2 includes a control section 21, a communication section 22, and a camera 23. Figure 1 The control section 21 is implemented 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 and inserts and extracts the charging connector 13 into and from the charging port 53 based on an instruction from the control device 3.

[0038] The control section 21 is implemented 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 and inserts and extracts the charging connector 13 into and from the charging port 53 based on an instruction from the control device 3.

[0039] Furthermore, when the holding charging connector 13 is inserted into the charging port 53, the control unit 21 determines the position of the charging port 53 and the distance to the charging port 53 (distance between the charging connector 13 and the charging port 53) based on, for example, an image captured by a camera 23 located at the front end of the arm mechanism 2. The shape of the charging port 53 of the vehicle 5 has been standardized. Therefore, the position of the charging port 53 can be determined by pattern matching based on the image of the charging port 53 captured by the camera 23. In addition, the distance from the charging connector 13 held by the arm mechanism 2 to the charging port 53 can be determined by obtaining information about the depth direction by using a 3D (three-dimensional) camera as the camera 23.

[0040] Furthermore, the position detection of the charging port 53 is not limited to the pattern matching described above. For example, the position detection of the charging port 53 can also be performed by obtaining the coordinates of the charging port 53 through UWB (Ultra-Wide Band) communication with the vehicle 5. Alternatively, the position detection of the charging port 53 can be performed by affixing a QR code (registered trademark) near the charging port 53 of the vehicle 5 and reading the QR code (registered trademark) using a camera 23 located at the front end of the arm mechanism 2.

[0041] The communication unit 22 is composed of, for example, a LAN interface board and a wireless communication circuit for wireless communication. The communication unit 22 exchanges information with, for example, the charger 1 and the control device 3 via communication through the network N.

[0042] Camera 23 is used to capture images of charging port 53. Camera 23 is located at the front end of arm mechanism 2 (arm mechanism body). Furthermore, a 3D camera capable of acquiring depth information is preferably used as camera 23.

[0043] (Control device 3)

[0044] The control device 3 is used to control the charger 1, the arm mechanism 2, and multiple vehicles 5. The control device 3 performs, for example, charging control of the charger 1, movement control of the arm mechanism 2, control of the infrastructure 4, and movement control (mobility control) of the vehicles 5. The control device 3 is implemented using, for example, a workstation, a general-purpose computer such as a personal computer, or a server configured in the cloud. Furthermore, the control device 3 can be constructed with different hardware depending on the controlled objects (charger 1, arm mechanism 2, infrastructure 4, and vehicles 5). Alternatively, the control panel 7 can also perform the function of charging control of the charger 1 within the control device 3.

[0045] like Figure 1 As shown, the control device 3 includes a control unit 31 and a communication unit 32.

[0046] The control unit 31 is implemented by a processor, such as a CPU, and a memory (main storage unit) such as RAM and ROM. The specific processing content of the control unit 31 will be described below.

[0047] The control unit 31 controls the movement of the vehicle 5 based on information obtained from the infrastructure 4 (e.g., the location information of the vehicle 5). Additionally, the control unit 31 remotely controls the vehicle 5 to move it within a predetermined range (the working range of the boom mechanism 2).

[0048] For example, the control unit 31 accepts a charging reservation for vehicle 5 from the user (e.g., the driver) of 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 network N), or it can be accepted based on information entered by the user into the vehicle terminal (e.g., a car navigation system connected to network N).

[0049] When the charging sequence of vehicle 5 is approaching, the control unit 31, as follows: Figure 5 As shown, by utilizing the location information of vehicle 5 obtained from infrastructure 4, vehicle 5 automatically moves from its parking space to the waiting space Sp2 and then automatically stops. By moving vehicle 5, which is to be charged, to the waiting space Sp2 in advance and waiting, the switching time of vehicle 5 to be charged can be minimized, thereby improving the working efficiency of charger 1.

[0050] Next, when it's time to charge vehicle 5, control unit 31 uses the vehicle 5's location information obtained from infrastructure 4 to automatically move vehicle 5 from waiting space Sp2 to charging space Sp1 and then automatically stop it. Then, control unit 31 causes arm mechanism 2 to hold charging connector 13, inserts charging connector 13 into charging port 53, and starts charging implemented by charger 1.

[0051] Next, when vehicle 5 is fully charged, control unit 31 causes arm mechanism 2 to hold charging connector 13 again and pull it out of charging port 53. Then, using the location information of vehicle 5 obtained from infrastructure 4, control unit 31 causes vehicle 5 to automatically drive from charging space Sp1 to waiting space Sp2 and then automatically stop.

[0052] When the control unit 31 parks the vehicle 5 in the charging space Sp1, it parks the vehicle 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, as... Figure 3As 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 upwards and its rear 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 its front facing downwards and its rear facing upwards.

[0053] Furthermore, based on the model of vehicle 5, there are also similarities. Figure 3 Conversely, the charging port 53 is located at the front right and rear right side of vehicle 5. In this case, for example... 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.

[0054] 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, the control unit 31... Figure 6 The first vehicle 5 (hereinafter referred to as "vehicle A") is moved to a predetermined position (charging space Sp1 on the right side of the paper). Then, 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 causes the arm mechanism 2 to insert the grasped charging connector 13A into the charging port 53 of vehicle A, and starts charging vehicle A.

[0055] Next, control unit 31 as Figure 7 The second vehicle 5 (hereinafter referred to as "vehicle B") is moved 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 grasp the charging connector 13B of the second charger 1 (charger 1 on the lower side of the paper). Then, during the charging process of vehicle A, the control unit 31 causes the arm mechanism 2 to insert the held charging connector 13B into the charging port 53 of vehicle B, and initiates charging of vehicle B.

[0056] Thus, in the charging system of this embodiment, two or more charging connectors 13A and 13B can be operated with one arm mechanism 2, allowing for the simultaneous charging of two or more vehicles 5. As a result, the charging turnover rate can be improved.

[0057] In addition, Figure 6 and Figure 7In the example of FIG. 1, the control section 31 can also cause the arm mechanism 2 to hold the charging connector 13A of the first charger 1 (the charger 1 on the upper side of the paper) and wait before the vehicle A stops at the predetermined position (the charging space Sp1 on the right side of the paper). Also, likewise, the control section 31 can also cause the arm mechanism 2 to hold the charging connector 13B of the second charger 1 (the charger 1 on the lower side of the paper) and wait before the vehicle B stops at the predetermined position (the charging space Sp1 on the left side of the paper).

[0058] Also, in the example of FIG. 1, the control section 31 can also cause the arm mechanism 2 to hold the charging connector 13A of the first charger 1 (the charger 1 on the upper side of the paper) and wait before the vehicle A stops at the predetermined position (the charging space Sp1 on the right side of the paper). Also, likewise, the control section 31 can also cause the arm mechanism 2 to hold the charging connector 13B of the second charger 1 (the charger 1 on the lower side of the paper) and wait before the vehicle B stops at the predetermined position (the charging space Sp1 on the left side of the paper). Figure 6 and Figure 7 Also, in the example of FIG. 1, the control section 31 can also cause the arm mechanism 2 to hold the charging connector 13A of the first charger 1 (the charger 1 on the upper side of the paper) and wait before the vehicle A stops at the predetermined position (the charging space Sp1 on the right side of the paper). Also, likewise, the control section 31 can also cause the arm mechanism 2 to hold the charging connector 13B of the second charger 1 (the charger 1 on the lower side of the paper) and wait before the vehicle B stops at the predetermined position (the charging space Sp1 on the left side of the paper). Figure 6 and Figure 7 Also, in the example of FIG. 1, the control section 31 can also cause the arm mechanism 2 to hold the charging connector 13A of the first charger 1 (the charger 1 on the upper side of the paper) and wait before the vehicle A stops at the predetermined position (the charging space Sp1 on the right side of the paper). Also, likewise, the control section 31 can also cause the arm mechanism 2 to hold the charging connector 13B of the second charger 1 (the charger 1 on the lower side of the paper) and wait before the vehicle B stops at the predetermined position (the charging space Sp1 on the left side of the paper).

[0059] Also, the control section 31 can also cause the second vehicle 5 (the vehicle B) to move within a range in which the charging connector 13B of the second charger 1 can be inserted by the arm mechanism 2 during the charging of the first vehicle 5 (the vehicle A). Thereby, the charging of the second vehicle 5 can be performed quickly.

[0060] Also, the control section 31 causes the arm mechanism 2 to move to a position of the charging port 53 of the first vehicle 5 after the charging of the first vehicle 5 (the vehicle A) is completed, and causes the charging connector 13A to be pulled out from the charging port 53 of the first vehicle 5 by the arm mechanism 2 after the locking of the charging connector 13A is released. Also, the control section 31 causes the arm mechanism 2 to move to a position of the charging port 53 of the second vehicle 5 after the charging of the second vehicle 5 (the vehicle B) is completed, and causes the charging connector 13B to be pulled out from the charging port 53 of the second vehicle 5 by the arm mechanism 2 after the locking of the charging connector 13B is released.

[0061] Thus, in the charging system of the embodiment, by causing the arm mechanism 2 to hold the charging connectors 13A, 13B and wait before the vehicles 5 arrive at the charging space Sp1, the turnover rate of the charging can be further improved.

[0062] Also, in the example of FIG. 1, the control section 31 can also cause the arm mechanism 2 to hold the charging connector 13A of the first charger 1 (the charger 1 on the upper side of the paper) and wait before the vehicle A stops at the predetermined position (the charging space Sp1 on the right side of the paper). Also, likewise, the control section 31 can also cause the arm mechanism 2 to hold the charging connector 13B of the second charger 1 (the charger 1 on the lower side of the paper) and wait before the vehicle B stops at the predetermined position (the charging space Sp1 on the left side of the paper). Figure 6 and Figure 7In the example of FIG. 9, the control section 31 can also determine whether to immediately pull out the charging connectors 13A, 13B from the vehicle A that is currently being charged, depending on whether the subsequent vehicle B is in the vicinity (whether the vehicle B can be immediately charged).

[0063] In this case, the control section 31 inserts the charging connector 13B of the second charger 1 (the charger 1 on the lower side of the paper) into the charging port 53 of the vehicle B and starts charging by the arm mechanism 2, in the case where charging to the vehicle A is completed and the vehicle B is parked at the predetermined position (the charging space Sp1 on the left side of the paper). Then, the control section 31 pulls out the charging connector 13A of the first charger 1 (the charger 1 on the upper side of the paper) from the charging port 53 of the vehicle A. That is, in the case where the vehicle B is parked at the charging space Sp1 at the time point when charging to the vehicle A is completed and the vehicle B can be immediately charged, the control section 31 prioritizes pulling out the charging connector 13A from the vehicle A over inserting the charging connector 13B into the vehicle B.

[0064] On the other hand, in the case where charging to the vehicle A is completed and the vehicle B is not parked at the predetermined position (the charging space Sp1 on the left side of the paper), the control section 31 pulls out the charging connector 13A of the first charger 1 (the charger 1 on the upper side of the paper) from the charging port 53 of the vehicle A by the arm mechanism 2. Then, after the vehicle B is parked at the predetermined position, the control section 31 inserts the charging connector 13B of the second charger 1 (the charger 1 on the lower side of the paper) into the charging port 53 of the vehicle B and starts charging. That is, in the case where the vehicle B is not parked at the charging space Sp1 at the time point when charging to the vehicle A is completed and the vehicle B cannot be immediately charged, the control section 31 prioritizes pulling out the charging connector 13A from the vehicle A over inserting the charging connector 13B into the vehicle B.

[0065] In this way, in the charging system of the embodiment, when a plurality of charging connectors 13A, 13B are operated by one arm mechanism 2, it is determined whether to first pull out the charging connectors 13A, 13B from the vehicle 5 or to insert other charging connectors 13A, 13B into other vehicles 5, depending on the congestion of charging. For example, in the case of charging congestion, as long as the insertion of the charging connectors 13A, 13B is prepared first, the insertion into the other vehicle 5 is prioritized even if the completion time of the pulling out is late. On the other hand, in the case of non-congestion of charging, after the charging connectors 13A, 13B are prioritized to be pulled out, the insertion into the other vehicle 5 is started.

[0066] In this way, in the charging system of the embodiment, by efficiently performing the operation of inserting the charging connectors 13A, 13B into a plurality of vehicles 5 and the operation of pulling out the charging connectors 13A, 13B from a plurality of vehicles 5, it is possible to further improve the turnover rate of charging.

[0067] Also in the charging system of the embodiment, the parking position of the vehicle 5 in the charging space Sp1 can be optimized depending on various conditions. In this case, the control device 3 determines the position of the vehicle 5 at which the time (hereinafter referred to as "connector insertion time") until the charging connector 13 is inserted into the charging port 53 is minimized within the charging space Sp1, for example, based on the arm trajectory, the shape of the vehicle 5, and the position of the charging port 53 of the vehicle 5. Then, the control device 3 causes the vehicle 5 to automatically travel to the above-mentioned determined position within the charging space Sp1 and park, and then causes the arm mechanism 2 to insert the held charging connector 13 into the charging port 53 and start charging.

[0068] Here, for example, as shown in A of FIG. 10, the "arm trajectory" indicates the trajectory of the arm mechanism 2 when the arm mechanism 2 holds the charging connector 13. Since the arm trajectory is known, the control device 3 holds information related to the arm trajectory in advance. Also, the arm trajectory is a trajectory that includes the size of the trajectory of, for example, (1) to (3) below. Figure 5

[0069] (1) the trajectory of the action of the arm mechanism 2 when the arm mechanism 2 goes to hold the charging connector 13 that is latched to the side surface of the charger 1 before charging of the vehicle 5

[0070] (2) the trajectory of the action of the arm mechanism 2 when the held charging connector 13 is inserted into the charging port 53 after (1)

[0071] (3) the trajectory of the action of the arm mechanism 2 when the charging connector 13 is pulled out from the charging port 53 after charging of the vehicle 5

[0072] Also, the "shape of the vehicle 5" refers to, for example, the body type of the vehicle 5, and the division of sedans, small vans, box cars, light cars, and the like can be cited. Information related to the shape of the vehicle 5 is included in the reservation information obtained when the control device 3 accepts a reservation for charging.

[0073] Also, as described above, the "position of the charging port 53" can cite the left front, the left rear, the right front, the right rear, the center front, the center rear, and the like of the vehicle 5. Information related to the position of the charging port 53 is included in the reservation information obtained when the control device 3 accepts a reservation for charging.

[0074] Also, the "connector insertion time" is the time obtained by adding, for example, (1) and (2) below.

[0075] (1) the time from when the vehicle 5 is parked in the charging space Sp1 until the arm mechanism 2 goes to hold the charging connector 13 that is latched to the side surface of the charger 1

[0076] (2) the time from when the charging connector 13 is held until it is inserted into the charging port 53 and the charging connector 13 is locked​

[0077] The connector insertion time varies depending on the shape of the vehicle 5 and the position of the charging port 53. Consider a case where the charging port 53 is provided at the same position (e.g., the front side center) in, for example, a large box-type car and a small light-type car, and the two vehicles are charged at the same position in the charging space Sp1. In this case, the distance from the arm mechanism 2 to the charging port 53 of the box-type car is longer than the distance from the arm mechanism 2 to the charging port 53 of the light-type car. Therefore, the time required for the arm mechanism 2 to hold the charging connector 13 to charge the box-type car is longer than the time required for the arm mechanism 2 to hold the charging connector 13 to charge the light-type car.

[0078] Therefore, the control device 3 determines the position of the vehicle 5 at which the connector insertion time is the shortest, based on the arm trajectory, the shape of the vehicle 5, and the position of the charging port 53 of the vehicle 5, and causes the vehicle 5 to stop at the position. In this way, in the charging system of the embodiment, the vehicle 5 is caused to stop in a state where the charging port 53 is as close as possible to the arm mechanism 2, regardless of the shape of the vehicle 5 and the position of the charging port 53, so that charging can be performed quickly.

[0079] Further, the control device 3 can not determine the position of the vehicle 5 at which the connector insertion time is the shortest, but determine the position of the vehicle 5 at which the distance from the position at which the charging connector 13 is held to the charging port 53 is the shortest, and cause the vehicle 5 to stop at the position. In this case, the control device 3 determines the position of the vehicle 5 at which the distance from the position at which the charging connector 13 is held to the charging port 53 is the shortest, based on, for example, the arm trajectory, the shape of the vehicle 5, the position of the charging port 53 of the vehicle 5, and the position at which the charging connector 13 is held. The "position at which the charging connector 13 is held" indicates, for example, a position at which the charging connector 13 is latched to the side of the charger 1.

[0080] In addition, the control device 3 can determine the movement timing of the vehicle 5 in each space (the parking space, the waiting space Sp2, and the charging space Sp1) based on the arm trajectory, the shape of the vehicle 5, and the position of the charging port 53 of the vehicle 5, and cause the vehicle 5 to move at the determined movement timing.

[0081] In this way, in the charging system of the embodiment, the parking position and the movement timing of the vehicle 5 in the charging space Sp1 are optimized, and the vehicle 5 is caused to approach and wait in a state where the charging connector 13 is held by the arm mechanism 2 to the extent that the vehicle 5 is not contacted. Thus, the connector insertion time can be minimized, and the charging time of each vehicle can be shortened, so that the turnover rate of charging can be improved. In addition, the exchange time of the vehicle 5 in the charging space Sp1 can be minimized, and the charging waiting time of the user can be shortened, so that the profitability when the charging to the vehicle 5 is carried out as a business can be improved.

[0082] Further, in order to avoid interference of the vehicle 5 with the arm trajectory regardless of the shape of the vehicle 5, it is necessary to ensure that the occupying space of the rack 6 in which the charger 1 is installed is large. Therefore, in the charging system of the embodiment, the arm mechanism 2 is caused to operate by taking into account the shape of the vehicle 5, so that it is possible to pursue minimization of the occupying space. Further, by matching the operation of the arm mechanism 2 with the timing of parking of the vehicle 5, it is possible to shorten the charging time for each vehicle. Further, it is also possible to minimize the necessary extension of the arm mechanism 2, so that it is possible to downsize the arm mechanism 2, and it is possible to minimize the width of the rack 6.

[0083] Further, in the charging system of the embodiment, it is also possible to optimize the order of charging of the vehicle 5 in the charging space Sp1 in addition to the above-described optimization of the parking position of the vehicle 5. In this case, the control device 3 receives a charging reservation for each vehicle 5 from the users of the plurality of vehicles 5. Then, the control device 3 determines the order of charging of each vehicle 5 in which the operation time of the arm mechanism 2 (hereinafter referred to as "arm operation time") is the smallest, based on the arm trajectory, the shape of each vehicle 5, and the position of the charging port 53 of each vehicle 5, in the case where each vehicle 5 is successively charged. Then, the control device 3 causes each vehicle 5 to automatically travel to the above-described determined position (the position of the vehicle 5 in which the connector insertion time is the smallest) and park in the order determined.

[0084] Here, the "arm operation time" is, for example, the time obtained by adding (1) to (4) below.

[0085] (1) the time from when the vehicle 5 is parked in the charging space Sp1 until the arm mechanism 2 goes to grasp the charging connector 13 that is fitted to the side surface of the charger 1

[0086] (2) the time from when the charging connector 13 is held until it is inserted into the charging port 53 and the charging connector 13 is locked

[0087] (3) the time from when the locking of the charging connector 13 is released until the charging connector 13 is pulled out from the charging port 53

[0088] (4) the time until the pulled-out charging connector 13 is fitted to the side surface of the charger 1

[0089] Further, "the arm operation time is the smallest" means that the total of the operation times of the arm mechanism 2 when the charging connector 13 is inserted and pulled out with respect to the plurality of vehicles 5 is the smallest. Therefore, making the arm operation time the smallest means the same as making the total charging time for the plurality of vehicles 5 the smallest.

[0090] Thus, in the charging system of the embodiment, by determining the order of charging of the vehicles 5 in a manner that minimizes the arm operation time, it is possible to shorten the charging time of each vehicle, so it is possible to improve the turnover rate of charging.

[0091] Further, the control device 3, in a case where charging is continuously performed to each vehicle 5, can also determine the place where charging is performed to each vehicle 5 with the shortest arm operation time, based on the arm trajectory, the shape of each vehicle 5, and the position of the charging port 53 of each vehicle 5.

[0092] The communication section 32 is constituted by, for example, a LAN (Local Area Network) interface board, a wireless communication circuit for wireless communication, and the like. The communication section 32 performs exchange of information, for example, between the charger 1, the arm mechanism 2, the infrastructure 4, and the vehicles 5, through communication via the network N.

[0093] (The infrastructure 4)

[0094] The infrastructure 4 is used to realize, for example, automatic travel of the vehicles 5 within a parking lot and automatic parking based on an advanced parking (advanced parking assist function). For example, as shown in FIG. 1, the infrastructure 4 is disposed around the charging space Sp1 of the vehicles 5, around the waiting space Sp2 of the vehicles 5, on the travel route of the vehicles 5 (both sides of the travel route, and the like), and the like. Figure 5

[0095] As shown in FIG. 1, the infrastructure 4 has a control section 41, a communication section 42, and a sensor 43. Figure 1 The control section 41 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, and the like. The control section 41 transmits, for example, information related to the position of the vehicles 5 detected by the sensor 43 to the control device 3.

[0096] The communication section 42 is constituted by, for example, a LAN (Local Area Network) interface board, a wireless communication circuit for wireless communication, and the like. The communication section 42 performs exchange of information, for example, between the control device 3 and the vehicles 5, through communication via the network N.

[0097] The sensor 43 is constituted by, for example, a LiDAR (Light Detection and Ranging), a camera, and the like.

[0098] (The vehicle 5)

[0099]

[0100] ​​The vehicle 5 is an electrically chargeable electric vehicle such as a plug-in hybrid electric vehicle (PHEV: Plug-in Hybrid Electric Vehicle), a battery electric vehicle (BEV: Battery Electric Vehicle), or the like. The vehicle 5 may, for example, also be an autonomous vehicle capable of autonomously traveling without being operated by a driver. In addition, the vehicle 5 can also be provided with an automatic parking function that automatically parks, or a parking assistance function that assists parking.

[0101] As shown in FIG. 1, the vehicle 5 is provided with a control section 51, a communication section 52, and a charging port 53. In addition, in the structure of the vehicle 5, only structures necessary for implementing the power supply system of the embodiment are illustrated, and other structures are omitted from the illustration. Figure 1 Figure 1 The control section 51 is an electronic control unit (ECU: Electronic Control Unit) that includes, as main structural components, a CPU, a RAM, a ROM, and the like. The control section 51 centrally controls the actions of various structural elements of the vehicle 5 by executing various programs.

[0102] The control section 51, based on an instruction from the control device 3, performs, for example, automatic travel within a parking lot, automatic parking. For example, a user of the vehicle 5, in a case where a charging reservation of the charger 1 has been made, drives the vehicle 5 to a parking lot in which the charger 1 is provided, and parks in a parking space within the parking lot. Then, after the user gets off the vehicle 5, the user opens a cover (hereinafter referred to as a "charging port cover") of the charging port 54, and departs from the parking space.

[0103] When the turn for charging the vehicle 5 approaches, the control section 51, in accordance with an instruction from the control device 3, causes the vehicle 5 to automatically travel from the parking space to the waiting space Sp2 and then automatically park. Next, when it is the turn for charging the vehicle 5, the control section 51, in accordance with an instruction from the control device 3, causes the vehicle 5 to automatically travel from the waiting space Sp2 to the charging space Sp1 and then automatically park. Then, the charging connector 13 held by the arm mechanism 2 is inserted into the charging port 53, and charging is started.

[0104] Next, when charging is completed, the charging connector 13 is pulled out from the charging port 53 by the arm mechanism 2. Next, the control section 51, in accordance with an instruction from the control device 3, causes the vehicle 5 to automatically travel from the charging space Sp1 to the waiting space Sp2 and then automatically park.

[0105] Next, when charging is completed, the charging connector 13 is pulled out from the charging port 53 by the arm mechanism 2. Next, the control section 51, in accordance with an instruction from the control device 3, causes the vehicle 5 to automatically travel from the charging space Sp1 to the waiting space Sp2 and then automatically park.

[0106] ​The communication section 52 is configured by, for example, a DCM (Data Communication Module) or the like. The communication section 52 performs exchange of information between, for example, the charger 1, the arm mechanism 2, the control device 3, and the infrastructure 4 through communication via the network N.

[0107] The charging port (input port) 53 is used to receive supply of electric power from the charger 1. By inserting the charging connector 13 of the charger 1 into this charging port 53, electric power from the charger 1 is accumulated to the storage battery of the vehicle 5, which is not shown. In this embodiment, the charging port 53 is provided on the left side of the vehicle 5, but can be provided on the right side, the back, the center, or the like. Figures 2-4

[0108] The rack 6 is provided, for example, in a parking lot or the like where vehicles 5 can be parked. The rack 6 can be provided in any type of parking lot, for example, in any one of a flat parking lot, a mechanical multi-level parking lot, a self-propelled multi-level parking lot, or the like. In addition, as shown in the drawing, the charger 1, the arm mechanism 2, and the control panel 7 are provided at the rack 6. In this embodiment, two chargers 1 are provided on the rack 6, and two or more vehicles 5 can be charged at the same time. Figures 2-4

[0109] In the case where the charger 1 is provided in a parking lot, the charger 1 is provided in units of racks. That is, the charger 1, the arm mechanism 2, and the control panel 7 are provided in the rack 6 in advance in a factory or the like, adjustment of the operation of the arm mechanism 2 (robot teaching), alignment of the charger 1 and the arm mechanism 2, wiring work, and the like are performed, and each rack 6 is then moved into the parking lot and provided (anchored), for example. By providing the charger 1 in units of racks in this way, the degree of freedom of the provision of the charger 1 and the arm mechanism 2 is improved, and the construction cost can also be minimized.

[0110] (Charging method)

[0111] The charging method performed by the charging system of the embodiment will be described with reference to the flowchart of FIG. 8. Figure 8 First, the user makes a charging reservation (step S1). The charging reservation can be made by the user using, for example, an information terminal (for example, a smartphone or the like connected to the network N) held by the user, or a vehicle-mounted terminal (for example, a car navigation system or the like connected to the network N).

[0112] Next, the control device 3 acquires the reservation information for charging from the above-described information terminal or vehicle-mounted terminal or the like (step S2). The reservation information includes information necessary for charging of the vehicle 5 by the charger 1.

[0113] Next, the control device 3 acquires the reservation information for charging from the above-described information terminal or vehicle-mounted terminal or the like (step S2). The reservation information includes information necessary for charging of the vehicle 5 by the charger 1.​​

[0114] In the reservation information, information for identifying the user (e.g., user ID, etc.), information related to the date and time of transmission of the charging reservation, information related to the date and time of desired charging, and the like are included. In addition, in the reservation information, information for identifying the vehicle 5 (e.g., vehicle number, etc.), information related to the shape (body type) of the vehicle 5, the position of the charging port 53 of the vehicle 5, information related to the state of charge (SOC) of the battery of the vehicle 5, the current position of the vehicle 5, and the like are included, in addition to the above. Further, the "information related to the position of the charging port 53" refers to information related to which of the left front, left rear, right front, right rear, center front, and center rear of the vehicle 5 the charging port 53 is disposed, for example.

[0115] Next, the control device 3 determines the order of accepting charging of the vehicle 5 to which the reservation is made (step S3). In step S3, the order of charging of the vehicle 5 is determined, for example, based on the number of other vehicles 5 to which charging reservations are accepted at the same time or around the time, the time until completion of charging predicted from the state of charge of the other vehicles 5, and the like. In addition, in step S3, the control device 3 transmits information related to the determined order (order information) to the vehicle 5 (and the information terminal of the user, the on-vehicle terminal).

[0116] Next, the user parks the vehicle 5 in a parking space (step S4) of a parking lot (a parking lot in which the charger 1 is provided). Next, the user opens the charging port cover after getting off the vehicle 5 (step S5) and departs from the parking space.

[0117] Next, the vehicle 5 automatically travels from the parking space to the waiting space Sp2 based on the instruction of the control device 3 (step S6). Then, when the order of charging is punched, the vehicle 5 automatically travels from the waiting space Sp2 to the charging space Sp1 based on the instruction of the control device 3 (step S7).

[0118] When the vehicle 5 is parked in the charging space Sp1, the control device 3 transmits an instruction to hold the charging connector 13 (holding instruction) to the arm mechanism 2 (step S8). The arm mechanism 2 accepts the instruction, holds the charging connector 13 (step S9), and moves the charging connector 13 to the vicinity of the charging port 53. Next, the arm mechanism 2 detects the position of the charging port 53 by pattern matching based on the image of the charging port 53, or the like (step S10), and inserts the charging connector 13 into the charging port 53 (step S11).

[0119] Next, the arm mechanism 2 locks the charging connector 13 by a lock mechanism or the like not shown (step S12) in order to prevent the charging connector 13 from falling off the charging port 53, releases the grip of the charging connector 13, and returns to the predetermined waiting position (step S13). As for the "predetermined waiting position", for example, as shown in FIG. 8, a position in which the arm mechanism 2 as a whole is accommodated in the range of the stand 6 (a position not protruding from the stand 6) or the like can be cited. In addition, in step S13, the arm mechanism 2 transmits information on the current operation state (for example, the current position, whether or not the charging connector 13 is locked, and the like) of the arm mechanism 2 to the control device 3. Figure 1

[0120] Here, the return of the arm mechanism 2 to the predetermined waiting position as described in S13 means, for example, a case in which there is no other vehicle 5 waiting for charging next time or a case in which there is no other vehicle 5 having completed charging. For example, in a case in which there is other vehicle 5 waiting for charging next time, the arm mechanism 2 does not return to the predetermined waiting position (step S13 is not performed), and directly performs the processing after step S9 on the other vehicle 5. In addition, for example, in a case in which there is other vehicle 5 having completed charging next time, the arm mechanism 2 does not return to the predetermined waiting position (step S13 is not performed), and directly performs the processing after step S17 on the other vehicle 5.

[0121] Next, the control device 3 transmits information indicating the start of charging from the charger 1 to the vehicle 5 (charging start instruction information) to the charger 1 (step S14). Next, the charger 1 starts charging the vehicle 5 (step S15). Next, when the charging of the vehicle 5 is completed (step S16), the charger 1 transmits information indicating the completion of charging (charging completion information) to the arm mechanism 2.

[0122] Next, the arm mechanism 2 releases the lock of the charging connector 13 (step S17), grips the charging connector 13 (step S18), and pulls out the charging connector 13 from the charging port 53 (step S19). Next, the arm mechanism 2 returns the pulled-out charging connector 13 to the predetermined position of the charger 1 (for example, the side surface of the charger 1) (step S20), releases the grip of the charging connector 13, and returns to the predetermined waiting position (step S21).

[0123] ​Here, the return of the arm mechanism 2 to the predetermined waiting position as described in S21 means, for example, a case where there is no other vehicle 5 waiting for charging or a case where there is no other vehicle 5 having completed charging next time. For example, in a case where there is another vehicle 5 waiting for charging next time, the arm mechanism 2 does not return to the predetermined waiting position (step S21 is not implemented) and directly implements the process after step S9 to the other vehicle 5. Also, for example, in a case where there is another vehicle 5 having completed charging next time, the arm mechanism 2 does not return to the predetermined waiting position (step S21 is not implemented) and directly implements the process after step S17 to the other vehicle 5.

[0124] Next, the vehicle 5 automatically travels from the charging space Sp1 to the waiting space Sp2 based on the instruction of the control device 3 (step S22). Next, the user closes the charging port 53 in the waiting space Sp2, gets into the vehicle 5 (step S23), and exits from the parking lot.

[0125] Further, although the illustration is omitted in Figure 8 the above-described embodiment, in a scenario in which the vehicle 5 automatically travels in steps S6, S7, S22, the control device 3 is always in communication with the vehicle 5 to thereby implement the automatic travel. In this case, the control device 3, for example, successively sends the positions of the waiting space Sp2 and the charging space Sp1, the travel route to the waiting space Sp2 and the charging space Sp1, and the like to the vehicle 5 while determining the position of the vehicle 5 based on the information acquired from the infrastructure 4. Thus, the control device 3 controls the travel of the vehicle 5 in the parking lot.

[0126] In the charging system of the above-described embodiment, a plurality of charging connectors 13 are operated by one stationary arm mechanism 2, and a plurality of vehicles 5 are charged at the same time. At this time, the arm mechanism 2 itself cannot move, so the vehicle 5 is moved during the process in which the charging connector 13 is inserted and charging is being performed, and a plurality of vehicles 5 are charged at the same time.

[0127] Thus, according to the charging system of the embodiment, two or more vehicles 5 can be charged at the same time by a simple structure, and the turnover rate of charging can be improved. As a result, the charging waiting time of the user can be shortened, and the profitability when the charging to the vehicle 5 is developed as a business can be improved. In the charging system of the embodiment, the charging is performed using the automatic travel and automatic parking of the vehicle 5, so the user does not need to wait for charging, and the convenience of the user is improved.

[0128] Further effects, modifications, and variations can be deduced by those skilled in the art. Accordingly, the broader aspects of the present application are not limited to the specific details and representative embodiments shown and described above. Therefore, various modifications can be made without departing from the scope of the general inventive concepts defined by the appended claims and their equivalents.

Claims

1. A charging system having: a charger provided with a charging connector; an arm mechanism capable of holding the charging connector; and a control device that controls the charger, the arm mechanism, and a plurality of vehicles, the control device determining a position of the vehicle at which a time of insertion of the charging connector into a charging port is the minimum, based on an arm trajectory that indicates a trajectory of the arm mechanism when the arm mechanism holds the charging connector, a shape of the vehicle, and a position of the charging port of the vehicle, the control device causing the vehicle to automatically travel to the determined position and park, causing the arm mechanism to insert the held charging connector into the charging port and start charging.

2. The charging system according to claim 1, wherein the control device accepts reservations for charging from the plurality of vehicles, the control device decides an order of charging the vehicles at which a time of movement of the arm mechanism is the minimum, based on the arm trajectory, the shapes of the vehicles, and the positions of the charging ports of the vehicles, in a case where the vehicles are successively charged, the control device causes the vehicles to automatically travel to the determined positions and park in order based on the decided order of charging. ​ ​ ​ ​ ​ ​ ​ ​ ​

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