ROBOT CHARGER CONTROL DEVICE AND METHOD FOR IT

Abstract

A charging robot control device (300) and a method therefor, wherein the charging robot control device (300) comprises a memory which stores computer-executable instructions and at least one processor which accesses the memory and executes the instructions. The at least one processor identifies at least one vehicle by vehicle type or vehicle identification number (VIN) of the vehicle, or any combination thereof, by means of a vehicle number based on vehicle number recognition, controls a charging robot to perform charging of the vehicle when a parking state of the vehicle is a parking completion state and a charging request is received from the vehicle, and controls the charging robot to stop charging the vehicle based on a target battery level of the vehicle.

Description

Technical field

[0001] The present disclosure / invention relates to a charging robot control device and a method therefor, and in particular relates to technologies for controlling a charging robot which is set up to charge an electric vehicle. background

[0002] Demand for electric vehicles is rising due to growing concerns about pollution caused by vehicle emissions and the increasing cost of diesel and gasoline, the fuels for conventional vehicles. This increase in demand is accompanied by a corresponding rise in interest in electric vehicle charging robots. Driven by advances in control technology, robots are being widely deployed in various fields. Examples include surgical robots, janitorial robots, service robots, remotely piloted aerospace robots, and robots for handling hazardous materials. In particular, a service robot may include a charging robot designed for charging electric vehicles.

[0003] However, charging robots currently face several challenges in performing tasks such as detecting electric vehicles, connecting a charging cable to a charging port to charge the vehicle, and disconnecting the charging cable. These processes can unfortunately be subject to malfunctions or errors, which significantly disadvantages the electric vehicle charging process and can negatively impact consumer demand for electric vehicles.

[0004] To address these problems, there is a growing need for advanced technology that can effectively control a charging robot and handle malfunctions and errors when they occur during the operation of the charging robot. Explan

[0005] The present disclosure / invention is directed to provide a charging robot control device for identifying a vehicle type or vehicle VIN by means of a vehicle number and (for) controlling a charging robot to perform charging of the vehicle in order to provide a user with an unmanned parking and charging system (e.g. a parking and charging system without the need for manual / human intervention) based on an autonomous parking function, as well as a method for doing so.

[0006] The present disclosure / invention is also directed to provide a charging robot control device for controlling a charging robot to terminate the charging of the vehicle based on a target battery level of the vehicle (e.g., to terminate the charging of the vehicle based on a target battery level of the vehicle), in order to provide a user with a function in which a driver or the user does not have to get out of the vehicle to automatically continue charging the vehicle (e.g., to have this carried out automatically), and a method for doing so.

[0007] The present disclosure / invention is also directed to provide a charging robot control device for identifying an obstacle that disturbs (e.g. impairs) a charging process of the charging robot in an operating area which has an area in which a robot arm contained in the charging robot is able to carry out the charging of the vehicle in order to increase the safety of the charging robot while a process of moving the charging robot and a process of charging the vehicle are carried out, as well as a method for doing so.

[0008] According to one aspect of the present disclosure / invention, a charging robot control device can comprise a memory that stores computer-executable instructions, a communication device that assists (e.g., enables) communication between the charging robot control device and an external device, and at least one processor that accesses the memory and executes the instructions. The at least one processor can identify at least one vehicle type, vehicle identification number (VIN), or any combination thereof, by means of a vehicle number based on vehicle number recognition. The at least one processor can control a charging robot to perform charging of the vehicle when the vehicle is in a parking state (e.g., a parking completion state).a state in which parking is completed and, for example, the vehicle (e.g., stationary) is in a parking space and a charging request is received from the vehicle (e.g., it receives a charging request from the vehicle), and (the at least one processor) can control the charging robot to end / stop the charging of the vehicle based on a target battery amount (e.g., a target battery charge level) of the vehicle.

[0009] In some implementations, the at least one processor can apply the VIN to a vehicle information database to obtain a charging port position of the vehicle, based on identifying the vehicle type and the VIN, and can (the at least one processor) communicate with the vehicle using the VIN to identify the vehicle's parking status.

[0010] In some implementations, the at least one processor can determine whether an autonomous parking state of the vehicle is the same as parking completion (e.g., whether the vehicle is parked according to an autonomous parking state of the vehicle), based on the fact that a parking mode of the vehicle is an autonomous parking mode; can determine whether a gear state of the vehicle is a predetermined gear state, based on the fact that the parking mode of the vehicle is a manual parking mode; and can determine the parking state of the vehicle as the parking completion state, based on the fact that the autonomous parking state of the vehicle is parking completion or the gear state of the vehicle is the predetermined gear state.

[0011] In some implementations, the at least one processor can control the charging robot (in order) to perform the charging of the vehicle, based on a state of a charging port of the vehicle and a connection state between the vehicle and a charging cable.

[0012] In some implementations, the at least one processor can control the charging robot to move to a charging port position of the vehicle, can communicate with the vehicle using the VIN to transmit a command to open the charging port to the vehicle, can receive charging port detection information identified by a vision control device (e.g., an image processing (vision) control device, e.g., a (vision) control device with integrated image processing) contained in the charging robot, and can control the charging robot to perform charging of the vehicle based on the identified charging port detection information.

[0013] In some implementations, the at least one processor can control the charging robot to couple the charging cable to the vehicle (e.g., with the vehicle) until the connection state between the vehicle and the charging cable is a locking state (e.g., a locked state), and can control the charging robot to perform the charging of the vehicle, based on the fact that the connection state between the vehicle and the charging cable is the locking state.

[0014] In some implementations, the at least one processor can control the charging robot to disconnect the charging cable connected to the vehicle, based on the connection state between the vehicle and the charging cable being an unlocked state (e.g., unlocked state, e.g., unlocked state, e.g., unlocked state); the at least one processor can communicate with the vehicle using the VIN to transmit a command to close the charging port; and the at least one processor can provide a user with a notification indicating a state in which the vehicle is able to move (e.g., park, be parked), based on the charging cable being disconnected from the vehicle and the vehicle's charging port being closed.

[0015] In some implementations, the at least one processor can identify an operating area which includes a range in which a robot arm contained in the charging robot is able to perform the charging of the vehicle, can (the at least one processor) perform a check of a safety function of the charging robot using information about the robot arm, and can (the at least one processor) stop (e.g., halt, terminate) operation of the charging robot based on at least one of the operating areas or the check of the safety function or any combination thereof.

[0016] In some implementations, the processor can identify a connecting part (e.g., a connecting part) and a joint part (e.g., a joint part) contained in the robot arm. Based on the fact that the charging robot is charging the vehicle, the processor can identify at least one piece of information about the connecting part, where the information is contained in the information about the robot arm, or one piece of information about the joint part, where the information is contained in the information about the robot arm, or any combination thereof. The processor can also stop the operation of the charging robot (e.g., halt, terminate) based on a check of the charging robot's safety function using at least one piece of information about the connecting part, or one piece of information about the joint part, or any combination thereof.

[0017] In some implementations, the at least one processor can identify an initial position of the joint part from the information about the joint part and can (the at least one processor) stop the operation of the loading robot (e.g., halt, e.g., terminate) based on a comparison between a difference between the initial position and a target position of the joint part, where the target position is contained in an instruction for the joint part, and a predetermined reference value.

[0018] In some implementations, the at least one processor can identify a second position of the connector from the information about the connector and can (the at least one processor) stop the operation of the loading robot (e.g., halt, e.g., terminate) based on a comparison between a difference between the second position and a target position of the connector, where the target position is contained in an instruction for the connector, and a predetermined reference value.

[0019] In some implementations, the at least one processor can identify a travel range (e.g., a drive range, e.g., an operating range) of the joint part from the information about the joint part and can (the at least one processor) stop (e.g., halt, e.g., terminate) the operation of the loading robot based on a comparison between a difference between the travel range of the joint part and a target travel range (e.g., a target drive range, e.g., a target operating range) of the joint part, where the target travel range is contained in an instruction for the joint part, and a predetermined reference value.

[0020] In some implementations, the at least one processor can identify a travel speed (e.g., a drive speed) of the joint part from the information about the joint part and can (the at least one processor) stop the operation of the loading robot (e.g., halt, e.g., terminate) based on a comparison between a difference between the travel speed of the joint part and a target travel speed (e.g., a target drive speed, e.g., a target operating speed) of the joint part, where the target travel speed is contained in an instruction for the joint part, and a predetermined reference value.

[0021] In some implementations, the at least one processor can identify an initial torque applied to the joint part (e.g., applied to it, acting upon it) from the information about the joint part and can (the at least one processor) stop the operation of the charging robot (e.g., halt, terminate) based on a comparison between the initial torque and a maximum torque value that is allowed (e.g., permissible) for the joint part.

[0022] In some implementations, the at least one processor can identify a second torque exerted on the connecting part (e.g., applied to it, acting on it) from the information about the connecting part and can (the at least one processor) stop the operation of the charging robot (e.g., halt, terminate) based on a comparison between the second torque and a maximum torque value that is allowed (e.g., permissible) for the connecting part.

[0023] In some implementations, the at least one processor can issue a notification that the charging robot's operation has been stopped, based on the fact that the charging robot's operation was stopped due to a safety function check (e.g., based on the fact that the charging robot's operation was stopped due to a safety function check), can provide a user with information about the safety function check, can determine whether a cause that caused the operation to be stopped has been resolved after a point in time at which the information about the charging robot's safety function check is / was provided to the user, and can control the charging robot to restart charging the vehicle (e.g.,to carry out the necessary repairs (again), based on the fact that the cause (e.g., due to) which caused the operation to be stopped has been / is being resolved.

[0024] In some implementations, the at least one processor can identify an obstacle in the operating area that interferes with (e.g., hinders, impairs) the charging process of the charging robot and can issue a notification that the obstacle has been identified and stop (e.g., halt, terminate) the operation of the charging robot based on the identification of the obstacle in the operating area.

[0025] In some implementations, the at least one processor can receive signals for detecting an object located in the operating area (e.g., that it is positioned there) at each predetermined time interval from sensors contained in the loading robot and can determine that the obstacle is present in the operating area (e.g., that it is located there) based on at least one of the signals.

[0026] In some implementations, the at least one processor can control the charging robot to disconnect a charging cable (e.g., a charging cable) from the vehicle, based on the fact that the amount of battery charged into the vehicle (e.g., in the vehicle) is the same as the vehicle's target battery level, or that the difference between the amount of battery charged into the vehicle (e.g., in the vehicle) and the vehicle's target battery level is within a predetermined range (e.g., lies within a certain range), and can transmit a notification that charging is complete to at least one device connected to the vehicle or a portable device of a user of the vehicle, based on the fact that the charging cable (e.g., the charging cable) is / is being / has been disconnected from the vehicle.

[0027] According to a further aspect of the present disclosure / invention, a charging robot control method may comprise: identifying at least one vehicle type or vehicle information number (VIN) of the vehicle or any combination thereof by means of a vehicle number, based on vehicle number recognition; controlling a charging robot to perform charging of the vehicle when a parking state of the vehicle is a parking completion state and a charging request is received from the vehicle; and controlling the charging robot to stop (e.g., terminate, e.g., halt) charging of the vehicle based on a target battery amount (e.g., a target battery charge level) of the vehicle. Brief description of the drawings Fig. Figure 1 is a representation that shows an example of a loading robot control device. Fig. Figure 2 is a flowchart to describe an example of a procedure for controlling a loading robot. Fig. Figure 3 is a representation that shows an example of a system for controlling a loading robot. Fig. Figure 4 is a representation that shows an example of a loading robot. Fig. Figure 5 is a flowchart to describe an example of a procedure for controlling a vehicle. Fig. Figure 6 is a flowchart describing an example of a procedure for determining an identified parking state of a vehicle. Fig. Figure 7 is a flowchart describing an example of a procedure for controlling a charging robot to perform charging by detecting a charging port. Fig. Figure 8 is a flowchart describing an example of a procedure for controlling a charging robot to stop charging based on the state of a charging port. Fig. Figure 9 is a flowchart describing an example of a procedure for performing a verification of a safety function of a charging robot. Fig. Figure 10 is a flowchart describing an example of a procedure for controlling a loading robot depending on the identification of an obstacle. Fig. Figure 11 is a flowchart describing an example of a procedure for controlling a loading robot depending on stopping the operation of a loading robot. Fig. 12A and Fig. 12B are representations which provide an example of a procedure for determining an operating area. Fig. Figure 13 is a representation that provides an example of a computing system associated with a loading robot control device or loading robot control method. Detailed description

[0028] The present disclosure / invention is described below with reference to Fig. 1 to Fig. 13 described in detail.

[0029] Fig. Figure 1 is a representation that shows an example of a loading robot control device.

[0030] A loading robot control device 100 can have a processor 110, a memory 120 which contains instructions 122, and a communication device 130.

[0031] The charging robot control device 100 can refer to a device for controlling a charging robot that is configured to charge a vehicle. For example, the charging robot control device 100 can determine the vehicle's parking status, identify the vehicle's charging port, connect a charging cable to the identified charging port to control the charging robot, identify an obstacle, perform a safety check of the charging robot during the vehicle charging process, stop the charging robot's operation, and provide a user with information regarding the safety check to address the cause of the stoppage.For example, the charging robot control device 100 can control the charging robot through the processes mentioned above to provide a service to the user, so that the user does not have to leave the vehicle (e.g., exit it) to continue charging the vehicle automatically. A detailed description of the process performed by the charging robot control device 100 to provide the service to the user is given below, with reference to [reference to relevant section / document]. Fig. 5 to Fig. 11 given.

[0032] The processor 110 can execute software and control at least one other component (e.g., a hardware or software component) connected to the processor 110. Additionally or alternatively, the processor 110 can perform a variety of data processing (e.g., data processing operations) or computations (e.g., calculations). For example, the processor 110 can store at least one piece of information in memory 120, including the vehicle type, the vehicle identification number (VIN), the vehicle's charging port location, or charging port detection information.

[0033] In some implementations, processor 110 can perform all operations carried out by the loading robot control device 100. Therefore, for the sake of simplicity, the operation performed by the loading robot control device 100 will primarily be described as an operation performed by processor 110. Furthermore, for the sake of simplicity, processor 110 will primarily be described as a single processor, but is not limited to this. For example, the loading robot control device 100 may have at least one processor. Each of these at least one processors can perform all operations associated with the loading robot control device 100.

[0034] Memory 120 can temporarily and / or permanently store various data pieces (e.g., data elements) and / or information required to perform a process for controlling the charging robot. For example, memory 120 can store at least one piece of information about the vehicle type, the vehicle's VIN, the vehicle's charging port position, or the charging port detection information.

[0035] The communication device 130 can facilitate communication between the charging robot control device 100 and a server 140. For example, the communication device 130 can include one or more components for facilitating communication between the charging robot control device 100 and the server 140. For example, the communication device 130 can include a short-range wireless communication unit, a microphone, or the like. As another example, a short-range communication technology could be, but is not limited to, wireless LAN (Wi-Fi), Bluetooth, ZigBee, Wi-Fi Direct (WFD), ultra-wideband (UWB), infrared data association (IrDA), Bluetooth Low Energy (BLE), near-field communication (NFC), or the like.

[0036] Fig. Figure 2 is a flowchart to describe an example of a procedure for controlling a loading robot.

[0037] In process 210, a loading robot control device (e.g., a loading robot control device 100) can be used. Fig. 1) Identify at least one vehicle of a specific type or vehicle identification number (VIN), or any combination thereof, based on the recognition of a vehicle number. For example, the charging robot control device can identify at least one vehicle of a specific type or vehicle identification number (VIN), or any combination thereof, in order to perform charging operations on the vehicle.

[0038] In process 220, the charging robot control device can control the charging robot to charge the vehicle if the vehicle's parking state is a parking completion state (e.g., a parking-ending state, a state in which parking is complete and the vehicle is stationary in a parking space) and a charging request is received from the vehicle. For example, the vehicle's parking state can have a parking completion state and a parking incomplete state. If the vehicle's parking state is the parking completion state, the charging robot control device can determine that the vehicle is waiting to be charged. The charging robot control device can then receive a charging request from the vehicle.In some implementations, the charging robot control device can receive a charging request by communicating with the vehicle, instead of receiving the charging request directly from the user.

[0039] In process 230, the charging robot control device can control the charging robot to terminate vehicle charging based on a target battery level (e.g., a target battery charge level). For example, the charging robot control device can receive the target battery level from the vehicle. The target battery level can be determined based on the user or the vehicle's battery status. The charging robot control device can determine vehicle charging completion by comparing the vehicle's current battery level (e.g., current battery charge level) with the target battery level. When vehicle charging is complete, the charging robot control device can control the charging robot to terminate vehicle charging.

[0040] Fig. Figure 3 is a representation that shows an example of a system for controlling a loading robot.

[0041] A charging robot control device 300 can communicate with a charger 310, a first server 330, or a second server 340 to control a charging robot 360, which charges (or is configured to charge) a vehicle 320. For the sake of simplicity, the vehicle 320 is described as an electric vehicle.

[0042] For example, the first server 330 can be a server responsible for the overall operation (e.g., the overall control) of an automatic charging system for the vehicle 320, which provides an interface to a customer and a scenario for the charging robot 360. The second server 340 can communicate with the vehicle 320 to deliver information from the vehicle 320 to the charging robot control device 300.

[0043] The charger 310 can refer to specifying a charger for the vehicle 320 (e.g., the charger 310 can be a charger for the vehicle 320) and may be an ultra-fast vehicle charger. The charging robot control device 300 can transmit an operating state (e.g., an activation state) associated with an operation (e.g., an activation) of the charging robot 360 and parking guidance (e.g., parking instructions) for a user to the first server 330. The first server 330 can then display the operating state associated with the operation of the charging robot 360 and the parking guidance for the user on a display (e.g., a screen) 370.

[0044] The loading robot control device 300 can receive signals from detection sensors 350 at any predetermined time interval to identify an obstacle. A detailed description associated with this is given below with reference to Fig. 10 given.

[0045] The license plate, parking status recognition VISION control device 380 (e.g., the VISION control device 380 for license plate and parking status recognition, e.g., the image processing control device 380 for license plate and parking status recognition, e.g., the (vision) control device 380 for license plate and parking status recognition with integrated image processing) can refer to a VISION module control device (e.g., an image processing module control device, e.g., a module control device with integrated image processing) which is configured to recognize a license plate of the vehicle 320 and a parking status. The charging robot control device 300 can determine whether the vehicle is parked (e.g., parked) based on the (e.g.,The license plate number detected by means of the parking condition recognition VISION control device 380, the parking condition of vehicle 320 detected by means of the parking condition recognition VISION control device 380, and the parking condition of vehicle 320.

[0046] Fig. Figure 4 is a representation that shows an example of a loading robot.

[0047] A charging robot control device (e.g., a charging robot control device made of Fig. 1) can control a loading robot 410. The loading robot 410, controlled by the loading robot control device, can have a robot drive device (e.g., a robot drive device, e.g., a robot operating device), a gripper drive device (e.g., a gripper drive device), a vision control device (e.g., an image processing (vision) control device, e.g., a (vision) control device with integrated image processing), a camera module, and an autonomous case-handling robot (ACR) control device. In some implementations, the robot drive device can drive a motor contained within the loading robot 410. The gripper drive device can drive a gripper to enable the loading robot 410 to grasp (e.g., pick up) a charging cable.The vision control device can detect at least one charging port, a vehicle identification number (VIN), or a vehicle's parking status. The camera module can refer to a camera module installed at one end of the charging robot 410 and configured to detect the charging port. The ACR control device can control the charging robot 410, control a system that works in conjunction with the charging robot 410, and monitor the operation of the charging robot 410. Multiple components can be controlled by a single command from the charging robot control device. Therefore, for the sake of simplicity, the description states that each of the multiple components contained in the charging robot 410 can be controlled by a single command from the charging robot control device.

[0048] For example, the ACR control device can include an ACR control module, a vehicle communication module, a safety sensor module, and a charger communication module. In some implementations, the ACR control module can be a module for controlling the movement of the charging robot 410, which performs the charging (e.g., charging) of the vehicle, and a system associated with this movement. The safety sensor module can be a sensor module for detecting an obstacle that comes near (e.g., penetrates) the charging robot 410. The vehicle communication module can refer to a module for performing wireless communication with the vehicle to control the charging port and check the charging status. The charger communication module can refer to a communication module that is connected to an ultra-fast charger to determine the charger's status.

[0049] Fig. Figure 5 is a flowchart to describe an example of a procedure for controlling a vehicle.

[0050] In process 510, a loading robot control device (e.g., a loading robot control device 100) can be used. Fig. 1) Identify a vehicle's parking state. For example, a user can park the vehicle in a manual or automatic scheme (e.g., manually or automatically). In some implementations, parking the vehicle in a manual scheme may refer to parking under the user's control. In other implementations, parking the vehicle in an automatic scheme may refer to parking under the vehicle's control, similar to autonomous parking.

[0051] In process 520, the charging robot control device can receive a charging request from the vehicle or a user's portable device. In some implementations, the charging robot control device can directly receive a charging request from the vehicle whose parking (e.g., parking maneuver) is complete.

[0052] In operation 530, the charging robot control device can have the vehicle wait until it reaches a "Charging Complete" state (e.g., until charging is finished). For example, the charging robot control device can provide the user with a notification that movement is prohibited according to a charging state by displaying information to prompt the vehicle to wait.

[0053] In process 540, the charging robot control device can control the vehicle's exit (e.g., leaving the charging station). For example, the charging robot control device can provide the user with a notification that movement is possible following the completion of charging by displaying corresponding information, thereby controlling the vehicle's exit (e.g., leaving the charging station). The user can then initiate the vehicle's exit (e.g., parking) in either a manual or automatic manner.

[0054] Fig. Figure 6 is a flowchart describing an example of a procedure for determining an identified parking state of a vehicle.

[0055] In process 610, a loading robot control device (e.g., a loading robot control device 100) can be used. Fig. 1) Recognize a vehicle. For example, the charging robot control device can recognize the vehicle's identification number (VIN) and parking status. Based on the vehicle's parking status indicating that parking is complete, the charging robot control device can then initiate charging.

[0056] In process 620, the charging robot control device can apply a VIN to a vehicle information database to obtain the vehicle's charging port position, based on the identification of the vehicle type and the VIN. The charging robot control device can then retrieve the vehicle's charging port position from the vehicle information database and thereby control a charging robot to connect (e.g., couple) a charging cable to the charging port position.

[0057] In process 630, the charging robot control device can communicate with the vehicle based on the VIN to identify the vehicle's parking status.

[0058] In process 640, the charging robot control device can identify the vehicle's parking mode to determine its parking status. For example, if the vehicle's parking mode is Autonomous Parking, then in process 650, the charging robot control device can determine if the vehicle's Autonomous Parking status is the same as Parking Completion (e.g., whether parking has been completed / finished by Autonomous Parking). If the vehicle's Autonomous Parking status is not Parking Completion, then the charging robot control device can repeatedly identify and determine the vehicle's parking status until the Autonomous Parking status is Parking Completion. The charging robot control device can obtain information by communicating with the vehicle, which is associated with the vehicle's Controller Area Network (CAN DB) database.The charging robot control device can identify the autonomous parking state based on the information received, which is associated with the CAN DB.

[0059] In process 660, the loading robot control device can determine whether the vehicle's gear state is a predetermined gear (e.g., park), based on the vehicle's parking mode being a manual parking mode. If the vehicle's gear state is not the predetermined gear state, the loading robot control device can repeatedly identify and determine the vehicle's parking state until it is. The loading robot control device can identify the vehicle's gear state based on information obtained from the CAN database.

[0060] The charging robot control device can determine the vehicle's parking state as a parking completion state, based on whether the vehicle's autonomous parking state is parking completion or the vehicle's gear state is the predetermined gear state. As a result, the charging robot control device can control the charging robot to start charging the vehicle.

[0061] Fig. Figure 7 is a flowchart describing an example of a procedure for controlling a charging robot to perform charging by detecting a charging port.

[0062] In process 710, a loading robot control device (e.g., a loading robot control device 100) can be used. Fig. 1) To control a charging robot to move to the position of a vehicle's charging port (e.g., to move there). For example, the charging robot control device can control the charging robot to perform charging of the vehicle based on the state of the vehicle's charging port and the connection status between the vehicle and a charging cable.

[0063] In process 720, the charging robot control device can transmit a command to open the charging port to the vehicle. In some implementations, the charging robot control device can communicate with the vehicle using a VIN to transmit the command to open the charging port.

[0064] In process 730, the charging robot control device can identify the state of the charging port. For example, in process 740, the charging robot control device can receive charging port detection information identified by a vision control device included in the charging robot to identify the state of the charging port.

[0065] In Operation 750, the charging robot control device can control the charging robot to charge the vehicle based on the identified charging port detection information. In some implementations, in Operation 760, the charging robot control device can identify the connection state between the vehicle and the charging cable based on a determination in order to control the charging robot. For example, the charging robot control device can identify whether the connection state between the vehicle and the charging cable is an interlock state (e.g., a locked state). As another example, the charging robot control device can control the charging robot to couple the charging cable to the vehicle until the connection state between the vehicle and the charging cable is the interlock state.

[0066] The charging robot control unit can receive information from the vehicle via communication with the vehicle's CAN database. Based on this information, the charging robot control unit can identify the connection status between the vehicle and the charging cable. If the connection status between the vehicle and the charging cable is locked, the charging robot control unit can then perform the following operations.

[0067] In operation 770, the charging robot control device can start / begin charging the vehicle when the charging cable is / has been connected to the vehicle. For example, the charging robot control device can control the charging robot to perform the vehicle charging based on the fact that the connection state between the vehicle and the charging cable is the locked state.

[0068] In process 780, the charging robot control device can determine whether the charging state is a final or a stop state. For example, if the charging state is a final or stop state, the charging robot control device can terminate the control of the charging robot.

[0069] Fig. Figure 8 is a flowchart describing an example of a procedure for controlling a charging robot to stop (e.g., halt, e.g., terminate) charging based on the state of a charging port.

[0070] In process 810, a loading robot control device (e.g., a loading robot control device 100) can be used. Fig. 1) Control a charging robot to disconnect a charging cable connected to a vehicle, based on the fact that a connection state between the vehicle and the charging cable is an unlocked state (e.g., unlocked state, e.g., an unlocked state, e.g., an unlocked state). The charging robot control device can disconnect the charging cable from the vehicle to terminate the vehicle's charging.

[0071] The charging robot control device can control the charging robot to disconnect the charging cable from the vehicle based on whether the amount of battery charge charged into the vehicle (e.g., the amount of battery charge in the vehicle) equals the vehicle's target battery charge, or whether the difference between the amount of battery charge charged into the vehicle (e.g., the amount of battery charge in the vehicle) and the vehicle's target battery charge is within a predetermined range. For example, the charging robot control device can receive information from the vehicle's CAN database by communicating with it. The charging robot control device can then compare the amount of battery charge charged into the vehicle (e.g., the amount of battery charge in the vehicle) with the vehicle's target battery charge based on the information received from the CAN database.

[0072] In process 820, the charging robot control device can communicate with the vehicle using a VIN to transmit a command to the vehicle to close a charging port.

[0073] In process 830, the charging robot control device can provide a user with a notification indicating a state in which the vehicle can extend, based on the charging cable being disconnected from the vehicle and the vehicle's charging port being closed. For example, the charging robot control device can display the notification indicating the vehicle's extension status on a screen (e.g., a display), thus providing the notification to the user. Furthermore, the charging robot control device can transmit a notification of charging completion (e.g., the completion of charging, e.g., the termination of the charging process) to at least one device connected to the vehicle or to a portable device belonging to the vehicle user, based on the charging cable being disconnected or separated from the vehicle (e.g., removed).

[0074] Fig. Figure 9 is a flowchart describing an example of a procedure for performing a verification of a safety function of a charging robot.

[0075] In process 910, a loading robot control device (e.g., a loading robot control device 100) can be used. Fig. 1) Determine the position of a vehicle's charging port based on charging port detection information obtained by a vision control device integrated into a charging robot. The charging robot control device can then identify an operating area within which a robot arm integrated into the charging robot is capable of charging the vehicle.

[0076] In process 920, the loading robot control device can perform a check (e.g., an inspection) of a safety function of the loading robot using information relating to the robot arm of the loading robot. The check of the safety function can involve a check of a function of the robot arm contained within the loading robot. For example, the check of the safety function can be performed by checking the torque and position of each of a connecting part (e.g., including an end of the robot arm) and a joint part contained within the robot arm.

[0077] In operations 930 and 940, the charging robot control device can stop (e.g., halt, terminate) the operation (e.g., activation) of the charging robot based on at least one condition within the operating range or a safety function check. For example, in operation 930, the charging robot control device can determine whether the vehicle's charging port is within the operating range. If the charging port is not within the operating range, the charging robot control device can issue a notification in operation 950 that the charging robot's operation has been stopped. In some implementations, in operation 940, the charging robot control device can determine whether the safety function check of the connecting part or the joint part has been passed.If the safety function check of the connecting part or the joint part has not been / will be / was not passed, (then) the charging robot control device can issue a notification in process 950 that the operation of the charging robot has been / will be / was stopped.

[0078] In conjunction with the safety function check, the charging robot control device can perform the following operations. The charging robot control device can identify the connecting part and the joint part contained in the robot arm, based on the fact that the charging robot is charging the vehicle. The charging robot control device can identify at least one piece of information about the connecting part contained in the information about the robot arm, or at least one piece of information about the joint part contained in the information about the robot arm. Subsequently, the charging robot control device can stop the operation of the charging robot (e.g., halt it, terminate it) based on the safety function check using at least one piece of information about the connecting part or the joint part.The safety function check may include the examples below.

[0079] In some implementations, the loading robot control device can identify an initial position of the joint part from information about the joint part. The loading robot control device can stop the loading robot's operation (e.g., halt, terminate) based on a comparison between the difference between the initial position and a target position of the joint part, which is contained in a command for the joint part, and a predetermined reference value. For example, if the difference between the initial position and the target position is greater than the predetermined reference value, then the loading robot control device can stop the loading robot's operation (e.g., halt, terminate).

[0080] In some implementations, the loading robot control device can identify a second position of the joint part from information about the connecting part. The loading robot control device can stop the loading robot's operation (e.g., halt, terminate) based on a comparison between the difference between the second position and a target position of the connecting part, which is contained in a command for the connecting part, and (e.g., a predetermined reference value). For example, if the difference between the second position and the target position is greater than the predetermined reference value, (then) the loading robot control device can stop the loading robot's operation (e.g., halt, terminate).

[0081] In some implementations, the loading robot control device can identify a travel range (e.g., a drive range, e.g., an operating range) of the joint from information about the joint. The loading robot control device can stop (e.g., halt, e.g., terminate) the operation of the loading robot based on a comparison between a difference between the travel range of the joint and a target travel range of the joint, which is contained in a command for the joint, and (e.g., with) a predetermined reference value. For example, if the difference between the travel range of the joint and the target travel range is greater than the predetermined reference value, (then) the loading robot control device can stop (e.g., halt, e.g., terminate) the operation of the loading robot.

[0082] In some implementations, the loading robot control device can identify the travel speed (e.g., a drive speed) of the articulated part from information about the articulated part. The loading robot control device can stop (e.g., halt, terminate) the operation of the loading robot based on a comparison between the difference between the travel speed of the articulated part and a target travel speed (e.g., a target drive speed) of the articulated part, which is contained in a command for the articulated part, and (e.g., with) a predetermined reference value. For example, if the difference between the travel speed of the articulated part and the target travel speed is greater than the predetermined reference value, (then) the loading robot control device can stop (e.g., halt, terminate) the operation of the loading robot.

[0083] In some implementations, the loading robot control device can identify the initial torque applied to the joint (e.g., applied to it, acting upon it) from information about the joint. The loading robot control device can then stop the loading robot's operation (e.g., halt it, terminate it) based on a comparison between this initial torque and a maximum permissible torque value for the joint. For example, if the initial torque exceeds the maximum torque value, the loading robot control device can stop the loading robot's operation (e.g., halt it, terminate it).

[0084] In some implementations, the charging robot control device can identify the second torque applied to the connecting part (e.g., applied to it, acting upon it) from information about the connecting part. The charging robot control device can stop the charging robot's operation (e.g., halt it, terminate it) based on a comparison between the second torque and a maximum torque value allowed (e.g., permissible) for the connecting part. For example, if the second torque is greater than the maximum torque value, the charging robot control device can stop the charging robot's operation (e.g., halt it, terminate it). The maximum torque value can refer to a value determined at a time when the charging robot was produced, or it can be a value entered by a user.

[0085] In process 960, the charging robot control device can check and determine whether the charging robot's movement has / has ended. For example, if it is checked that the charging robot's movement has / has ended, the charging robot control device can control the charging robot to complete the vehicle charging process.

[0086] Fig. Figure 10 is a flowchart describing an example of a procedure for controlling a loading robot depending on the identification of an obstacle.

[0087] In process 1010, a loading robot control device (e.g., a loading robot control device 100) can be used. Fig. 1) Provide a user with a notification containing a warning according to the operation of a charging robot, based on the fact that the charging robot is charging a vehicle (e.g., currently) (for example, in process 1010 a charging robot control device (e.g., a charging robot control device 100) Fig. 1) Provide a user with a notification containing a warning, according to the operation of a charging robot, based on the fact that the charging robot is charging a vehicle (e.g. currently).

[0088] In process 1020, the charging robot control device can identify an obstacle within an operating area (e.g., work area) that interferes with (e.g., obstructs, impairs) the charging process of the charging robot. For example, the charging robot control device can receive signals from sensors integrated into the charging robot at each predetermined time interval to detect an object located within the operating area (e.g., that it is positioned there). The charging robot control device can determine that the obstacle is present within the operating area (e.g., that it is located there) based on at least one of the signals. For example, the charging robot control device can determine that the obstacle is present within the operating area based on at least one of the signals being an "off" signal.

[0089] In step 1030, the charging robot control device can determine whether the obstacle has been identified. In step 1040, the charging robot control device can issue a notification that the obstacle has been identified and stop the charging robot's operation (e.g., halt it, terminate it), based on the fact that the obstacle has been identified within the operating area. In some implementations, in step 1050, the charging robot control device can check and determine whether the charging robot's movement has ended, based on whether the obstacle has not been identified within the operating area. For example, if it has been checked that the charging robot's movement has ended, the charging robot control device can control the charging robot to complete the vehicle charging process.

[0090] Fig. Figure 11 is a flowchart describing an example of a procedure for controlling a loading robot depending on stopping the operation of a loading robot.

[0091] In process 1110, a loading robot control device (e.g., a loading robot control device 100) can be used. Fig. 1) Issue a notification that the operation of a charging robot has been stopped, based on the fact that the operation of the charging robot was stopped by checking a safety function (e.g., based on the fact that the operation of the charging robot was stopped by checking a safety function).

[0092] In process 1120, the charging robot control device can provide a user with information about the safety function check. For example, if the charging robot's operation has been stopped, the charging robot control device can provide the user with information about the safety function check in order to address it.

[0093] In process 1130, the charging robot control device can determine whether the cause (e.g., the reason) that stopped operation has been resolved after the information about the charging robot's safety function check has been provided to the user. For example, the charging robot control device can identify at least one of the following: whether a vehicle charging port is within an operating area, whether an obstacle in the operating area has not been identified, or whether a charging robot fault has been rectified according to the charging robot's safety function check (e.g., if the position or torque of a connecting part is greater than a target position or maximum torque).

[0094] In process 1140, the charging robot control device can control the charging robot to resume charging the vehicle, based on the fact that the cause (e.g., due to) which stopped the operation has been / is being / has been resolved.

[0095] Fig. 12A and Fig. 12B are illustrations to describe an example of a procedure for determining an operating area.

[0096] A charging robot control device (e.g., a charging robot control device 100 made of Fig. 1) can identify an operating area 1220a or 1220b and determine which has an area in which a robot arm contained in a charging robot 1230a or 1230b is able to perform the charging of a vehicle 1210a or 1210b. For example, the vehicle 1210a or 1210b may be in a parked state in which the front of the vehicle 1210a or 1210b and the charging robot 1230a or 1230b are adjacent to each other (e.g., next to each other), or (in a parked state in which the rear of the vehicle 1210a or 1210b and the charging robot 1230a or 1230b are adjacent to each other (e.g., next to each other), in an area which has a predetermined distance from / to the charging robot 1230a or 1230b.When vehicle 1210a or 1210b is parked, the charging robot control device can determine a space and an area in which the robot arm contained in the charging robot 1230a or 1230b is able to connect a charging cable to a charging port of vehicle 1210a or 1210b, as the operating area 1220a or 1220b. Therefore, the operating area 1220a or 1220b can include an area in which the charging robot 1230a or 1230b is able to perform a process associated with charging vehicle 1210a or 1210b, while simultaneously (e.g., while it is operating simultaneously) it includes an area in which the robot arm is able to perform the charging of vehicle 1210a or 1210b.

[0097] Fig. Figure 13 is a representation that provides an example of a computing system associated with a loading robot control device or loading robot control method.

[0098] With reference to Fig. 13. A computing system 1000 can have at least one processor 1100, one memory 1300, one user interface input device 1400, one user interface output device 1500, one storage device 1600 and one network interface 1700, which are connected to each other via a bus 1200, via the loading robot control device or the loading robot control method.

[0099] The processor 1100 can be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and / or the storage device 1600. The memory 1300 and the storage device 1600 can have various types of volatile or non-volatile storage media. For example, the memory 1300 can have a ROM (Read Only Memory) 1310 and a RAM (Random Access Memory) 1320.

[0100] Accordingly, the processes of the method or algorithm, which are described in connection with the implementations disclosed in the description, can be directly implemented by a hardware module, a software module, or a combination of the hardware module and the software module, which is executed by the processor 1100. The software module can be located on a storage medium (i.e., the memory 1300 and / or the storage device 1600), such as RAM, flash memory, ROM, EPROM, EEPROM, a register, a hard disk, a removable disk, and a CD-ROM.

[0101] The example storage medium can be coupled to the 1100 processor. The 1100 processor can read information from the storage medium and write information to (e.g., onto) the storage medium. Alternatively, the storage medium can be integrated with the 1100 processor. The processor and the storage medium can be housed in an application-specific integrated circuit (ASIC). The ASIC can be located in a user terminal. In some implementations, the processor and the storage medium can be housed as separate components within the user terminal.

[0102] The implementations described above can be implemented using hardware components, software components, and / or a combination of both. For example, the devices, methods, and components can be implemented using general-purpose or specialized computers, such as a processor, a control device, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field-programmable array (FPGA), a programmable logic unit (PLU), a microprocessor, or any device capable of executing and responding to instructions. A processing unit can be an operating system (OS).The processing unit can execute an operating system or a software application running on the OS. Furthermore, in response to the execution of software, the processing unit can access, store, manipulate, process, and generate data. A person skilled in the art will understand that, although a single processing unit may be depicted for the sake of simplicity, the processing unit may have multiple processing elements and / or multiple types of processing elements. For example, the processing unit may have multiple processors or a processor and a control device. The processing unit may also have a different processing configuration, such as a parallel processor.

[0103] Software can consist of computer programs, code, instructions, or one or more combinations thereof, and can direct a processing unit to operate in a desired manner, or it can instruct the processing unit independently or collectively. Software and / or data can be permanently or temporarily implemented in any type of machine, component, physical equipment, virtual equipment, computer storage media or units, or transmitted signal waves to be interpreted by the processing unit or to provide instructions or data to the processing unit. Software can be distributed across computer systems connected via networks, and it can be stored or executed in a distributed manner. Software and data can be recorded on a (e.g., a single) computer-readable storage medium.

[0104] The methods may be implemented in the form of program instructions, which can be executed by various computer means and may be recorded on computer-readable media. The computer-readable media may contain program instructions, data files, data structures, and the like, individually or in combination, and the program instructions recorded on the media may be specifically designed and configured for an example, or they may be known and usable by a person skilled in the art of computer software. Examples of computer-readable media include magnetic media, such as hard disks, floppy disks, and magnetic tapes; optical media, such as CD-ROMs and DVDs; and magneto-optical media, such as floppy disks."Floating disks"), and hardware devices specifically designed to store and execute program instructions, such as read-only memory (ROM), random access memory (RAM), flash memory, and the like. Program instructions contain both machine code, such as that generated by a compiler, and higher-level code that can be executed by the computer using an interpreter.

[0105] The hardware devices described above can be configured to function as one or more software modules to perform the implementation operations, or vice versa.

[0106] According to the implementations of features of the present disclosure / invention discussed above, the charging robot control device can identify a vehicle type or VIN of the vehicle using a number of the vehicle and control a charging robot to perform charging of the vehicle, thereby providing a user with an unmanned parking and charging system (e.g. a parking and charging system without the need for manual / human intervention) based on an autonomous parking function.

[0107] According to implementations of the features described above, the charging robot control device can control the charging robot to stop charging the vehicle based on a target battery level of the vehicle, thereby providing the user with a function where a driver or user does not have to get out of the vehicle to continue charging the vehicle automatically (e.g., to have it done automatically).

[0108] According to implementations of the features described above, the charging robot control device can identify an obstacle that interferes with a charging process of the charging robot in an operating area which has an area in which a robot arm contained in the charging robot is able to perform the charging of the vehicle, thereby increasing the safety of the charging robot while a process of moving the charging robot and a process of charging the vehicle are carried out. Reference symbol list 1210a vehicle 1210b vehicle 1220a Operating area 1220b Operating area 1230a charging robot 1230b charging robot 1000 computing system

Claims

[1] Loading robot control device (100) comprising: a memory (120) which stores computer-executable instructions (122), and at least one processor (110) configured to access the memory (120) and execute the instructions (122) to perform operations which include: Identify (210) based on the recognition of a number associated with a vehicle by at least one of the vehicle type of the vehicle or the vehicle information number (VIN) of the vehicle; Taxes (220), based on the fact that a vehicle's parking state is a parking completion state and a charging request is received from the vehicle, a charging robot to charge the vehicle, and Taxes (230), based on a target battery amount of the vehicle, the charging robot to end the charging of the vehicle. [2] Charging robot control device (100) according to claim 1, wherein the processes comprise: Apply (620), based on the identification of the VIN, the VIN to a vehicle information database to obtain a charging port location of the vehicle, and Transmitted (630), based on the VIN, a requirement to the vehicle to identify the vehicle's parking status. [3] Charging robot control device (100) according to claim 1 or 2, wherein the processes comprise: Determine (650), based on the fact that a vehicle's parking mode is an autonomous parking mode, whether an autonomous parking state of the vehicle indicates a parking completion, Determine (660), based on the fact that the vehicle's parking mode is a manual parking mode, whether a gear state of the vehicle is a predetermined gear state, and Determine, based on the fact that the vehicle's autonomous parking state indicates the parking completion or the vehicle's gear state is the predetermined gear state, the parking state as the parking completion state. [4] Loading robot control device (100) according to any one of claims 1 to 3, wherein the operations comprise: Controls, based on the state of a vehicle's charging port and the connection state between the vehicle and a charging cable, of the charging robot to charge the vehicle. [5] Charging robot control device (100) according to claim 4, wherein the processes comprise: Control (710) the charging robot to move to a charging port position of the vehicle, Transmitted (720), based on the VIN, a command to open the charging port to the vehicle, Receiving (740) charging port detection information identified by a vision control device included in the charging robot, and Controls (750), based on the identified charging port detection information, of the charging robot to charge the vehicle. [6] Loading robot control device (100) according to claim 4 or 5, wherein the processes comprise: Controlling the charging robot to couple the charging cable to the vehicle until the connection state between the vehicle and the charging cable is a locked state, and Control (770), based on the fact that the connection state between the vehicle and the charging cable is the locking state, of the charging robot to charge the vehicle. [7] Loading robot control device (100) according to any one of claims 1 to 6, wherein the operations comprise: Control (810), based on the fact that a connection state between the vehicle and a charging cable is an unlock state, of the charging robot to disconnect the charging cable from the vehicle, Transmitted (820), based on the VIN, a command to close a / the charging port to the vehicle and Providing (830) a notification indicating that the vehicle is ready to depart, based on the fact that the charging cable is disconnected from the vehicle and the vehicle's charging port is closed. [8] Loading robot control device (100) according to any one of claims 1 to 7, wherein the operations comprise: Identifying (920) an operating area which includes an area in which a robot arm contained in the charging robot is able to charge the vehicle, Performing (920) a verification of a safety function of the charging robot based on information relating to the robot arm, and Stopping (930, 940) an operation of the charging robot based on at least one of the operating range or the verification of the safety function. [9] Charging robot control device (100) according to claim 8, wherein the operations comprise: Identify, whereby the charging robot performs the charging of the vehicle, a connecting part and a joint part which are contained in the robot arm, Identifying at least one of (i) pieces of information relating to the connecting part that is contained in the information relating to the robot arm, or (ii) pieces of information relating to the joint part that is contained in the information relating to the robot arm, and Stopping the operation of the charging robot, based on the verification of the charging robot's safety function using at least one of the pieces of information relating to the connecting part or the joint part. [10] Charging robot control device (100) according to claim 9, wherein the processes comprise: Identifying an initial position of the joint part from the information relating to the joint part, and Stopping the operation of the loading robot based on a comparison between a difference between the initial position and a target position of the joint part, where the target position is contained in a command for the joint part, and a predetermined reference value. [11] Charging robot control device (100) according to claim 9 or 10, wherein the operations comprise: Identifying a second position of the connecting part from the information relating to the connecting part, and Stopping the operation of the loading robot based on a comparison between a difference between the second position and a target position of the connecting part, where the target position is contained in a command for the connecting part, and a predetermined reference value. [12] Loading robot control device (100) according to any one of claims 9 to 11, wherein the operations comprise: Identifying a travel range of the joint part from the information relating to the joint part, and Stopping the operation of the loading robot based on a comparison between a difference between the travel range of the joint part and a target travel range of the joint part, where the target travel range is contained in a command for the joint part, and a predetermined reference value. [13] Loading robot control device (100) according to any one of claims 9 to 12, wherein the operations comprise: Identifying a travel speed of the joint part from the information relating to the joint part, and Stopping the operation of the loading robot based on a comparison between a difference between the travel speed of the joint part and a target travel speed of the joint part, where the target travel speed is contained in a command for the joint part, and a predetermined reference value. [14] Loading robot control device (100) according to any one of claims 9 to 13, wherein the operations comprise: Identifying a first torque exerted on the joint part from the information relating to the joint part, and Stopping the operation of the charging robot based on a comparison between the initial torque and a maximum torque value allowed for the joint part. [15] Loading robot control device (100) according to any one of claims 9 to 14, wherein the operations comprise: Identifying a second torque exerted on the connecting part from the information relating to the connecting part, and Stopping the operation of the charging robot based on a comparison between the second torque and a maximum torque value that is allowed for the connecting part. [16] Loading robot control device (100) according to any one of claims 8 to 15, wherein the operations comprise: Issuing (1110) a notification that the operation of the charging robot has been stopped, based on the fact that the operation of the charging robot was stopped by checking a safety function, Providing (1120) information relating to the verification of the safety function, Determine (1130) whether a cause which caused the operation to be stopped has been rectified after a time at which the information relating to the verification of the safety function of the charging robot has been provided, and Control (1140) the charging robot to recharge the vehicle, based on the fact that the cause in which the operation was stopped has been resolved. [17] Loading robot control device (100) according to any one of claims 8 to 16, wherein the operations comprise: Identifying (1020) an obstacle that interferes with the charging process of the charging robot in the operating area, and Issuing (1040) a notification that the obstacle has been identified, and stopping (1040) the operation of the charging robot, based on the fact that the obstacle has been identified in the operating area. [18] Charging robot control device (100) according to claim 17, wherein the processes comprise: Receiving signals to detect an object located within the operating area at each predetermined time interval from one or more sensors contained in the charging robot, and Determine that the obstacle is present in the operating area, based on at least one of the signals. [19] Loading robot control device (100) according to any one of claims 1 to 18, wherein the operations comprise: Controlling the charging robot to disconnect a charging cable from the vehicle, based on the fact that the amount of battery charged into the vehicle is identical to the vehicle's target battery level, or that the difference between the amount of battery charged into the vehicle and the vehicle's target battery level is within a predetermined range, and Transmitting a notification that charging is complete to at least one device belonging to the vehicle or a portable device belonging to a user of the vehicle, based on the fact that the charging cable is disconnected from the vehicle. [20] Charging robot control method which features: Identify (210) based on the recognition of a number associated with a vehicle, of at least one vehicle type, of a vehicle or of a vehicle information number (VIN) of the vehicle; Taxes (220), based on the fact that a vehicle's parking state is a parking completion state and a charging request is received from the vehicle, a charging robot to charge the vehicle, and Taxes (230), based on a target battery amount of the vehicle, the charging robot to end the charging of the vehicle.