Vehicle charging system

Abstract

Vehicle charging system (1), comprising: a power supply device (4) which includes a power supply connection body (40) and is provided in a holding area (21) for a vehicle (2); and a power receiving connector body (3) provided on a floor section (25) of the vehicle (2) and enabling the power supply connector body (40) to be inserted into or withdrawn from it in an insertion / removal direction (X), wherein the power receiving terminal body (3) comprises: a power receiving power connection (31b) which is electrically connected to a battery (22) provided in the vehicle (2), a power receiving connection retaining element (34) that holds the power receiving power connection (31b), and a power receiving ceiling element (36) which has a ceiling surface (36F) and is arranged in the insertion / extraction direction (X) next to the power receiving connection holding element (34), wherein the power supply connection body (40) has a power supply current connection (41b) which is electrically connected to a charging device (49) provided outside the vehicle (2), the power supply device (4) comprises: a motion unit (5) that moves the power supply connection body (40) in the insertion / removal direction (X), an upward / downward direction (Z) and a transverse direction (Y) that is orthogonal to the insertion / removal direction (X) and the upward / downward direction (Z), and a control unit (10) that controls the movement of the power supply terminal body (40) by the motion unit (5), wherein the power receiving terminal body (3) comprises: a first structure (37Y1, 37Y2) extending along the transverse direction (Y), and a second structure (37X1, 37X2, 37Y3, 37Y4) which relates to a central position of the power receiving terminal body (3) in the transverse direction (Y), wherein the first structure (37Y1, 37Y2) and the second structure (37X1, 37X2, 37Y3, 37Y4) project towards one side of the upward / downward direction (Z) with respect to the ceiling surface (36F), a distance from the second structure (37X1, 37X2, 37Y3, 37Y4) to the first structure (37Y1, 37Y2) in the insertion / removal direction (X) is predetermined, the power supply device (4) includes a position sensing device (6) comprising a light emission element (61) which emits sensing light in an upward direction (Z1) along the upward / downward direction (Z) and a light receiving element (62) which receives the sensing light reflected at the power receiving terminal body (3), the position detection device (6) moves in conjunction with the movement of the power supply connection body (40) by the motion unit (5), wherein the control unit (10) the fitting process of fitting the power supply terminal body (40) and the power receiving terminal body (3) to each other by driving the movement unit (5), the motion unit (5) causes the position detection device (6) to move in the insertion / removal direction (X), while the light emission element (61) emits the detection light to scan the detection light in the insertion / removal direction (X) and detect the first structure (37Y1, 37Y2), a position of the second structure (37X1, 37X2, 37Y3, 37Y4) in the insertion / removal direction (X) is calculated based on the detected first structure (37Y1, 37Y2), the motion unit (5) causes the position detection device (6) to move to the calculated position of the second structure (37X1, 37X2, 37Y3, 37Y4) in the insertion / removal direction (X), the motion unit (5) causes the position detection device (6) to move in the transverse direction (Y), while the light emission element (61) emits the detection light to scan the detection light in the transverse direction (Y) and to detect the second structure (37X1, 37X2, 37Y3, 37Y4), Based on the captured second structure (37X1, 37X2, 37Y3, 37Y4), the mean position of the power receiving terminal body (3) in the transverse direction (Y) is calculated. the mean position of the power supply terminal body (40) in the transverse direction (Y) is brought into alignment with the calculated mean position of the power receiving terminal body (3) in the transverse direction (Y) by driving the motion unit (5), and the motion unit (5) drives the power supply terminal body (40) in the upward direction (Z1) and also in an insertion direction (X1) so that the power supply terminal body (40) and the power receiving terminal body (3) are joined together.

Description

Background of the invention 1. Field of the invention

[0001] The present invention relates to a vehicle charging system. 2. Description of the state of the art

[0002] A vehicle with a battery, such as an electric vehicle, moves by powering a drive motor with the energy stored in the battery. One way to recharge the battery is through vehicle charging systems.

[0003] An example of a vehicle charging system comprises a power supply device that includes a power supply connector body and is installed in a holding area for a vehicle, and a power receiving connector body that is installed on a floor section of the vehicle and allows the power supply connector body to be inserted into or removed from it (see, for example, Japanese patent application JP 2019-209 729 A).

[0004] The power receiving terminal body contains a power receiving terminal, and the power supply terminal body contains a power supply terminal that makes contact with the power receiving terminal when the power supply terminal body and the power receiving terminal body are assembled. When the power receiving terminal and the power supply terminal are electrically connected, power is supplied to the battery from a charging device installed outside the vehicle to charge the battery.

[0005] Another example of conventional vehicle charging devices includes a motion unit that moves a power supply connector body in an insertion / removal direction, a transverse direction, and an up / down direction. The motion unit moves the power supply connector body to insert it into a power receiving connector body, electrically connecting the power receiving connector and the power supply connector. This electrical connection supplies power to a battery from a charging device installed outside the vehicle to charge the battery.

[0006] The conventional vehicle charging system can incorporate a variety of image acquisition devices, such as cameras, within the power supply unit, along with an image processing unit that processes the images captured by these devices. This design allows the power supply connector body to be moved to fit within the power receiving connector body. However, in a vehicle charging system with such a design, the image acquisition devices and the image processing unit are expensive, and this high cost can pose a problem. Summary of the invention

[0007] The present invention was conceived taking into account the above-mentioned circumstances, and one objective is to provide a cost-effective vehicle charging system.

[0008] To achieve the above-mentioned objective, a vehicle charging system according to one aspect of the present invention comprises a power supply device containing a power supply connection body and provided in a holding area for a vehicle; and a power receiving connection body provided on a floor section of the vehicle and enabling the power supply connection body to be inserted into or withdrawn from it in an insertion / removal direction, wherein the power receiving connection body comprises a power receiving connection electrically connected to a battery (22) provided in the vehicle, a power receiving connection retaining element holding the power receiving power connection (31b), and a power receiving ceiling element having a ceiling surface and arranged next to the power receiving connection retaining element in the insertion / removal direction.wherein the power supply connection body has a power supply connection which is electrically connected to a charging device provided outside the vehicle, wherein the power supply device comprises a motion unit which moves the power supply connection body in the insertion / removal direction, an upward / downward direction and a transverse direction which is orthogonal to the insertion / removal direction and the upward / downward direction, and a control unit which controls the movement of the power supply connection body by the motion unit, wherein the power receiving connection body comprises a first structure which extends along the transverse direction and a second structure which relates to a central position of the power receiving connection body in the transverse direction, wherein the first and the second structure project to one side of the upward / downward direction with respect to the ceiling surface,a distance from the second structure to the first structure in the insertion / removal direction is predetermined, the power supply device includes a position sensing device comprising a light emission element that emits sensing light in an upward direction along the upward / downward direction, and a light receiving element that receives the sensing light reflected from the power receiving terminal body, and the position sensing device moves in conjunction with the movement of the power supply terminal body by the motion unit, wherein the control unit performs the fitting operation of fitting the power supply terminal body and the power receiving terminal body to each other by driving the motion unit, causing the motion unit to move the position sensing device in the insertion / removal direction while the light emission element emits the sensing light,to scan the detection light in the insertion / removal direction and detect the first structure, calculates a position of the second structure in the insertion / removal direction based on the detected first structure, causes the motion unit to move the position detection device to the calculated position of the second structure in the insertion / removal direction, causes the motion unit to move the position detection device in the transverse direction while the light emission element emits the detection light to scan the detection light in the transverse direction and detect the second structure, calculates the mean position of the current receiving terminal body in the transverse direction based on the detected second structure,The unit aligns the central position of the power supply terminal body in the transverse direction with the calculated central position of the power receiving terminal body in the transverse direction by driving the motion unit, and drives the motion unit to move the power supply terminal body in the upward direction and also in an insertion direction, so that the power supply terminal body and the power receiving terminal body are joined together.

[0009] The foregoing and other tasks, features, advantages, and the technical and industrial significance of this invention will be better understood if the following detailed description of the present preferred embodiments of the invention is read in conjunction with the accompanying drawings. Brief description of the drawings Fig. Figure 1 is a schematic side view of a vehicle charging system according to a first embodiment; Fig. 2 is a schematic top view of a motion unit in the vehicle loading system; Fig. Figure 3 is a perspective view of a power receiving connector body in the vehicle charging system; Fig. 4 is a top view of a power supply connector body in the vehicle charging system; Fig. Figure 5 is a perspective view of the movement unit; Fig. Figure 6 is a schematic side view of the power receiving terminal body and the power supply terminal body; Fig. Figure 7 is a view from below of a ceiling surface of the power receiving connection body; Fig. Figure 8 is a top view that sequentially describes the fitting process performed by a control unit; Fig. Figure 9 is a top view that sequentially describes the fitting process performed by the control unit; Fig. Figure 10 is a top view that sequentially describes the fitting process performed by the control unit; Fig. Figure 11 is a top view that sequentially describes the fitting process performed by the control unit; Fig. Figure 12 is a top view that sequentially describes the fitting process performed by the control unit; Fig. 13 is a top view showing the state before connection, in which the power receiving terminal body and the power supply terminal body are opposite each other in an insertion / extraction direction; Fig. Figure 14 is a top view that sequentially describes the fitting process performed by the control unit; Fig. Figure 15 is a top view illustrating the state in which the power receiving terminal body and the power supply terminal body are joined together in the insertion / extraction direction; Fig. Figure 16 is a perspective view of a power receiving terminal body according to a second embodiment; Fig. Figure 17 is a schematic side view of the power receiving terminal body according to the second embodiment; Fig. Figure 18 is a perspective view of a power supply terminal body according to the second embodiment; and Fig. Figure 19 is a schematic top view of a motion unit in a vehicle loading system according to the second embodiment. Detailed description of preferred embodiments

[0010] A vehicle charging system 1 according to one embodiment of the present invention is described in detail below with reference to the drawings. The present invention is not limited by this embodiment. The components in the following embodiment include components that can be easily devised by those skilled in the art or components that are essentially the same.

[0011] Fig. Figure 1 is a side view of the vehicle charging system 1 according to a first embodiment. Fig. Figure 2 is a schematic top view of a motion unit 5 in the vehicle loading system 1. Fig. Figure 3 is a perspective view of a power receiving connection body 3 in the vehicle charging system 1. Fig. Figure 4 is a top view of a power supply connection body 40 in the vehicle charging system 1. Fig. 5 is a perspective view of the movement unit 5. Fig. Figure 6 is a schematic side view of the power receiving terminal body 3 and the power supply terminal body 40. Fig. Figure 7 is a view from below of a ceiling surface 36F of the power receiving terminal body 3.

[0012] In Fig. 1 to Fig. 7 denotes X as an insertion / removal direction of the vehicle loading system 1. X1 denotes an insertion direction that is one direction along the insertion / removal direction X, and X2 denotes an removal direction that is the opposite direction along the insertion / removal direction X. In other words, the removal direction X2 is the direction opposite to the insertion direction X1 along the insertion / removal direction X. Z denotes an upward / downward direction Z of the vehicle loading system 1. Z1 is an upward direction that is one direction along the upward / downward direction Z, and Z2 is a downward direction that is the opposite direction along the upward / downward direction Z. In other words, the downward direction Z2 is the direction opposite to the upward direction Z1 along the upward / downward direction Z.In the vehicle loading system 1 according to the present embodiment, the insertion / removal direction X, a transverse direction Y, and the upward / downward direction Z are orthogonal to each other. In the vehicle loading system 1 according to the first embodiment, the insertion / removal direction X of the vehicle loading system 1 coincides with a longitudinal direction of a vehicle 2 in a stationary state, and the transverse direction Y of the vehicle loading system 1 coincides with a lateral direction of the stationary vehicle 2, as shown in [reference]. Fig. 1 shown. First embodiment

[0013] The in Fig. 1 and Fig. The vehicle charging system 1 shown in the present embodiment comprises the power receiving connection body (power receiving device) 3 and a power supply device 4. The power supply device 4 comprises the power supply connection body 40 and is installed, for example, in a holding area 21 for the vehicle 2.

[0014] Vehicle 2 uses the electrical energy supplied by a battery 22, which is a rechargeable and rechargeable storage battery, to power an electric motor (motor) and travels using the electric motor as part of the or the entire propulsion energy source. Vehicle 2 is, for example, an electric vehicle, a hybrid vehicle, a plug-in hybrid vehicle, etc. Vehicle 2 is parked with its front wheels 24 in contact with a stopper 23 in the holding area 21, where the power supply device 4 is installed. The battery 22 is electrically connected to a charging device 49, which is connected to the power supply device 4 by the connection between the power supply terminal body 40 and the power receiving terminal body 3, and is charged by the energy supplied by the charging device 49.When the power supply connector body 40 and the power receiving connector body 3 are assembled, the power supply terminals 41b are electrically connected to the power receiving terminals 31b. The vehicle 2 has a minimum ground clearance H between a floor section 25 of the vehicle 2 and a floor surface 26 in the upward / downward direction Z of the vehicle 2. The floor section 25 is the lowest part of the vehicle 2 in the upward / downward direction Z between the front wheels 24 and the rear wheels 28 of the vehicle 2. The minimum ground clearance H should be 9 cm or more according to the safety regulations for road vehicles. The vehicle 2 with the vehicle charging system 1 according to the present embodiment drives and stops in accordance with the driving operation of an occupant.

[0015] The power receiving connector body 3 is a so-called inlet and is located on the floor section 25 of the vehicle 2. The power supply connector body 40 can be placed on and removed from the power receiving connector body 3. In the present embodiment, the power receiving connector body 3 is arranged, for example, on a central section of the vehicle 2 in the transverse direction Y in a concave part that extends longitudinally with respect to the vehicle body. More precisely, the entire power receiving connector body 3 is arranged within the concave part. The power receiving connector body 3 comprises the power receiving current connections (power receiving terminals) 31b, power receiving signal connections 31a, a power receiving terminal retaining element 34, an opposing space-forming section 35, and a power receiving ceiling element 36, as shown in Fig. 3 shown.

[0016] The power receiving terminal 31b is formed from conductive metal in a cylindrical, tubular shape and extends in the insertion / extraction direction X. The power receiving terminal 31b is electrically connected to the battery 22 installed in the vehicle 2. The power receiving terminal 31b is thicker radially than the power receiving signal terminal 31a. The power receiving terminals 31b comprise, for example, a first power receiving terminal 31b1 and a second power receiving terminal 31b2. In other words, the power receiving terminal body 3 in the present embodiment comprises the two power receiving terminals 31b. The power receiving terminals 31b are electrically connected to the ends of the respective power receiving lines 32b. The power receiving lines 32b comprise a first power receiving line 32b1 and a second power receiving line 32b2.The first power receiving terminal 31b1 is electrically connected to the end of the first power receiving line 32b1. The second power receiving terminal 31b2 is electrically connected to the end of the second power receiving line 32b2.

[0017] The power supply terminals 31b and the power supply lines 32b are installed in the middle of the power supply line, which supplies the battery 22 with power from the charging device 49.

[0018] A concave engagement element 31b11 is formed at the tip of the first current receiving terminal 31b1. The concave engagement element 31b11 extends from the tip of the first current receiving terminal 31b1 in the insertion direction X1. A concave engagement element 31b21 is formed at the tip of the second current receiving terminal 31b2. The concave engagement element 31b21 extends from the tip of the second current receiving terminal 31b2 in the insertion direction X1.

[0019] The current receiving signal terminal 31a is formed from conductive metal in a cylindrical column shape extending along the insertion / removal direction X. The current receiving signal terminals 31a comprise, for example, a first current receiving signal terminal 31a1 and a second current receiving signal terminal 31a2. In other words, the current receiving terminal body 3 in the present embodiment comprises the two current receiving signal terminals 31a. The current receiving signal terminals 31a are electrically connected to the ends of the respective current receiving signal lines 32a. The current receiving signal lines 32a comprise a first current receiving signal line 32a1 and a second current receiving signal line 32a2. The first current receiving signal terminal 31a1 is electrically connected to the end of the first current receiving signal line 32a1. The second current receiving signal terminal 31a2 is electrically connected to the end of the second current receiving signal line 32a2.

[0020] The power reception signal connection 31a and the power reception signal line 32a are located in the middle of the signal supply line, via which signals are exchanged between the charging device 49 and the battery 22. The signals relate to the state of the battery 22, e.g., the charge level of the battery 22.

[0021] The current receiving terminal body 3 comprises the (two) current receiving terminals 31b, which are arranged in the transverse direction Y. In addition to the (two) current receiving terminals 31b, the current receiving terminal body 3 comprises the (two) current receiving signal terminals 31a, which are arranged in the transverse direction Y on either side of the two current receiving terminals 31b in the transverse direction Y. In other words, in the present embodiment, the current receiving terminal body 3 comprises the two current receiving terminals 31b, which are arranged side by side in the transverse direction Y, and the two current receiving signal terminals 31a, which are arranged next to these current receiving terminals 31b on both sides in the transverse direction Y.

[0022] The power receiving terminal retaining element 34 is made of synthetic resin with insulating properties. The power receiving terminal retaining element 34 houses and holds the power receiving current terminals 31b and the power receiving signal terminals 31a. The power receiving terminal retaining element 34 is formed in a rectangular, tubular shape with a pair of first-facing power receiving parts 341 and 342, which face each other in the upward / downward direction Z, and a pair of second-facing power receiving parts 343 and 344, which face each other in the transverse direction Y. The power receiving terminal retaining element 34 has an interior 34s, which is formed by the pair of first-facing power receiving parts 341 and 342 and the pair of second-facing power receiving parts 343 and 344. The power receiving connection retaining element 34 has a first retaining part opening 34o1 on an end section on the side of the extraction direction X2.The first retaining opening 34o1 establishes a connection between the interior 34s of the power receiving terminal retaining element 34 and an opposite space 35s, described later. The first retaining opening 34o1 is then used for inserting and removing the power supply terminal body 40 along the insertion / removal direction X. Furthermore, the power receiving terminal retaining element 34 includes a second retaining opening 34o2 on an end face of the power receiving current terminal 31b on the insertion direction X1 side. The second retaining opening 34o2 establishes a connection between the interior 34s of the power receiving terminal retaining element 34 and the exterior. The power receiving current lines 32b and the power receiving signal lines 32a are inserted through the second retaining opening 34o2.

[0023] The opposing chamber section 35 is made of synthetic resin with insulating properties. In the current receiving terminal body 3 of the present embodiment, the current receiving terminal retaining element 34 and the opposing chamber section 35 are formed integrally. The opposing chamber section 35 is located next to the current receiving terminal retaining element 34 in the insertion / removal direction X and forms the opposing chamber 35s, which is opposite the current receiving terminal 31b.The opposite space formation section 35 comprises a pair of third facing current receiving parts 351a and 351b, which are facing each other in the transverse direction Y, a pair of fourth facing parts 353a and 353b, which are facing each other in the transverse direction Y, and a current receiving ceiling element 36, which establishes a connection between upper end sections of the pair of third facing current receiving parts 351a and 351b and between upper end sections of the pair of fourth facing parts 353a and 353b. The opposite room formation section 35 forms the opposite room 35s on the side of the extraction direction X2 of the power receiving power connection 31b by the pair of the third facing power receiving parts 351a and 351b, the pair of the fourth facing parts 353a and 353b and the power receiving ceiling element 36.Additionally, the opposite space formation section 35 contains a formation element opening 35o2, which is connected between the opposite space 35s and the outside by end faces of the pair of the third facing current receiving parts 351a and 351b in the downward direction Z2 and end faces of the pair of the fourth facing parts 353a and 353b in the downward direction Z2.

[0024] The pair of third facing current receiving parts 351a and 351b is inclined with respect to the insertion / extraction direction X and the transverse direction Y. The distance between the end faces of the third facing current receiving parts 351a and 351b on the insertion direction X1 side in the insertion / extraction direction X is smaller than the distance between the end faces on the extraction direction X2 side in the insertion / extraction direction X. In other words, the distance between the pair of third facing current receiving parts 351a and 351b in the transverse direction Y increases in the direction of extraction X2.

[0025] Guide surfaces 351f are located on the side of the opposite space 35s (inner surface) of the pair of third facing current receiving parts 351a and 351b. In the present embodiment, the guide surface 351f is located on the side of the extraction direction X2 of the current receiving connection retaining element 34. The guide surfaces 351f are arranged as a pair, with the current receiving connection retaining element 34 held between them in the transverse direction Y. The distance between a pair of guide surfaces 351f1 and 351f2 in the transverse direction Y becomes narrower in the insertion / extraction direction X towards the side of the insertion direction X1. The pair of fourth facing parts 353a and 353b are arranged parallel to each other in the transverse direction Y.

[0026] The power receiving ceiling element 36 is located next to the power receiving connection retaining element 34 in the insertion / extraction direction X. The power receiving ceiling element 36 is designed as a thin plate and comprises a first ceiling element 36a, located between the pair of fourth facing parts 353a and 353b in the transverse direction Y, and a second ceiling element 36b, located between the pair of third facing power receiving parts 351a and 351b in the transverse direction Y. The first ceiling element 36a is rectangular when viewed from the upward / downward direction Z. The second ceiling element 36b is isosceles trapezoidal when viewed from the upward / downward direction Z.

[0027] In the vehicle charging system 1 according to the present embodiment, for example, when the vehicle 2 driving autonomously comes to a stop, a control unit 10 described later controls the movement unit 5 in order to bring the power supply connection body 40 into contact with the power receiving ceiling element 36.

[0028] The in Fig. 6 and Fig. The power receiving ceiling element 36 shown in Figure 7 contains a plurality of grooves 37 on the ceiling surface 36F, which is a lower surface in the upward / downward direction Z. More precisely, the grooves 37 are arranged on the ceiling surface 36F of the first ceiling element 36a in the power receiving ceiling element 36. The ceiling surface 36F in the power receiving ceiling element 36 is flat, except for the grooves 37. The depth of a bottom section of each groove 37 with respect to the ceiling surface 36F is less than or equal to the thickness of the ceiling surface 36F in the upward / downward direction Z. In other words, the grooves 37 project upwards Z1 in the upward / downward direction Z with respect to the ceiling surface 36F.

[0029] The grooves 37 comprise extension grooves 37Y in the lateral direction, extending in the transverse direction Y, and extension grooves 37X in the insertion / removal direction, extending in the insertion / removal direction X. The lateral extension grooves 37Y comprise a first extension groove 37Y1, a second extension groove 37Y2, a third extension groove 37Y3, and a fourth extension groove 37Y4. The insertion / removal extension grooves 37X comprise a first extension groove 37X1 and a second extension groove 37X2.

[0030] The first lateral extension groove 37Y1 is located on the outermost extraction direction side X2 below the grooves 37 in the insertion / extraction direction X. This first lateral extension groove 37Y1 is located on the extraction direction side X2 adjacent to a first non-groove-forming area 37N1 where the grooves 37 are not formed. The first lateral extension groove 37Y1 extends from one fourth facing part 353a of the pair of fourth facing parts 353a and 353b to the other fourth facing part 353b. The first lateral extension groove 37Y1 runs transversely to an axis 36L that bisects the power receiving ceiling element 36 in the transverse direction Y and is symmetrical to the axis 36L. The axis line 36L is located in a central position of the power receiving terminal body 3 in the transverse direction Y.

[0031] The second lateral extension groove 37Y2 is located on the side of the removal direction X2, after the first lateral extension groove 37Y1, below the grooves 37 in the insertion / removal direction X. On the side of the insertion direction X1, the second lateral extension groove 37Y2 is adjacent to a second non-groove-forming area 37N2, where the grooves 37 are not formed, and on the side of the removal direction X2, it is adjacent to a third non-groove-forming area 37N3, where the grooves 37 are not formed.In other words, the second lateral extension groove 37Y2 is located between the first lateral extension groove 37Y1, the third lateral extension groove 37Y3, the fourth lateral extension groove 37Y4, the first insertion / removal extension groove 37X1, and the second insertion / removal extension groove 37X2 in the insertion / removal direction X. Furthermore, the width of the second lateral extension groove 37Y2 is equal to the width of the first lateral extension groove 37Y1. The second lateral extension groove 37Y2 extends from one fourth opposite part 353a of the pair of fourth facing parts 353a and 353b to the other fourth opposite part 353b.The second extension groove 37Y2 in the lateral direction runs transversely to the axis line 36L, which bisects the current receiving ceiling element 36 in the transverse direction Y, and is symmetrical to the axis line 36L.

[0032] The third extension groove 37Y3 in the lateral direction, the fourth extension groove 37Y4 in the lateral direction, the first extension groove 37X1 in the lateral direction, and the second extension groove 37X2 in the lateral direction are arranged linearly along the transverse direction Y. The third extension groove 37Y3 in the lateral direction, the fourth extension groove 37Y4 in the lateral direction, the first extension groove 37X1 in the lateral direction, and the second extension groove 37X2 in the lateral direction are arranged on the outermost insertion direction side X1 below the grooves 37 in the insertion / removal direction X. The third extension groove 37Y3 in the lateral direction, the fourth extension groove 37Y4 in the lateral direction, the first extension groove 37X1 in the insertion / removal direction and the second extension groove 37X2 in the insertion / removal direction are arranged on the insertion direction X1 side adjacent to the third groove non-formation area 37N3.The third lateral extension groove 37Y3, the fourth lateral extension groove 37Y4, the first insertion / removal extension groove 37X1, and the second insertion / removal extension groove 37X2 are located on the removal direction side X2 adjacent to the fourth groove non-formation area 37N4, where the grooves 37 are not formed. Furthermore, the width of the third lateral extension groove 37Y3 is the same as the width of the fourth lateral extension groove 37Y4. Additionally, the width of the third lateral extension groove 37Y3 is greater than the width of the second lateral extension groove 37Y2.

[0033] The third extension groove 37Y3 in the lateral direction and the fourth extension groove 37Y4 in the lateral direction are arranged symmetrically with respect to the axis line 36L. Furthermore, the first extension groove 37X1 in the insertion / removal direction and the second extension groove 37X2 in the insertion / removal direction are arranged symmetrically with respect to the axis line 36L.

[0034] The third extension groove 37Y3 in the lateral direction and the first extension groove 37X1 in the insertion / removal direction are located between the axis line 36L and one of the fourth facing parts 353a. The third extension groove 37Y3 in the lateral direction and the first extension groove 37X1 in the insertion / removal direction are located laterally Y away from the axis line 36L, and the first extension groove 37X1 in the insertion / removal direction is located near the axis line 36L in the transverse direction Y.

[0035] The fourth extension groove 37Y4 in the lateral direction and the second extension groove 37X2 in the insertion / removal direction are located between the axis line 36L and the other fourth opposite part 353b. Of the fourth extension groove 37Y4 in the lateral direction and the second extension groove 37X2 in the insertion / removal direction, the fourth extension groove 37Y4 in the lateral direction Y is arranged away from the axis line 36L, and the second extension groove 37X2 in the insertion / removal direction is arranged in the transverse direction Y close to the axis line 36L.

[0036] The ceiling surface 36F of the first ceiling element 36a includes a fifth non-groove-forming area 37N5, in which the grooves 37 are not formed between the first extension groove 37X1 in the insertion / removal direction and the second extension groove 37X2 in the insertion / removal direction in the transverse direction Y. The fifth non-groove-forming area 37N5, in which no grooves are formed, includes a part of the axis line 36L.

[0037] The ceiling surface 36F of the first ceiling element 36a includes a sixth non-groove formation area 37N6, in which the grooves 37 are not formed between the first extension groove 37X1 in the insertion / removal direction and the third extension groove 37Y3 in the lateral direction Y.

[0038] The ceiling surface 36F of the first ceiling element 36a contains a seventh non-groove formation area 37N7, in which the grooves 37 are not formed between the second extension groove 37X2 in the insertion / removal direction and the fourth extension groove 37Y4 in the lateral direction Y.

[0039] The ceiling surface 36F of the first ceiling element 36a comprises the fourth groove-non-forming area 37N4, in which the grooves 37 are not formed, between the second ceiling element 36b and the third extension groove 37Y3 in the lateral direction, the fourth extension groove 37Y4 in the lateral direction, the first extension groove 37X1 in the insertion / removal direction, the second extension groove 37X2 in the insertion / removal direction, the fifth non-groove-forming area 37N5, the sixth non-groove-forming area 37N6 and the seventh non-groove-forming area 37N7 in the insertion / removal direction X.

[0040] The first extension groove 37Y1 in the lateral direction and the second extension groove 37Y2 in the lateral direction are the first structures extending along the transverse direction Y. The first extension groove 37X1 in the insertion / removal direction, the second extension groove 37X2 in the insertion / removal direction, the third extension groove 37Y3 in the insertion / removal direction, and the fourth extension groove 37Y4 in the insertion / removal direction are the second structures connected to the central position of the current receiving terminal body 3.Regarding the second structures in the present embodiment, the first extension groove 37X1 and the second extension groove 37X2 in the insertion / removal direction, which have the same length in the transverse direction Y, are arranged symmetrically with respect to the axis line 36L. Similarly, the third extension groove 37Y3 and the fourth extension groove 37Y4 in the lateral direction, which have the same length in the transverse direction Y, are also arranged symmetrically with respect to the axis line 36L. The axis line 36L is located in the central position of the current receiving terminal body 3 in the transverse direction Y. The distance between the second structure and the first structure in the insertion / removal direction X is predetermined.The unevenness caused by the first extension groove 37Y1 in the lateral direction, the second extension groove 37Y2 in the lateral direction, the third extension groove 37Y3 in the lateral direction, the fourth extension groove 37Y4 in the lateral direction, the first extension groove 37X1 in the insertion / removal direction and the second extension groove 37X2 in the insertion / removal direction on the ceiling surface 36F is formed on the ceiling surface 36F, but not on the floor section 25 of the vehicle 2.

[0041] The length of the first lateral extension groove 37Y1 in the transverse direction Y and the length of the second lateral extension groove 37Y2 in the transverse direction Y are equal, and this length is w9.

[0042] The length of the first non-groove formation area 37N1 in the transverse direction Y, the length of the second non-groove formation area 37N2 in the transverse direction Y, the length of the third non-groove formation area 37N3 in the transverse direction Y, the length of the fourth non-groove formation area 37N4 in the transverse direction Y, and the length of an eighth non-groove formation area 37N8 in the transverse direction Y are equal, and this length is w9. For example, the length w9 is 260 mm.

[0043] The length of the third extension groove 37Y3 in the transverse direction Y is w8, and the length of the fourth extension groove 37Y4 in the transverse direction Y is w1. The lengths w1 and w8 are identical.

[0044] The length of the sixth non-groove formation area 37N6 in the transverse direction Y is w7, and the length of the seventh non-groove formation area 37N7 in the transverse direction Y is w2. The lengths w2 and w7 are identical.

[0045] The length of the first extension groove 37X1 in the insertion / removal direction in the transverse direction Y is w6, and the length of the second extension groove 37X2 in the insertion / removal direction in the transverse direction Y is w3. The lengths w3 and w6 are identical.

[0046] The distance in the transverse direction Y between the first extension groove 37X1 in the insertion / removal direction and the axis line 36L is w5, and the distance in the transverse direction Y between the second extension groove 37X2 in the insertion / removal direction and the axis line 36L is w4. The distance w4 and the distance w5 are equal.

[0047] The length of the first extension groove 37Y1 in the lateral direction in the insertion / removal direction X is I2, and the length of the second extension groove 37Y2 in the lateral direction in the insertion / removal direction X is I4. The lengths I2 and I4 are identical.

[0048] The length of the first non-groove formation area 37N1 in the insertion / removal direction X is I1, and the length I1 is shorter than the length I2.

[0049] The length of the second non-groove-forming area 37N2 in the insertion / removal direction is I3, and the length of the third non-groove-forming area 37N3 in the insertion / removal direction X is I5. Lengths I3 and I5 are identical. Length I3 is shorter than length I2.

[0050] The length of the third extension groove 37Y3 in the lateral direction in the insertion / removal direction X and the length of the fourth extension groove 37Y4 in the lateral direction in the insertion / removal direction X are equal, and this length is I6.

[0051] The length of the first extension groove 37X1 in insertion / removal direction X and the length of the second extension groove 37X2 in insertion / removal direction X are the same, and this length is I6.

[0052] The length of the fifth non-groove formation area 37N5 in the insertion / removal direction X, the length of the sixth non-groove formation area 37N6 in the insertion / removal direction X and the length of the seventh non-groove formation area 37N7 in the insertion / removal direction X are equal.

[0053] This length is I6.

[0054] The length of the fourth non-groove-forming area 37N4 is X I7 in the insertion / removal direction. The length I7 is longer than any of the lengths I1 to I6.

[0055] The length of the first ceiling element 36a in the insertion / removal direction X is I7 and the length of the second ceiling element 36b in the insertion / removal direction X is I8. The length I8 is, for example, 105 to 125 mm and the length I9 is, for example, 155 to 175 mm.

[0056] The length w9, which is the length of the first extension groove 37Y1 in the lateral direction along the transverse direction Y and the length of the second extension groove 37Y2 in the lateral direction along the transverse direction Y, is longer than the length I6, which is the length of the first extension groove 37X1 in the insertion / removal direction along the insertion / removal direction and the length of the second extension groove 37X2 in the insertion / removal direction along the insertion / removal direction. Furthermore, the length w9, which is the length of the first extension groove 37Y1 in the transverse direction Y and the length of the second extension groove 37Y2 in the transverse direction Y, is longer than the length I6, which is the length of the third extension groove 37Y3 in the lateral direction in the insertion / removal direction and the length of the fourth extension groove 37Y4 in the lateral direction in the insertion / removal direction.In other words, in the vehicle loading system 1 according to the present embodiment, the length of the first structure along the insertion / removal direction X is longer than the length of the second structure along the insertion / removal direction. Then, as described below, the vehicle loading system 1 according to the present embodiment detects the first structure first by a position detection device 6 and the second structure later by the position detection device 6.

[0057] In the present embodiment, a plurality of the first structures are arranged along the insertion / removal direction X on the ceiling surface 36F. In the present embodiment, a plurality of the second structures are arranged along the transverse direction Y on the ceiling surface 36F.

[0058] The power supply device 4 is installed in the holding area 21 of the vehicle 2, as shown in Fig. 1 and Fig. 2 shown. The power supply device 4 comprises the power supply connection body 40, the charging device 49, the motion unit 5 and the position detection device 6 (see Fig. 5) The charging device 49 is installed, for example, on the floor in the holding area 21. The movement unit 5 is installed, for example, along the floor surface 26 of the holding area 21.

[0059] The in Fig. The power supply terminal body 40 shown in Figure 4 is a so-called coupler. The power supply terminal body 40 can be installed in the power receiving terminal body 3 by inserting it into the interior 34s of the power receiving terminal body 3. The power supply terminal body 40 can be removed from the power receiving terminal body 3 by moving it from its installed position in the removal direction X2. The power supply terminal body 40 comprises the power supply current terminals (power supply terminals) 41b, power supply signal terminals 41a, and a power supply terminal retaining element 43, as shown in Figure 4. Fig. 4 and Fig. 5 shown.

[0060] The power supply terminal 41b is electrically connected to the charging device 49, which is located near the holding area 21 outside the vehicle. The power supply terminal 41b is radially thicker than the power supply signal terminal 41a. The power supply terminals 41b comprise, for example, a first power supply terminal 41b1 and a second power supply terminal 41b2. In other words, in the present embodiment, the power supply terminal body 40 comprises the two power supply terminals 41b. The power supply terminals 41b are electrically connected to the ends of the respective power supply lines 42b. The power supply lines 42b comprise a first power supply line 42b1 and a second power supply line 42b2. The first power supply terminal 41b1 is electrically connected to the end of the first power supply line 42b1.The second power supply connection 41b2 is electrically connected to the end of the second power supply line 42b2.

[0061] The power supply connection 41b and the power supply line 42b are installed in the middle of the power supply line, which supplies the battery 22 with power from the charging device 49. The power supply line includes the power receiving connections 31b, the power receiving line 32, the power supply connections 41b, and the power supply lines 42.

[0062] A convex engagement part 41b11 is formed at the tip of the first power supply terminal 41b1. The convex engagement part 41b11 projects from the tip of the first power supply terminal 41b1 in the insertion direction X1, extends in the insertion direction X1, and can engage with the concave engagement part 31b11. A convex engagement part 41b21 is formed at the tip of the second power supply terminal 41b2. The convex engagement part 41b21 projects from the tip of the second power supply terminal 41b2 in the insertion direction X1, extends with respect to the insertion direction X1, and can engage with the concave engagement part 31b21.

[0063] The power supply signal terminal 41a is formed from conductive metal in a cylindrical, columnar shape and extends along the insertion / removal direction X. The power supply signal terminals 41a comprise, for example, a first power supply signal terminal 41a1 and a second power supply signal terminal 41a2. In other words, the power supply terminal body 40 in the present embodiment comprises the two power supply signal terminals 41a. The power supply signal terminals 41a are electrically connected to the ends of the respective power supply signal lines 42a. The power supply signal lines 42a comprise a first power supply signal line 42a1 and a second power supply signal line 42a2. The first power supply signal terminal 41a1 is electrically connected to the end of the first power supply signal line 42a1.The second power supply signal terminal 41a2 is electrically connected to the end of the second power supply signal line 42a2.

[0064] The power supply signal terminals 41a and the power supply signal lines 42a are located in the middle of the signal line, through which signals are exchanged between the charging device 49 and the battery 22. The signal line includes the power receiving signal terminals 31a, the power receiving signal lines 32a, the power supply signal terminals 41a, and the power supply signal lines 42a.

[0065] The power supply terminal body 40 comprises the (two) power supply current terminals 41b, which are arranged in the transverse direction Y. In addition to the (two) power supply current terminals 41b, the power supply terminal body 40 comprises the (two) power supply signal terminals 41a, which are arranged in the transverse direction Y on the sides of the two power supply current terminals 41b in the transverse direction Y. In other words, in the present embodiment, the power supply terminal body 40 comprises the two power supply current terminals 41b, which are arranged side by side in the transverse direction Y, and the two power supply signal terminals 41a, which are arranged next to these power supply current terminals 41b on both sides in the transverse direction Y.

[0066] The power supply terminal retaining element 43 is made of synthetic resin with insulating properties and houses and retains the power supply current terminals 41b and the power supply signal terminals 41a. The power supply terminal retaining element 43 is formed in a rectangular, tubular shape with a pair of first-facing power supply parts 441 and 442 facing each other in the upward / downward direction Z, and a pair of second-facing power supply parts 443 and 444 facing each other in the transverse direction Y. The power supply terminal retaining element 43 includes a power supply interior 44s formed by the pair of first-facing power supply parts 441 and 442 and the pair of second-facing power supply parts 443 and 444.

[0067] The power supply terminal retaining element 43 includes a first power supply terminal opening 44o1 on an end face of the power supply current terminal 41b on the insertion direction X1 side. The first power supply terminal opening 44o1 connects the power supply interior 44s to the exterior. As the power receiving terminal body 3 and the power supply terminal body 40 are joined, the power receiving current terminal 31b and the power receiving signal terminal 31a are inserted through the first power supply terminal opening 44o1. The power supply terminal retaining element 43 includes a second power supply terminal opening 44o2 on an end face of the power supply terminal 41 on the extraction direction X2 side. The second power supply terminal opening 44o2 connects the power supply interior 44s of the power supply terminal retaining element 43 to the exterior.The power supply line 42b and the power supply signal line 42a are inserted through the second power supply connection opening 44o2.

[0068] In the present embodiment, the power supply connection body 40 is attached via a fastening element 54c to the tips of a pair of support arms 53c1 and 53c2, which are described later in connection with the motion unit 5 (see Fig. 5).

[0069] The in Fig. The charging device 49 shown in Figure 1 is electrically connected to each power supply terminal 41b via each power supply line 42b. The charging device 49 is connected to an external power source, converts the alternating current supplied by the external power source into direct current, and supplies power to the battery 22 via the power supply line 42b, the power supply terminal 41b, the power receiving terminal 31b, and the power receiving line 32, thereby charging the battery 22.

[0070] The in Fig. 5 and Fig. The motion unit 5 shown in Figure 6 moves the power supply terminal body 40 in the insertion / removal direction X, in the transverse direction Y, and in the upward / downward direction Z, as described later. The motion unit 5 comprises a first motion mechanism 51, a second motion mechanism 52, a third motion mechanism 53, and a pitch-swivel mechanism 54, as shown in Figure 6. Fig. 2 and Fig. 5 shown.

[0071] The first movement mechanism 51 comprises a drive source 51a acting in the lateral direction, a first rotating shaft 51b, a first drive transmission element 51c, a first loading platform 51d and a pair of first guide elements 51e1 and 51e2.

[0072] The drive source 51a acting in the width direction is, for example, an electric motor with a first drive shaft 51a1, which is rotated and driven on the basis of a command from the control unit 10.

[0073] The first rotating shaft 51b has a cylindrical, columnar shape extending in the transverse direction Y. A first external thread is formed along a circumferential surface of the first rotating shaft 51b. An end face of the first rotating shaft 51b in the transverse direction Y is attached to the first drive shaft 51a1.

[0074] The first drive transmission element 51c transmits the drive force of the laterally acting drive source 51a via the first rotating shaft 51b to the first loading platform 51d. The first drive transmission element 51c comprises a first drive transmission element body 51c1, which extends in the insertion / removal direction X and is plate-shaped, and a first tubular element 51c2 with a first internal thread that engages with the first external thread. The first drive transmission body 51c1 has the first tubular element 51c2 arranged at an end section on the side of the removal direction X2 and has an end section on the side of the insertion direction X1 that is attached to the first loading platform 51d.

[0075] The first loading platform 51d has the form of a plate with a plane that is orthogonal to the upward / downward direction Z. In other words, the first loading platform 51d has the form of a plate that extends along the insertion / removal direction X and along the transverse direction Y. The second movement mechanism 52 is attached to the first loading platform 51d.

[0076] The pair of first guide elements 51e1 and 51e2 is positioned between the first loading platform 51d and the base surface 26 in the upward / downward direction Z and guides the movement of the first loading platform 51d in the transverse direction Y by means of the drive of the laterally acting drive source 51a. Each of the first guide elements 51e1 and 51e2 is designed in a square column shape extending in the transverse direction Y. The first guide element 51e1 and the other first guide element 51e2 are spaced apart from each other in the insertion / removal direction X.

[0077] Regarding the first motion mechanism 51, the first drive shaft 51a1 is rotated and driven when the laterally acting drive source 51a is driven based on a command from the control unit 10, and the rotational drive of the first drive shaft 51a1 causes the first drive transmission element 51c and the first loading platform 51d to move laterally in the Y direction. When the drive of the laterally acting drive source 51a is stopped based on a command from the control unit 10, the first motion mechanism 51 stops the movement of the first drive transmission element 51c and the first loading platform 51d in the Y direction.Furthermore, in the first movement mechanism 51, when the drive source 51a, acting in the lateral direction, is driven in the opposite direction based on a command from the control unit 10, the first drive shaft 51a1 is rotated and driven, and the rotary drive of the first drive shaft 51a1 causes the first drive transmission element 51c and the first loading platform 51d to move to the other side in the transverse direction Y. In other words, the first movement mechanism 51 is a mechanism that moves the power supply terminal body 40 in the insertion / removal direction X.

[0078] The second movement mechanism 52 comprises a drive source 52a acting in the insertion / removal direction, a second rotary shaft 52b, a second drive transmission element 52c, a second loading platform 52d and a pair of second guide elements 52e1 and 52e2.

[0079] The drive source 52a acting in the insertion / removal direction is, for example, an electric motor and includes a second drive shaft 52a1, which is rotated and driven on the basis of the command of the control unit 10.

[0080] The second rotary shaft 52b is cylindrical and columnar and extends in the insertion / removal direction X. A second external thread is formed along a circumferential surface of the second rotary shaft 52b. An end face of the second rotary shaft 52b in the insertion / removal direction X is attached to the second drive shaft 52a1.

[0081] The second drive transmission element 52c transmits the drive force from the drive source 52a, acting in the insertion / removal direction, via the second rotary shaft 52b to the second loading platform 52d. The second drive transmission element 52c comprises a second drive transmission element body 52c1, which extends in the transverse direction Y and is designed in a plate shape, and a second tubular element 52c2, which contains a second internal thread that engages with the second external thread. The second drive transmission element body 52c1 has the second tubular element 52c2 arranged at an end section on one side in the transverse direction Y, and has an end section on the other side in the transverse direction Y that is attached to the second loading platform 52d.

[0082] The second loading platform 52d has the form of a plate with a plane that is orthogonal to the upward / downward direction Z. In other words, the second loading platform 52d has the form of a plate that extends along the insertion / removal direction X and along the transverse direction Y. The third movement mechanism 53 is then attached to the second loading platform 52d.

[0083] The pair of second guide elements 52e1 and 52e2 is positioned between the second loading platform 52d and the first loading platform 51d in the upward / downward direction Z and guides the movement of the second loading platform 52d in the insertion / removal direction X by the drive of the drive source 52a acting in the insertion / removal direction. Each of the second guide elements 52e1 and 52e2 is designed in a square column shape extending in the insertion / removal direction X. The two second guide elements 52e1 and 52e2 are arranged separately from each other in the transverse direction Y.

[0084] Regarding the second movement mechanism 52, the second drive shaft 52a1 is rotated and driven when the drive source 52a acting in the insertion / removal direction is driven based on a command from the control unit 10, and the rotary drive of the second drive shaft 52a1 causes the second drive transmission element 52c and the second loading platform 52d to move to the side of the insertion direction X1. When the drive of the drive source 52a acting in the insertion / removal direction is stopped based on a command from the control unit 10, the second movement mechanism 52 stops the movement of the second drive transmission element 52c and the second loading platform 52d in the insertion / removal direction X.Furthermore, in the second movement mechanism 52, when the drive source 52a, acting in the insertion / removal direction, is driven in the opposite direction based on a command from the control unit 10, the second drive shaft 52a1 is rotated and driven, and the rotary drive of the second drive shaft 52a1 causes the second drive transmission element 52c and the second loading platform 52d to move towards the side of the removal direction X2. In other words, the second movement mechanism 52 is a mechanism that moves the power supply terminal body 40 in the transverse direction Y.

[0085] The third movement mechanism 53 comprises a drive source 53a acting in the insertion / removal direction and upward / downward direction, a third drive transmission element 53b, which is designed in an approximately cylindrical column shape and transmits the drive force of the drive source 53a acting in the insertion / removal direction and upward / downward direction, and the pair of support arms 53c1 and 53c2, which are provided at both ends of the rotating shaft of the third drive transmission element 53b.

[0086] The drive source 53a, which acts in the insertion / removal direction and upward / downward direction, is, for example, an electric motor and includes a third drive shaft which is rotated and driven on the basis of the command of the control unit 10.

[0087] The third drive transmission element 53b has a shaft center 53x extending in the transverse direction Y, a third drive transmission element body 53b1 rotating around the shaft center 53x when the drive source 53a acting in the insertion / removal direction and upward / downward direction is driven, and a shaft element extending from both ends of the third drive transmission element body 53b1 in the transverse direction Y.

[0088] Each of the support arms 53c1 and 53c2 is attached to the shaft element of the third drive transmission element 53b, and when the drive source 53a acting in the insertion / removal direction and upward / downward direction is driven, each of the support arms 53c1 and 53c2 oscillates about the shaft center point 53x.

[0089] In the third movement mechanism 53, the third drive transmission body 53b1 rotates about the shaft center 53x to one side of the circumferential direction of the shaft center 53x when the drive source 53a, acting in the insertion / removal direction and upward / downward direction, is driven on the basis of the command from the control unit 10, and additionally each of the support arms 53c1 and 53c2 pivots about the shaft center 53x in an arrow direction R1 in Fig. 5. In the third motion mechanism 53, the third drive transmission body 53b1 rotates about the shaft center 53x to the opposite side of the circumferential direction of the shaft center 53x when the drive source 53a, acting in the insertion / removal and upward / downward directions, is driven in the opposite direction based on the command from the control unit 10, and each of the support arms 53c1 and 53c2 pivots about the shaft center 53x in a direction of arrow R2. Fig. 5.

[0090] By driving the drive source 53a, which acts in the insertion / removal direction and upward / downward direction, the third movement mechanism 53 switches between a horizontal position, in which the support arms 53c1 and 53c2 extend along the insertion / removal direction X, and an upright position, in which the support arms 53c1 and 53c2 extend at an angle to the insertion / removal direction X. When the third movement mechanism 53 moves the support arms 53c1 and 53c2 into the horizontal position, the power supply terminal body 40 is positioned at the location closest to the base surface 26. When the support arms 53c1 and 53c2 extend in the direction of arrow R1 in Fig. By pivoting the shaft center 53x from the horizontal position, the power supply terminal body 40 moves in the upward direction Z1 along the upward / downward direction Z and in the removal direction X2. In other words, the third movement mechanism 53 is a mechanism that moves the power supply terminal body 40 in the upward / downward direction Z and in the insertion / removal direction X.

[0091] The pitch-swivel mechanism 54 is a pitch-swivel mechanism that pivots the power supply terminal body 40 about a shaft center point 54x parallel to the transverse direction Y. The pitch-swivel mechanism 54 comprises a pitch-swivel drive source, a fourth drive transmission element 54b with a plurality of gears 54a that transmit the drive force of the pitch-swivel drive source, and the fastening element 54c, which is attached to a gear 54a1 arranged on the outermost side in the circumferential direction with respect to the shaft center point 53x below the gears 54a.

[0092] The pitch-swivel drive source is, for example, an electric motor that is rotated and driven based on the command from the control unit 10.

[0093] Each gear 54a in the fourth drive transmission element comprises a shaft center extending in the transverse direction Y. Both ends of the shaft element of each gear 54a are rotatably attached to the pair of support arms 53c1 and 53c2. The gears 54a are interconnected. The fastening element 54c is attached to the power supply terminal body 40 by an elastic element, such as a spring.

[0094] In the pitch-tilt mechanism 54, a gear 54a2 rotates due to the driving force of the pitch-tilt drive source when the pitch-tilt drive source is driven based on a command from the control unit 10. The driving force of the pitch-tilt drive source is transmitted via the gears 54a, and the gear 54a1, which is located on the outermost side in the circumferential direction with respect to the shaft center 53x, rotates about the shaft center 54x.

[0095] If the gear 54a1 is in a direction of arrow R3 in Fig. As the shaft center 54x rotates, the pivoting operation is performed to change the position of the power supply terminal body 40 so that the tip of the power supply current terminal 41b points in the upward direction Z1. When the gear 54a1 moves in the direction of arrow R4 in Fig. As the shaft center rotates 54x around its center point, the pivoting process is carried out to change the position of the power supply connector body 40 so that the tip of the power supply connector 41b points in the downward direction Z2.

[0096] With the aforementioned motion unit 5, a rectangular movement range 29 for the power supply terminal body 40 in the holding area 21 is defined by the position in which the power supply terminal body 40 was moved to the furthest side of the removal direction X2, the position in which the power supply terminal body 40 was moved to the furthest side of the insertion direction X1, the position in which the power supply terminal body 40 was moved to the furthest side of the transverse direction Y, and the position in which the power supply terminal body 40 was moved to the furthest side of the transverse direction Y (see Fig. 2).

[0097] The position detection device 6 comprises, for example, a light-emitting element 61 that emits detection light in the upward direction Z1 along the upward / downward direction Z, and a light-receiving element 62 that receives the reflected light resulting from the reflection of the detection light from the light-emitting element 61 at the power-receiving ceiling element 36. The light-emitting element 61 and the light-receiving element 62 are, for example, provided on the mounting element 54c. In other words, in the present embodiment, the position detection device 6 moves in conjunction with the movement of the power supply terminal body 40 by the motion unit 5. The light-emitting element 61 and the light-receiving element 62 are, for example, arranged side by side in the transverse direction Y.The distance from the position sensing device 6 to the power supply terminal 40 in the insertion / removal direction X is predetermined, as is the distance from the position sensing device 6 to the power supply terminal 40 in the transverse direction Y. In other words, the distances between the position sensing device 6 and the power supply terminal 40 in the insertion / removal direction X and in the transverse direction Y are predetermined. The position sensing device 6 comprises, for example, the light emission element 61 and the light receiving element 62, which receives the reflected laser emitted by the light emission element 61. The position sensing device 6 can be a LIDAR (Light Detection and Ranging) or a millimeter-wave radar.The position detection device 6 detects the ceiling surface 36F and the groove 37 by the time difference between the time at which the detection light emitted by the light emission element 61 is reflected from the ceiling surface 36F and the detection light reflected from the ceiling surface 36F is detected by the light receiving element 62, and the time at which the detection light is reflected from the lower part of the groove 37 and the detection light reflected from the lower part of the groove 37 is detected by the light receiving element 62.

[0098] The control unit 10 generally controls the parts of the power supply device 4. Then the control unit 10 performs the fitting operation to join the power supply terminal body 40 and the power receiving terminal body 3 by means of the drive of the motion unit 5.

[0099] The following describes the operation of the vehicle loading system 1 with the structure described above. Initially, the holding area 21 is not occupied by the vehicle 2. The motion unit 5 of the vehicle loading system 1 has moved to its starting position in the movement area 29, where the power supply connection body 40 and the position detection device 6 have moved to the furthest side of the removal direction X2 and to one side of the transverse direction Y. The motion unit 5 of the vehicle loading system 1 moves the support arms 53c1 and 53c2 to the side of arrow R2. Fig. 5 and ensures that the support arms 53c1 and 53c2 extend along the insertion / removal direction X. In this state, as in Fig. As shown in 1, the occupant drives and stops the vehicle 2 in stopping area 21.

[0100] When the vehicle 2, stopped in holding area 21, is detected by a sensor (not shown), the control unit 10 of the vehicle loading system 1 causes the motion unit 5 to move the position detection device 6 in the insertion direction X1 in the insertion / removal direction X, while emitting the detection light from the light emission element 61, as shown in Fig. Figure 8 is shown. Thus, the detection light is scanned in the insertion / removal direction X.

[0101] When the light receiving element 62 detects a predetermined detection light during the aforementioned scanning process (during the detection of the first structure), the control unit 10 calculates the position of the second structure in the insertion / removal direction X from the detected first structure. That is, after the detection of the first extension groove 37Y1 and the second extension groove 37Y2 in the lateral direction with the detection light of the light receiving element 62, the control unit 10 calculates the positions of the first extension groove 37X1, the second extension groove 37X2, the third extension groove 37Y3, and the fourth extension groove 37Y4 in the lateral direction in the insertion / removal direction X.If the control unit 10 does not detect the first structure, the position detection device 6 is moved sideways in the transverse direction Y and the aforementioned scanning is repeated.

[0102] Next, control unit 10, as described in Fig. Figure 9 shows the motion unit 5 moving the position detection device 6 to the calculated position of the second structure in the insertion / removal direction X. That is, the control unit 10 causes the motion unit 5 to move the position detection device 6 to the calculated positions of the first extension groove 37X1 in the insertion / removal direction, the second extension groove 37X2 in the insertion / removal direction, the third extension groove 37Y3 in the lateral direction, and the fourth extension groove 37Y4 in the lateral direction.

[0103] Next, the control unit 10 causes the motion unit 5 to move the position detection device 6 from one side to the other in the transverse direction Y, while causing the light emission element 61 to emit the detection light, thereby scanning the detection light in the transverse direction Y.

[0104] In the scanning process described above, when the control unit 10 detects predetermined detection light with the light receiving element 62 (detects the second structure), as in Fig. As shown in Figure 10, the control unit 10 calculates the mean position of the current receiving terminal body 3 in the transverse direction Y of the detected second structure. In other words, when the control unit 10 detects predetermined detection light with the light receiving element 62 and detects the first extension groove 37X1 in the insertion / removal direction, the second extension groove 37X2 in the insertion / removal direction, the third extension groove 37Y3 in the lateral direction, and the fourth extension groove 37Y4 in the lateral direction, the control unit 10 calculates the mean position of the current receiving terminal body 3 in the transverse direction Y from these detected extension grooves 37X1, 37X2, 37Y3, and 37Y4.

[0105] Subsequently, the control unit 10 aligns the mean position of the power supply terminal body 40 in the transverse direction Y with the calculated mean position of the power receiving terminal body 3 in the transverse direction Y by driving the motion unit 5.

[0106] Next, as in Fig. As shown in Figure 11, the control unit 10 drives the third movement mechanism 53 to move the power supply terminal body 40 in the upward direction Z1 and also to the side of the extraction direction X2, and drives the pitch-swivel mechanism 54 to change the attitude of the power supply terminal body 40 so that the upper surface of the power supply terminal body 40 is parallel to the ceiling surface 36F.

[0107] Next, the control unit 10 stops the drive of the third motion mechanism 53 and the pitch-swivel mechanism 54 when the sensor (not shown) detects that the upper surface of the power supply terminal body 40 is in contact with the ceiling surface 36F, as shown in Fig. 12 shown. In this state, as in Fig. As shown in Figure 13, the current receiving terminal retaining element 34 of the current receiving terminal body 3 and the power supply terminal body 40 face each other in the insertion / extraction direction X. In other words, in this state, each current receiving terminal 31b and each power supply terminal 41b face each other, and each current receiving signal terminal 31a and each power supply signal terminal 41a face each other in the insertion / extraction direction X.

[0108] Next, the control unit 10 activates the second movement mechanism 52 to move the power supply connector body 40 in the insertion direction X1, so that the power supply connector body 40 is inserted into the power receiving connector body 3, as shown in Fig. Figure 14 shows that the power supply terminal body 40 is thus installed in the power receiving terminal body 3. In this installed state, the power supply terminals 31b are electrically connected to the corresponding power supply terminals 41b, and the power receiving signal terminals 31a are electrically connected to the corresponding power supply signal terminals 41a. This charges the battery 22.

[0109] When battery 22 is fully charged, control unit 10 performs the reverse process.

[0110] The vehicle charging system 1 according to the present embodiment has the following structure. The power supply device 4 comprises the motion unit 5, which moves the power supply connector body 40 in the insertion / removal direction X, the upward / downward direction Z, and the transverse direction Y, which is orthogonal to the insertion / removal direction X and the upward / downward direction Z, and the control unit 10, which controls the movement of the power supply connector body 40 by the motion unit 5. The position sensing device 6 moves in conjunction with the movement of the power supply connector body 40 by the motion unit 5. The power receiving connector body 3 comprises the first structures 37Y1 and 37Y2, which extend along the transverse direction Y, and the second structures 37X1, 37X2, 37Y3, and 37Y4, which are related to the central position of the power receiving connector body 3 in the transverse direction Y.The first structures 37Y1 and 37Y2 and the second structures 37X1, 37X2, 37Y3, and 37Y4 are configured to project towards one side of the upward / downward direction Z with respect to the ceiling surface 36F. The distances between the second structures 37X1, 37X2, 37Y3, and 37Y4 and the first structures 37Y1 and 37Y2 in the insertion / removal direction X are predetermined. Therefore, according to the present embodiment, the vehicle charging system 1 can move the position sensing device 6 using the motion unit 5, which moves the power supply connector body 40 in the insertion / removal direction X, the transverse direction Y, and the upward / downward direction Z. Consequently, according to the present embodiment, the vehicle charging system 1 does not require an expensive imaging device or a separate motor to move the position sensing device 6. Therefore, the vehicle charging system 1 according to the present embodiment can reduce costs.Furthermore, according to the present embodiment, the vehicle charging system 1 can accurately calculate the mean position of the power receiving terminal body 3 in the transverse direction Y, so that the power receiving terminal body 3 and the power supply terminal body 40 can be correctly and safely joined together.

[0111] The vehicle loading system 1 according to the present embodiment has the following structure. The multiple extension grooves 37Y1 and 37Y2, which form the first structures, are arranged along the insertion / removal direction X on the ceiling surface 36F. The multiple extension grooves 37X1, 37X2, 37Y3, and 37Y4, which form the second structures, are arranged along the transverse direction Y on the ceiling surface 36F. Therefore, the position detection device 6 in the present embodiment can reliably detect the first and second structures.

[0112] The first and second structures in the embodiment described above are formed by the grooves 37, which project in the upward direction Z1 of the upward / downward direction Z with respect to the ceiling surface 36F. However, the first and second structures are not limited to these structures. For example, the first and second structures can be formed by a plurality of convex parts projecting in the downward direction Z2 of the upward / downward direction Z with respect to the ceiling surface 36F. Furthermore, one of the first and second structures can be formed by the grooves, and the other can be formed by the convex parts.

[0113] In the vehicle charging system 1 described above, a locking mechanism can be provided to maintain the installation state in which the power supply terminal body 40 is inserted into the power receiving terminal body 3, and a power supply terminal body 40A is installed in a power receiving terminal body 3A. When the locking mechanism is actuated, the control unit 10 stops the actuation of the laterally acting drive source 51a, the insertion / removal drive source 52a, the insertion / removal and up / down drive source 53a, and the pitch-swivel drive source of the motion unit 5. When these drive sources are stopped, the power supply terminal body 40 can move in the insertion / removal direction X, the lateral direction Y, and the up / down direction Z.Even if the height of the vehicle 2 from the ground surface 26 changes due to an increase or decrease in the number of occupants in the vehicle 2 while the battery 22 is being charged by the charging device 49, and the position of the power receiving terminal body 3 installed in the vehicle 2 changes in the insertion / removal direction X, the transverse direction Y, and the upward / downward direction Z, the power supply terminal body 40 therefore moves following the power receiving terminal body 3. When the charging of the battery 22 by the charging device 49 is complete, the control unit 10 releases the drive of the locking mechanism and drives the movement unit 5 to return to its original state. Second embodiment

[0114] Fig. 16 to Fig. Figure 19 are diagrams describing the current receiving terminal body 3A according to a second embodiment in a vehicle charging system 1A according to the present invention. Fig. Figure 16 is a perspective view of the power receiving terminal body 3A according to the second embodiment. Fig. Figure 17 is a side view of the power receiving terminal body 3A according to the second embodiment. Fig. Figure 18 is a perspective view of the power supply terminal body 40A according to the second embodiment. Fig. Figure 19 is a schematic top view of a motion unit 5A in the vehicle charging system 1A according to the second embodiment.

[0115] The current receiving connector body 3A according to the second embodiment does not include the pair of third facing current receiving parts 351a and 351b and the pair of fourth facing parts 353a and 353b, but includes a current receiving ceiling element 36A and fastening elements 38a and 38b for attaching the current receiving connector body 3A to the floor section 25 of the vehicle 2. The fastening elements 38a and 38b are located at both ends of the current receiving connector body 3A in the transverse direction Y.

[0116] A 34A power receiving terminal block has a rectangular, tubular shape, and the 36A power receiving ceiling element has the shape of a thin plate. The 34A power receiving terminal block is the first structure. As shown in Fig. As shown in Figure 17, the power receiving connection retaining element 34A is designed such that it projects in the downward direction Z2 of the upward / downward direction Z with respect to the ceiling surface 36F. In the upward / downward direction Z, the height difference between the ceiling surface 36F and a lower surface of the first facing power receiving part 342, which is located in the downward direction Z2 of the power receiving connection retaining element 34A, is, for example, 50 mm or more. The projection with such a height difference is not formed on the floor section 25 of the vehicle 2.

[0117] Furthermore, the vehicle charging system 1A according to the present embodiment comprises a guide mechanism 7 with a guide groove section 72 extending in the insertion / removal direction X, and a convex guide section 71 that engages with the guide groove section 72. In the guide mechanism 7, the convex guide section 71 is inserted into the guide groove section 72 when an upper surface 441F of the power supply terminal body 40A is brought into contact with the ceiling surface 36F. While the convex guide section 71 is being inserted into the guide groove section 72, the guide mechanism 7 restricts the movement of the power supply terminal body 40A in the transverse direction Y with respect to the power receiving terminal body 3 and allows the movement of the power supply terminal body 40A in the insertion / removal direction X with respect to the power receiving terminal body 3.In the guide mechanism 7 of the present embodiment, the guide groove section 72 is provided on the power supply terminal body 40A, and the convex guide section 71 is provided on the ceiling surface 36F. The convex guide section 71 in the guide mechanism 7 is the second structure formed on the ceiling surface 36F. The convex guide section 71 is designed to project in the downward direction Z2 of the upward / downward direction Z with respect to the ceiling surface 36F. The convex guide section 71 extends along the axis 36L, which is located at the central position of the power receiving terminal body 3A in the transverse direction Y. In the upward / downward direction Z, viewed from the side of the downward direction Z2, the power receiving terminal retaining element 34A, which forms the first structure, and a portion of the convex guide section 71, which forms the second structure, overlap with each other.

[0118] The guide groove section 72 is shaped such that it is wider on the insertion direction X1 side and narrows towards the removal direction X2 side. The convex guide section 71 is shaped such that its tip tapers on the removal direction X2 side, and the portion lacking the tip is shaped such that its width in the transverse direction Y is constant.

[0119] At each of the four corners of the upper surface 441F (more precisely, the upper surface of the first facing power supply part 441) of the in Fig. In the power supply terminal body 40A shown in Figure 18, a sensor 8 is provided which detects the contact between the upper surface 441F of the power supply terminal body 40A and the ceiling surface 36F. The sensors 8 are a first sensor 81a, a second sensor 81b, a third sensor 81c, and a fourth sensor 81d. Each sensor 8 is, for example, a touch sensor.

[0120] Similar to the motion unit 5 described above, the motion unit 5A includes the pitch-swivel mechanism 54, which pivots the power supply terminal body 40A around the shaft center point (rotating shaft) 54x, which runs parallel to the transverse direction Y.

[0121] Then the control unit 10 drives the pitch-swivel mechanism 54 according to the detection results of the sensors 8 to bring the four corners of the upper surface 441F of the first facing power supply part 441 of the power supply terminal body 40A into contact with the ceiling surface 36F.

[0122] As described above, the motion unit 5 comprises the insertion / removal drive source 52a, which moves the power supply terminal body 40A in the insertion / removal direction X. When the output of the insertion / removal drive source 52a exceeds a predetermined threshold, the control unit 10 detects that the power receiving terminal 31b and the power supply terminal 41b are electrically connected and stops the drive of the insertion / removal drive source 52a.

[0123] The motion unit 5A of the vehicle charging system 1A according to the present embodiment comprises a yaw-swivel mechanism 55 which rotates the power supply terminal body 40A about a shaft center point 55x parallel to the upward / downward direction Z, as shown in Fig. 18 shown, swivels.

[0124] In the yaw-swivel mechanism 55, a shaft 55a, provided on the power supply terminal body 40A, is attached to a shaft 55b of the mounting element 54c such that the shaft 55a can rotate about the shaft center 55x. The yaw-swivel mechanism 55 does not contain a drive source.

[0125] In the vehicle charging system 1A according to the present embodiment, the vehicle 2, when it stops due to the occupant's driving activity, can deviate from the transverse direction Y of the holding area 21, as shown in Fig. Figure 19 shows the vehicle 2 viewed from the upward / downward direction Z. In this case, in the vehicle charging system 1A, the right side, which is one side of the current receiving terminal 3A, is shown in the insertion / removal direction X. Fig. 19 is separated from a 4A power supply terminal body, while the left side, which is the other side of the 3A power receiving terminal body, is in Fig.19 is approaching the power supply connection body 4A.

[0126] On the other hand, the power supply terminal body 40A moves in the yaw-tilt mechanism 55 when a pair of the two side surfaces 40F1 and 40F2 of the power supply terminal body, which are facing each other in the transverse direction Y, an outer surface 40o of the power supply terminal body 40A is in contact with a pair of the two side surfaces 34F1 and 34F2 of the current receiving terminal body, which are facing each other in the transverse direction Y, an inner surface 34i of the current receiving terminal body 3A, as described below with the external force generated by this contact.

[0127] In other words, the yaw swivel mechanism 55 rotates the power supply terminal body 40A about the shaft center 55x, so that an end face of the power supply terminal body 40A on the insertion direction side X1 and an end face of the power receiving terminal body 3A on the extraction direction side X2 are opposite each other.

[0128] Therefore, the yaw swivel mechanism 55 in the vehicle charging system 1A according to the present embodiment allows the power supply connector body 40A and the power receiving connector body 3A to be joined together even when the vehicle 2 stops, so that the end face of the power supply connector body 40A on the side of the insertion direction X1 and the end face of the power receiving connector body 3A on the side of the extraction direction X2 are not opposite each other in the insertion / extraction direction X.

[0129] The vehicle charging system 1 according to the present embodiment has the following structure. The power receiving terminal retaining element 34 is the first structure. Therefore, in the vehicle charging system 1 according to the present embodiment, the power receiving terminal retaining element 34 is considered the first structure, utilizing the shape of the power receiving terminal retaining element 34 and the shape of the power receiving ceiling element 36, and thus the amount of material used to form the first structure can be reduced. As a result, the vehicle charging system 1 according to the present embodiment can be manufactured at a lower cost.

[0130] The vehicle loading system 1 according to the present embodiment has the following structure. The guide groove section 72 or the convex section 71 formed on the ceiling surface 36F constitutes the second structure. Therefore, in the vehicle loading system 1 according to the present embodiment, the guide groove section 72 or the convex guide section 71 of the guide mechanism 7 is considered the second structure, utilizing the shape of the guide groove section 72 or the convex guide section 71, and thus the amount of material used to form the second structure can be reduced. As a result, the vehicle loading system 1 according to the present embodiment can be manufactured at a significantly lower cost.

[0131] The vehicle charging system 1 according to the present embodiment has the following structure. The motion unit 5 comprises the pitch-swivel mechanism 54, which pivots the power supply unit body 40A about the shaft center point 54x parallel to the transverse direction Y. The upper surface 441F of the power supply unit body 40A includes the sensors 8, which detect the contact of the upper surface 441F of the power supply unit body 40A with the ceiling surface 36F. In accordance with the detection results from the sensors 81, the control unit 10 brings the upper surface 441F of the power supply unit body 40A into contact with the ceiling surface 36F. Therefore, the vehicle charging system 1 according to the present embodiment can bring the upper surface 441F of the power supply unit body 40A into contact with the ceiling surface 36F.As a result, according to the present embodiment, the vehicle charging system 1 can correctly control the position of the power supply connector body 40A relative to the power receiving connector body 3 and securely attach the power supply connector body 40A to the power receiving connector body 3.

[0132] The vehicle charging system 1 according to the present embodiment has the following structure. The motion unit 5 comprises the drive source 52a, which acts in the insertion / removal direction and moves the power supply connector 40A in the insertion / removal direction X. When the output of the drive source 52a, acting in the insertion / removal direction, exceeds a predetermined threshold, the control unit 10 determines that the power receiving connector 31b and the power supply connector 41b are electrically connected and stops the drive of the drive source 52a, acting in the insertion / removal direction. Therefore, the vehicle charging system 1 according to the present embodiment can prevent the partially inserted state in which the insertion of the power supply connector 40A into the power receiving connector 3 is incomplete and the power receiving connector 31b and the power supply connector 41b are not electrically connected.As a result, the vehicle charging system 1 according to the present embodiment can ensure the electrical connection between the power receiving power terminal 31b and the power supply power terminal 41b.

[0133] The vehicle charging system 1 according to the present embodiment has the following structure. The motion unit 5 comprises the yaw-swivel mechanism 55, which pivots the power supply connection body 40 about the shaft center point 55x parallel to the upward / downward direction Z.When one of the two side surfaces 40F1 and 40F2 of the power supply terminal body, which face each other in the transverse direction Y, is in contact with the outer surface 40o of the power supply terminal body 40 and the two side surfaces 34F1 and 34F2 of the power supply terminal body, which face each other in the transverse direction Y, and the inner surface 34i of the current receiving terminal body 3A, the yaw pivoting mechanism 55 causes the two side surfaces 40F1 and 40F2 of the power supply terminal body and the two side surfaces 34F1 and 34F2 of the current receiving terminal body to face each other in the transverse direction Y, so that the current receiving terminal body 3A and the power supply terminal body 40 are joined together.Therefore, in the vehicle charging system 1A according to the present embodiment, the yaw swivel mechanism 55 rotates the power supply connector body 40A about the shaft center point 55x, so that the end face of the power supply connector body 40A on the side of the insertion direction X1 and the end face of the current receiving connector body 3A on the side of the extraction direction X2 are opposite each other.As a result, the yaw swivel mechanism 55 in the vehicle charging system 1A according to the present embodiment allows, even when the vehicle 2 stops, the end surface of the power supply connector body 40A on the side of the insertion direction X1 to be slightly inclined relative to the end surface of the power receiving connector body 3A on the side of the extraction direction X2 in the insertion / extraction direction X, so that the end surface of the power supply connector body 40A on the side of the insertion direction X1 and the end surface of the power receiving connector body 3A on the side of the extraction direction X2 are opposite each other, so that the power supply connector body 40A and the power receiving connector body 3A can be joined together.

[0134] In the example above, the current receiving connector 3A of the vehicle charging system 1A according to the second embodiment is installed in the vehicle 2. However, the vehicle charging system 1A according to the present embodiment is not limited to this example. In another example, the current receiving connector 3 of the vehicle charging system 1 according to the first embodiment can be attached to the vehicle 2. In this case, the two side surfaces 34F1 and 34F2 of the current receiving connector 3A comprise the inner surfaces of the pair of second facing current receiving parts 343 and 344 and the inner surfaces (guide surfaces 351f1 and 351f2) of the pair of third facing current receiving parts 351a and 351b.

[0135] In the vehicle charging system 1A according to the above embodiment, the sensor 8 is provided at each of the four corners of the upper surface 441F of the power supply terminal body 40A. However, the vehicle charging system 1A according to the present embodiment is not limited to this structure, and the number of sensors 8 to be mounted on the upper surface 441F of the power supply terminal body 40A can be one, two, three, five, or more. The positions of the sensors 8 are not limited to the four corners of the upper surface 441F of the power supply terminal body 40A and can be changed as required.On the other hand, if the sensor 8 is mounted at each of the four corners of the upper surface 441F of the power supply terminal body 40A, the four corners of the upper surface 441F of the power supply terminal body 40A can be brought into contact with the ceiling surface 36F, thereby allowing the attitude of the power supply terminal body 40A relative to the power receiving terminal body 3 to be controlled more accurately.

[0136] Regarding the structures in the above embodiments, some of the structures can be combined with other structures.

[0137] In the vehicle charging systems 1 and 1A described in the embodiments above, current is supplied from the charging device 49 installed outside the vehicle to the battery 22 mounted on the vehicle 2 in order to charge the battery 22. However, the vehicle charging systems 1 and 1A according to the embodiments above are not limited to this structure, and current can be supplied from the battery 22 mounted on the vehicle 2 to a storage battery of the charging device 49, which is provided outside the vehicle (for example, in the house), in order to charge the storage battery.

[0138] Furthermore, the vehicle charging systems 1 and 1A according to the above embodiments are used in the vehicle 2, which is driven and stopped by the occupant. However, the vehicle charging systems 1 and 1A according to the above embodiments are not limited to this structure and can be used in autonomous vehicles that drive and stop without requiring driving operation by the occupant.

[0139] In the embodiments described above, the current receiving terminals 3 and 3A are mounted on the vehicle 2 such that they are parallel to the horizontal plane and orthogonal to the upward / downward direction Z. However, according to the embodiments, the current receiving terminals 3 and 3A can also be arranged at an angle to the horizontal plane. This arrangement depends on the installation conditions of the current receiving terminals 3 and 3A on the vehicle 2, deviations due to assembly tolerances of the vehicle 2, the road surface condition in the stopping area 21 of the vehicle 2, the position of occupants or loads in the vehicle 2, etc.

[0140] Since the vehicle charging system according to the present embodiment has the above structure, a cost-effective vehicle charging system can be provided.

[0141] Although the invention has been described with regard to a complete and unambiguous disclosure in respect of certain embodiments, the attached claims are not to be limited in this sense, but are to be interpreted as encompassing all modifications and alternative constructions that would be apparent to a person skilled in the art and that appropriately fall within the basic teaching set forth herein.

Claims

[1] Vehicle charging system (1), comprising: a power supply device (4) which includes a power supply connection body (40) and is provided in a holding area (21) for a vehicle (2); and a power receiving connector body (3) provided on a floor section (25) of the vehicle (2) and enabling the power supply connector body (40) to be inserted into or withdrawn from it in an insertion / removal direction (X), wherein the power receiving terminal body (3) comprises: a power receiving power connection (31b) which is electrically connected to a battery (22) provided in the vehicle (2), a power receiving connection retaining element (34) that holds the power receiving power connection (31b), and a power receiving ceiling element (36) which has a ceiling surface (36F) and is arranged in the insertion / extraction direction (X) next to the power receiving connection holding element (34), wherein the power supply connection body (40) has a power supply current connection (41b) which is electrically connected to a charging device (49) provided outside the vehicle (2), the power supply device (4) comprises: a motion unit (5) that moves the power supply connection body (40) in the insertion / removal direction (X), an upward / downward direction (Z) and a transverse direction (Y) that is orthogonal to the insertion / removal direction (X) and the upward / downward direction (Z), and a control unit (10) that controls the movement of the power supply terminal body (40) by the motion unit (5), wherein the power receiving terminal body (3) comprises: a first structure (37Y1, 37Y2) extending along the transverse direction (Y), and a second structure (37X1, 37X2, 37Y3, 37Y4) which relates to a central position of the power receiving terminal body (3) in the transverse direction (Y), wherein the first structure (37Y1, 37Y2) and the second structure (37X1, 37X2, 37Y3, 37Y4) project towards one side of the upward / downward direction (Z) with respect to the ceiling surface (36F), a distance from the second structure (37X1, 37X2, 37Y3, 37Y4) to the first structure (37Y1, 37Y2) in the insertion / removal direction (X) is predetermined, the power supply device (4) includes a position sensing device (6) comprising a light emission element (61) which emits sensing light in an upward direction (Z1) along the upward / downward direction (Z) and a light receiving element (62) which receives the sensing light reflected at the power receiving terminal body (3), the position detection device (6) moves in conjunction with the movement of the power supply connection body (40) by the motion unit (5), wherein the control unit (10) the fitting process of fitting the power supply terminal body (40) and the power receiving terminal body (3) to each other by driving the movement unit (5), the motion unit (5) causes the position detection device (6) to move in the insertion / removal direction (X), while the light emission element (61) emits the detection light to scan the detection light in the insertion / removal direction (X) and detect the first structure (37Y1, 37Y2), a position of the second structure (37X1, 37X2, 37Y3, 37Y4) in the insertion / removal direction (X) is calculated based on the detected first structure (37Y1, 37Y2), the motion unit (5) causes the position detection device (6) to move to the calculated position of the second structure (37X1, 37X2, 37Y3, 37Y4) in the insertion / removal direction (X), the motion unit (5) causes the position detection device (6) to move in the transverse direction (Y), while the light emission element (61) emits the detection light to scan the detection light in the transverse direction (Y) and to detect the second structure (37X1, 37X2, 37Y3, 37Y4), Based on the captured second structure (37X1, 37X2, 37Y3, 37Y4), the mean position of the power receiving terminal body (3) in the transverse direction (Y) is calculated. the mean position of the power supply terminal body (40) in the transverse direction (Y) is brought into alignment with the calculated mean position of the power receiving terminal body (3) in the transverse direction (Y) by driving the motion unit (5), and the motion unit (5) drives the power supply terminal body (40) in the upward direction (Z1) and also in an insertion direction (X1) so that the power supply terminal body (40) and the power receiving terminal body (3) are joined together. [2] Vehicle charging system (1) according to claim 1, wherein a large number of the first structures (37Y1, 37Y2) are arranged on the ceiling surface (36F) along the insertion / removal direction (X), and a large number of the second structures (37X1, 37X2, 37Y3, 37Y4) are arranged on the ceiling surface (36F) along the transverse direction (Y). [3] Vehicle charging system (1) according to claim 1 or 2, wherein the power receiving connection retaining element (34) has a rectangular, tubular shape, the power receiving ceiling element (36) is designed in the form of a thin plate, and the power receiving connection holding element (34) is the first structure (1). [4] Vehicle charging system (1) according to any one of claims 1 to 3, further comprising: a guide mechanism with a guide groove section (72) extending in the insertion / removal direction (X) and a convex guide section (71) engaging with the guide groove section (72), wherein, when an upper end face of the power supply terminal body (40) is in contact with the ceiling surface (36F), the convex guide section (71) is inserted into the guide groove section (72), and, in a state where the convex guide section (71) is inserted into the guide groove section (72), the movement of the power supply terminal body (40) in the transverse direction (Y) with respect to the power receiving terminal body (3) is restricted and the movement of the power supply terminal body (40) in the insertion / removal direction (X) with respect to the power receiving terminal body (3) is permitted, wherein the guide groove section (72) is provided either on the ceiling surface (36F) or on the power supply connection body (40), the convex guide section (71) is provided on the other side of the ceiling surface (36F) and the power supply connection body (40), and the guide groove section (72) or the convex guide section (71) formed on the ceiling surface (36F) is the second structure. [5] Vehicle charging system (1) according to any one of claims 1 to 4, wherein the motion unit (5) has a pitch-swivel mechanism (54) that pivots the power supply terminal body (40) about a shaft center point (54x) parallel to the transverse direction (Y), a sensor (8) that detects the contact between an upper surface (441F) of the power supply terminal body (40) and the ceiling surface (36F) is provided on the upper surface (441F) of the power supply terminal body (40), and the control unit (10) drives the pitch-swivel mechanism (54) in accordance with a detection result from the sensor (8) to bring the upper surface (441F) of the power supply terminal body (40) into contact with the ceiling surface (36F). [6] Vehicle charging system (1) according to any one of claims 1 to 5, wherein the motion unit (5) has a yaw swivel mechanism (55) that swivels the power supply terminal body (40) about a shaft center point (55x) parallel to the up / down direction (Z), and In a case where one of the two side surfaces (40F1, 40F2) of a pair of power supply terminal bodies, which are facing each other in the transverse direction (Y) of an outer surface (40o) of the power supply terminal body (40), is in contact with a pair of both side surfaces (40F1, 40F2) of the power receiving terminal body, which are facing each other in the transverse direction (Y) of an inner surface (34i) of the power receiving terminal body (3A), the yaw pivoting mechanism (55) causes the two side surfaces (40F1, 40F2) of the power supply terminal body and the two side surfaces (34F1, 34F2) of the power receiving terminal body to face each other in the transverse direction (Y), so that the power receiving terminal body (3A) and the power supply terminal body (40) are joined together. [7] Vehicle charging system (1) according to any one of claims 1 to 6, wherein the motion unit (5) comprises a drive source (52a) acting in the insertion / removal direction for moving the power supply connection body (40) in the insertion / removal direction (X), and In a case where the output signal of the drive source (52a) acting in the insertion / removal direction exceeds a predetermined threshold, the control unit (10) determines that the current receiving current connection (31b) and the supply current connection (41b) are electrically connected to each other, and the drive source (52a) acting in the insertion / removal direction stops.

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