Automatic charging system

Abstract

To provide an automatic charging system that can prevent a charging robot from coming into contact with a crew member of a vehicle during charging process by the charging robot.SOLUTION: An automatic chairing system includes: a vehicle that is driven by electric power supplied from a power storage device; a battery charger including a charging cable having a charge connector; and an autonomous mobile charging robot including a robot arm that grips the charging connector and automatically inserts and removes the charging connector to and from a charging port of the vehicle located in a parking space. The automatic chairing system charges the power storage device by inserting a charging connector into the charging port and supplying electric power to the power storage device from the battery charger. The automatic charging system includes a control device that performs control for locking a door and a window closest to the charging port with respect to the vehicle at least during a charging process of the charging robot receiving an instruction to start automatic charging and starting autonomous travel from a predetermined standby position to the charging robot returning to the predetermined standby position after charge of the power storage device is completed.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to an automatic charging system. [Background technology]

[0002] Patent Document 1 discloses a technology in which a power supply robot holds a power supply connector of a power supply equipment, moves to a vehicle parked in a parking space, and connects the power supply connector to an inlet provided on the vehicle, thereby supplying power from the power supply equipment to the vehicle's battery to charge it. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-032721 Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology disclosed in Patent Document 1, if an occupant gets out of the vehicle through the door or puts their hand out of the vehicle window while the charging robot is charging, there is a risk of contact between the occupant and the charging robot.

[0005] The present invention has been made in consideration of the above-mentioned problems, and its object is to provide an automatic charging system that can prevent contact between vehicle occupants and a charging robot during charging operations by the charging robot. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the object, the automatic charging system of the present invention is composed of a vehicle powered by power supplied from a power storage device, a charger equipped with a charging cable with a charging connector, and an autonomously moving charging robot equipped with a robotic arm that grasps the charging connector and automatically inserts and removes the charging connector from a charging port of the vehicle located in a parking space, and is an automatic charging system that inserts the charging connector into the charging port and supplies power from the charger to the power storage device to charge it, and is characterized in that at least during the charging operation until the charging robot receives an instruction to start automatic charging and starts autonomously moving from a predetermined waiting position, and when charging of the power storage device is completed and the charging robot returns to the predetermined waiting position, the automatic charging system controls to lock the door and window closest to the charging port for the vehicle.

[0007] This prevents occupants from getting on and off the vehicle through the door closest to the charging port or reaching their hands out of the window while the charging robot is charging, thereby reducing contact between vehicle occupants and the charging robot.

[0008] In addition, the automatic charging system of the present invention is composed of a vehicle powered by power supplied from a power storage device, a charger equipped with a charging cable with a charging connector, and an autonomously moving charging robot equipped with a robotic arm that grasps the charging connector and automatically inserts and removes the charging connector from a charging port of the vehicle located in a parking space, and is an automatic charging system that inserts the charging connector into the charging port and supplies power from the charger to the power storage device to charge it, and is characterized in that the automatic charging system includes a control device that controls the charging robot to start autonomously traveling from a predetermined waiting position upon receiving an instruction to start automatic charging, and that controls the locking of all doors and windows on the charging port side of the vehicle during the charging operation until charging of the power storage device is completed and the charging robot returns to the predetermined waiting position.

[0009] This prevents occupants from getting on and off the vehicle through any of the doors on the charging port side or reaching their hands out of the windows while the charging robot is charging, thereby preventing contact between vehicle occupants and the charging robot.

[0010] In addition, in the above, a vehicle detection device may be provided that detects whether or not there is another vehicle on the opposite side of the charging port relative to the vehicle, and the control device may be configured to control the locking of all doors and windows on the opposite side of the charging port relative to the vehicle based on the detection result of the vehicle detection device when the other vehicle is present, at least during the charging operation.

[0011] This makes it possible to prevent contact between the vehicle's occupants and other charging robots that automatically charge other vehicles.

[0012] In addition, in the above, the vehicle may be provided with a vehicle detection device that detects whether or not there is another vehicle in a position facing the charging port relative to the vehicle, and the control device may be configured to control the locking of all doors and windows on the side facing the charging port relative to the other vehicle based on the detection result of the vehicle detection device, when the other vehicle is present, at least during the charging operation.

[0013] This makes it possible to prevent contact between the occupants of other vehicles and the charging robot while the vehicle is being automatically charged by the charging robot. Effect of the Invention

[0014] The automatic charging system according to the present invention has an advantage that contact between a vehicle occupant and the charging robot during charging work by the charging robot can be suppressed. [Brief description of the drawings]

[0015] [Figure 1] FIG. 1 is a diagram showing a charging system for a parking lot according to the first embodiment. [Diagram 2] FIG. 2 is a diagram showing a configuration of the automatic charging system according to the first embodiment. [Diagram 3] FIG. 3 is a flowchart showing an example of the automatic charging control according to the first embodiment. [Figure 4] FIG. 4 is a flowchart showing an example of automatic charging control according to the second embodiment. [Diagram 5] FIG. 5 is a diagram showing a parking lot to which the automatic charging system according to the third embodiment is applied. [Figure 6] FIG. 6 is a flowchart showing an example of automatic charging control according to the third embodiment. [Figure 7] FIG. 7 is a diagram showing a parking lot to which the automatic charging system according to the fourth embodiment is applied. [Figure 8] FIG. 8 is a flowchart showing an example of automatic charging control according to the fourth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] (Embodiment 1) Hereinafter, a first embodiment of an automatic charging system according to the present invention will be described. Note that the present invention is not limited to this embodiment.

[0017] Fig. 1 is a diagram showing a parking lot 10 to which an automatic charging system 1 according to the embodiment 1 is applied. Fig. 1 is a diagram showing the parking lot 10 as viewed from above. Fig. 2 is a diagram showing a schematic configuration of the automatic charging system 1 according to the embodiment 1.

[0018] 1 shows three parking spaces 11a, 11b, and 11c among a plurality of parking spaces provided in a parking lot 10, which is a parking facility, and the parking spaces 11a, 11b, and 11c are used as charging spaces. The three parking spaces 11a, 11b, and 11c are arranged side by side in the short direction (the left-right direction of the vehicle) of each of the parking spaces 11a, 11b, and 11c. In the following description, when there is no particular distinction between the parking spaces 11a, 11b, and 11c, they are also simply referred to as the parking spaces 11.

[0019] In FIG. 1, a vehicle 100 to be charged is parked in a parking space 11b. The vehicle 100 is equipped with a charging port 101, front, rear, left and right doors 110FL, 110FR, 110RL, 110RR, and front, rear, left and right windows 111FL, 111FR, 111RL, 111RR. The charging port 101 is provided on the vehicle front side of a front left door 110FL of the vehicle 100. The front, rear, left and right doors 110FL, 110FR, 110RL, 110RR are provided on a vehicle body via hinges so as to be able to be opened and closed. The front, rear, left and right windows 111FL, 111FR, 111RL, 111RR are provided on the front, rear, left and right doors 110FL, 110FR, 110RL, 110RR so as to be able to be opened and closed, respectively. Furthermore, the front, rear, left and right doors 110FL, 110FR, 110RL, 110RR can be locked and unlocked individually by controlling the locking mechanisms provided corresponding to each door by a vehicle control device or the like provided in the vehicle 100. Furthermore, the front, rear, left and right windows 111FL, 111FR, 111RL, 111RR can be locked and unlocked individually by controlling the locking mechanisms provided corresponding to each door by a vehicle control device or the like.

[0020] A charging robot 20 and a charger 30 used for charging the vehicles 100 parked in the parking spaces 11a, 11b, and 11c are provided near the parking spaces 11a, 11b, and 11c. In the automatic charging system 1 according to the first embodiment, the charging robot 20 and the charger 30 configure an automatic charging device 2. The charging robot 20 and the charger 30 are configured to be able to communicate with each other.

[0021] In the automatic charging system 1 according to the first embodiment, automatic charging by the automatic charging device 2 for a vehicle 100 parked in a parking space 11 in a parking lot 10 is managed and performed by a charging service control server 4. The charging service control server 4 includes a control device for performing various controls relating to automatic charging, such as those shown at least in (1) to (6) in Fig. 2.

[0022] The charging service control server 4 is configured to be capable of communicating with a communication terminal owned by a user 3 of a vehicle 100 parked in a parking space 11 in a parking lot 10. The charging service control server 4 is capable of receiving various information such as a charging reservation for the vehicle 100 transmitted from the communication terminal of the user 3 ((1) in FIG. 2).

[0023] The charging service control server 4 is also configured to be able to communicate with a parking lot monitoring system 6 that monitors the parking lot 10. The charging service control server 4 is able to check the presence or absence (parking state) of the vehicle 100 in the parking spaces 11a, 11b, 11c based on the detection results of a vehicle detection device constituted by an imaging device and various sensors included in the parking lot monitoring system 6 ((2) in FIG. 2).

[0024] The charging service control server 4 is also configured to be able to communicate with the vehicle 100 parked in the parking space 11 via a vehicle information server 5 that is able to communicate with the vehicle 100. The charging service control server 4 is able to receive various types of information from the vehicle 100 via the vehicle information server 5, such as information relating to the SOC (State Of Charge) and required power amount of the battery, which is an electricity storage device mounted on the vehicle 100, and vehicle information relating to the position of the charging port 101 of the vehicle 100 ((3) in FIG. 2). The charging service control server 4 is also able to transmit, via the vehicle information server 5, to the vehicle 100, instruction signals for unlocking the charging port 101 of the vehicle 100 and for freely opening and closing the charging lid. In addition, the charging service control server 4 is capable of transmitting, to the vehicle 100 via the vehicle information server 5, instruction signals for freely opening and closing the front, rear, left and right doors 110FL, 110FR, 110RL, 110RR of the vehicle 100 and the front, rear, left and right windows 111FL, 111FR, 111RL, 111RR of the vehicle 100 ((4) and (5) in Figure 2).

[0025] The charging service control server 4 is also configured to be able to communicate with the automatic charging device 2 (the charging robot 20 and the charger 30) provided in the parking lot 10. The charging service control server 4 is capable of transmitting various information to the automatic charging device 2 (the charging robot 20 and the charger 30), such as information related to the amount of charging power of the battery mounted on the vehicle 100 and vehicle information related to the position of the charging port 101 of the vehicle 100. The charging service control server 4 is also capable of transmitting a signal to the automatic charging device 2 (the charging robot 20 and the charger 30) instructing the start of charging based on a charging reservation from the user 3 ((6) in FIG. 2).

[0026] The charging robot 20 is composed of a robot body 21, which is a mobile body capable of moving autonomously (autonomous running), a robot arm 22 whose base end is connected to the robot body 21, and a robot hand 23 provided at the tip of the robot arm 22.

[0027] The charger 30 is made up of a charger main body 31, a charging cable 32, and a charging connector 33. As shown in Fig. 1(b), the charger main body 31 is fixed to the ground.

[0028] In the charging system for the parking lot 10 according to the first embodiment, chargers 30 are arranged corresponding to three parking spaces 11a, 11b, and 11c. In the state shown in Fig. 1, the vehicle 100 parked in the parking space 11b can be charged using the charger 30.

[0029] For example, when the charger 30 is used to automatically charge the vehicle 100 parked in the parking space 11b, the robot body 21 of the charging robot 20 moves autonomously to a position where the robot arm 22 of the charging robot 20 can be extended and the robot hand 23 can grasp the charging connector 33 of the charger 30. The charging robot 20 recognizes the charging connector 33 with a camera, which is an imaging device, provided on the robot arm 22, and grasps the charging connector 33 with the robot hand 23. Thereafter, the robot body 21 of the charging robot 20 moves autonomously to a position where the charging connector 33 can be inserted into the charging port 101 of the vehicle 100. The charging robot 20 recognizes the charging port 101 of the vehicle 100 with the camera provided on the robot arm 22, and extends the robot arm 22 to insert the charging connector 33 into the charging port 101 of the vehicle 100. When the charging connector 33 is inserted into the charging port 101 of the vehicle 100, the charger 30 supplies power from a power supply device provided in the charger main body 31 to the vehicle 100 via the charging cable 32 and the charging connector 33, and charges a battery, which is a power storage device, provided in the vehicle 100. After inserting the charging connector 33 into the charging port 101 of the vehicle 100, the charging robot 20 releases the robot hand 23 from the charging connector 33 and returns the robot arm 22 to a preset arm reference position.

[0030] When charging of the vehicle 100 is completed, the robot body 21 of the charging robot 20 moves autonomously to a position where the robot arm 22 can be extended to grasp the charging connector 33 inserted into the vehicle 100 by the robot hand 23. The charging robot 20 then grasps the charging connector 33 with the robot hand 23 and removes the charging connector 33 from the vehicle 100. Thereafter, the robot body 21 of the charging robot 20 moves toward the charger 30 in order to return the charging connector 33 to a plug reference position that is preset in the charger 30. The charging robot 20 then extends the robot arm 22 to return the charging connector 33 to the plug reference position.

[0031] In this manner, each vehicle 100 parked in the parking spaces 11a, 11b, and 11c of the parking lot 10 can be automatically charged by the automatic charging device 2 (the charging robot 20 and the charger 30).

[0032] In the automatic charging system 1 according to the first embodiment, the charging service control server 4 controls opening and closing of the doors 110 and windows 111 of the vehicle 100 to be charged in accordance with the content of the automatic charging operation by the charging robot 20. Specifically, in the automatic charging system 1 according to the first embodiment, when the charging service control server 4 accepts a charging reservation from the user 3, it executes control to lock the door 110FL and window 111FL that are closest to the charging port 101 of the vehicle 100 to be charged. Then, in the automatic charging system 1 according to the first embodiment, after the door 110FL and window 111FL that are closest to the charging port 101 are locked, the charging operation by the charging robot 20 is started.

[0033] In the automatic charging system 1 according to the first embodiment, when the charging robot 20 inserts and removes the charging connector 33, the door 110FL closest to the charging port 101 of the vehicle 100 is locked, thereby preventing occupants in the vehicle from getting out of the door 110FL and reducing the risk of contact between the occupants of the vehicle 100 and the charging robot 20 (robot arm 22). In addition, in the automatic charging system 1 according to the first embodiment, the opening operation of the window 111FL closest to the charging port 101 of the vehicle 100 is locked, thereby preventing occupants in the vehicle from reaching out through the window 111FL and coming into contact with the charging robot 20 (robot arm 22).

[0034] In the automatic charging system 1 according to the first embodiment, the charging robot 20 is provided with a contact detection sensor for detecting contact by a passenger or the like with the charging robot 20. During charging by the charging robot 20, control is performed to constantly monitor whether or not there is contact with the charging robot 20. When contact with the charging robot 20 is detected, the charging operation is stopped by stopping the autonomous travel of the robot body 21, stopping the operation of the robot arm 22, or stopping the power supply from the charger 30. After that, when contact with the charging robot 20 is no longer detected, the charging operation is resumed, for example, after a certain time has elapsed.

[0035] FIG. 3 is a flowchart showing an example of the automatic charging control according to the first embodiment.

[0036] First, in the process of step S1, the charging service control server 4 acquires a charging reservation from the user 3. Next, in the process of step S2, the charging service control server 4 acquires the position of the charging port 101 of the vehicle 100 to be charged from the vehicle information server 5. Next, in the process of step S3, the charging service control server 4 causes the vehicle 100, via the vehicle information server 5, to lock the door 110FL and window 111FL that are closest to the charging port 101 of the vehicle 100. Next, in the process of step S4, the charging service control server 4 instructs the automatic charging device 2 to start charging.

[0037] Next, in the process of step S5, it is determined whether or not contact of the charging robot 20 has been detected. If it is determined that contact of the charging robot 20 has been detected (Yes in the process of step S5), the process proceeds to step S9. In the process of step S9, the charging operation by the charging robot 20 is stopped. Then, the process proceeds to step S5.

[0038] On the other hand, in the process of step S5, if contact of the charging robot 20 is not detected (No in the process of step S5), the process proceeds to step S6. In the process of step S6, the charging operation by the charging robot 20 continues. Next, in the process of step S7, when power is supplied to the battery of the vehicle 100 and charging is completed, the charging operation by the charging robot 20 ends. Next, in the process of step S8, the charging service control server 4 causes the vehicle 100 to unlock the door 110FL and window 111FL that are closest to the charging port 101 of the vehicle 100 via the vehicle information server 5. Thereafter, the charging service control server 4 ends the series of automatic charging controls.

[0039] In the automatic charging system 1 according to the first embodiment, when the charging robot 20 performs a charging operation, control is performed to lock only the door 110FL and the window 111FL closest to the charging port 101 of the vehicle 100. As a result, in the automatic charging system 1 according to the first embodiment, during the charging operation when the charging robot 20 is closest to the charging port 101, it is possible to prevent the occupant from getting on or off by opening the door 110FL near the charging port 101. Also, it is possible to prevent the occupant in the vehicle from opening the window 111FL near the charging port 101 and reaching their hand out of the vehicle. As a result, in the automatic charging system 1 according to the first embodiment, it is possible to prevent the charging robot 20 and the charging cable 32 from coming into contact with the occupant and the door 110FL of the vehicle 100 during the charging operation by the charging robot 20.

[0040] (Embodiment 2) Hereinafter, an automatic charging control device according to a second embodiment of the present invention will be described. Note that in the second embodiment, the description of the same configuration as in the first embodiment will be omitted as appropriate.

[0041] In the automatic charging system 1 according to the second embodiment, when the charging service control server 4 accepts a charging reservation from the user 3, control is executed to lock the front and rear doors 110FL, 110RL and windows 111FL, 111RL on the charging port 101 side of the vehicle 100. Then, in the automatic charging system 1 according to the second embodiment, after the front and rear doors 110FL, 110RL and windows 111FL, 111RL on the charging port 101 side of the vehicle 100 are locked, automatic charging by the charging robot 20 starts.

[0042] In the automatic charging system 1 according to the second embodiment, a contact detection sensor is used to constantly monitor whether or not there is contact with the charging robot 20 during charging work by the charging robot 20. In addition, in the automatic charging system 1 according to the second embodiment, a load sensor is used to constantly monitor whether or not there is contact with the charging cable 32.

[0043] In the automatic charging system 1 according to the second embodiment, a load sensor that detects a load applied to the robot arm 22 of the charging robot 20 is provided on the robot arm 22. Then, during a charging operation by the charging robot 20, if a load equal to or greater than a preset threshold is detected by the load sensor, control is performed to determine that the charging cable 12 has come into contact with something. If it is determined that the charging cable 12 has come into contact with something (if a load equal to or greater than the threshold is detected by the load sensor), the charging operation is stopped, and the charging operation is resumed when a load equal to or greater than the threshold is no longer detected by the load sensor.

[0044] FIG. 4 is a flowchart showing an example of automatic charging control according to the second embodiment.

[0045] First, in the process of step S11, the charging service control server 4 acquires a charging reservation from the user 3. Next, in the process of step S12, the charging service control server 4 acquires the position of the charging port 101 of the vehicle 100 to be charged from the vehicle information server 5. Next, in the process of step S13, the charging service control server 4 causes the vehicle 100 to lock (all) the front and rear doors 110FL, 110RL and windows 111FL, 111RL on the charging port 101 side of the vehicle 100 via the vehicle information server 5. Next, in the process of step S14, the charging service control server 4 instructs the automatic charging device 2 to start charging.

[0046] Next, in the process of step S15, it is determined whether contact of the charging robot 20 or contact of the charging cable 32 has been detected. If it is determined that contact of the charging robot 20 or contact of the charging cable 32 has been detected (Yes in the process of step S15), the process proceeds to step S19. In the process of step S19, the charging operation by the charging robot 20 is stopped. Then, the process proceeds to step S15.

[0047] On the other hand, in the process of step S15, if the contact of the charging robot 20 and the contact of the charging cable 32 are not detected (No in the process of step S15), the process proceeds to step S16. In the process of step S16, the charging operation by the charging robot 20 is continued. Next, in the process of step S17, when power is supplied to the battery of the vehicle 100 and charging is completed, the charging operation by the charging robot 20 is terminated. Next, in the process of step S18, the charging service control server 4 causes the vehicle 100 to unlock (all) the front and rear doors 110FL, 110RL and windows 111FL, 111RL on the charging port 101 side of the vehicle 100 via the vehicle information server 5. Thereafter, the charging service control server 4 terminates a series of automatic charging controls.

[0048] In the automatic charging system 1 according to the second embodiment, control is performed to lock the front and rear doors 110FL, 110RL and windows 111FL, 111RL on the charging port 101 side of the vehicle 100. This makes it possible to prevent passengers from getting in and out of the vehicle 100 through the front and rear doors 110FL, 110RL on the charging port 101 side. Also, it is possible to prevent passengers inside the vehicle 100 from reaching their hands out through the front and rear windows 111FL, 111RL on the charging port 101 side. This makes it possible to prevent contact between the charging robot 20 and the charging cable 32 and passengers during a charging operation by the charging robot 20.

[0049] (Embodiment 3) Hereinafter, an automatic charging control device according to a third embodiment of the present invention will be described. Note that in the third embodiment, the description of the same configuration as in the first embodiment will be omitted as appropriate.

[0050] FIG. 5 is a diagram showing a parking lot 10 to which the automatic charging system 1 according to the third embodiment is applied.

[0051] In the automatic charging system 1 according to the third embodiment, as shown in Fig. 5, a vehicle 100a is parked in a parking space 11b, and a vehicle 100b is parked in a parking space 11c. The vehicle 100a includes a charging port 101a, front, rear, left and right doors 110aFL, 110aFR, 110aRL, and 110aRR, and front, rear, left and right windows 111aFL, 111aFR, 111aRL, and 111aRR. The vehicle 100b includes a charging port 101b, front, rear, left and right doors 110bFL, 110bFR, 110bRL, and 110bRR, and front, rear, left and right windows 111bFL, 111bFR, 111bRL, and 111bRR. The configurations of the vehicles 100a and 100b are similar to those of the vehicle 100 according to the first embodiment, and therefore detailed description thereof will be omitted.

[0052] In the automatic charging system 1 according to the third embodiment, the vehicle 100a parked in the parking space 11b is automatically charged by the charging robot 20a and the charger 30a constituting the automatic charging device. The vehicle 100b parked in the parking space 11c is automatically charged by the charging robot 20b and the charger 30b constituting the automatic charging device. The charging robots 20a and 20b are composed of the robot bodies 21a and 21b, the robot arms 22a and 22b, and the robot hands 23a and 23b. The chargers 30a and 30b are composed of the charger bodies 31a and 31b, the charging cables 32a and 32b, and the charging connectors 33a and 33b. The configurations of the charging robots 20a and 20b and the chargers 30a and 30b are the same as those of the charging robot 20 and the charger 30 in the first embodiment, and therefore detailed description thereof will be omitted.

[0053] In the automatic charging system 1 according to the third embodiment, when an instruction to start automatic charging is received from a user 3 of a vehicle 100a parked in a parking space 11b, the position of the charging port 101a of the vehicle 100a is acquired. Then, in the automatic charging system 1 according to the third embodiment, control is executed to lock the front and rear doors 110aFL, 110aRL and windows 111aFL, 111aRL on the charging port 101a side of the vehicle 100a.

[0054] Furthermore, the automatic charging system 1 according to the third embodiment determines whether or not another vehicle 100 is parked in parking space 11c on the opposite side to the charging port 101a of the vehicle 100a parked in parking space 11b (presence or absence of another vehicle 100). If it is determined that another vehicle 100 (vehicle 100b in FIG. 5) is parked (there is another vehicle 100) in parking space 11c on the opposite side to the charging port 101a of the vehicle 100a, control is performed to lock all (front and rear) doors 110aFR, 110aRR and windows 111aFR, 111aRR on the opposite side to the charging port 101a of the vehicle 100a. On the other hand, if it is determined that no other vehicle 100 is parked (there are no other vehicles 100) in the parking space 11c on the opposite side of the charging port 101a of the vehicle 100a, no control is performed to lock all (front and rear) doors 110aFR, 110aRR and windows 111aFR, 111aRR on the opposite side of the charging port 101a of the vehicle 100a.

[0055] Moreover, in the automatic charging system 1 according to the third embodiment, similarly to the automatic charging system 1 according to the second embodiment, the presence or absence of contact with the charging robot 20 is constantly monitored using a contact detection sensor during charging work by the charging robot 20. Moreover, in the automatic charging system 1 according to the third embodiment, the presence or absence of contact with the charging cable 32 is constantly monitored using a load sensor.

[0056] FIG. 6 is a flowchart showing an example of automatic charging control according to the third embodiment.

[0057] First, in the process of step S21, the charging service control server 4 acquires a charging reservation from the user 3. Next, in the process of step S22, the charging service control server 4 acquires the position of the charging port 101a of the vehicle 100a to be charged from the vehicle information server 5. Next, in the process of step S23, the charging service control server 4 locks the front and rear (all) doors 110aFL, 110aRL and windows 111aFL, 111aRL of the vehicle 100a on the charging port 101a side of the vehicle 100a via the vehicle information server 5. Next, in the process of step S24, based on the detection result of the parking lot monitoring system 6, the charging service control server 4 determines whether or not another vehicle is parked on the opposite side of the charging port 101a of the vehicle 100a. If it is determined that another vehicle is not parked on the opposite side of the charging port 101a of the vehicle 100a (No in step S24), the process proceeds to step S26. On the other hand, if it is determined that another vehicle (vehicle 100b) is parked on the opposite side of the vehicle 100a's charging port 101a (Yes in step S24), the process proceeds to step S25. In step S25, the front and rear doors 110aFR, 110aRR and windows 111aFR, 111aRR on the opposite side of the vehicle 100a's charging port 101a are locked. Next, in step S26, the charging service control server 4 instructs the automatic charging device, which is composed of the charging robot 20a and the charger 30a, to start charging.

[0058] Next, in the process of step S27, it is determined whether the contact of the charging robot 20a or the contact of the charging cable 32a has been detected. If it is determined that the contact of the charging robot 20a or the contact of the charging cable 32a has been detected (Yes in the process of step S27), the process proceeds to step S31. In the process of step S31, the charging operation by the charging robot 20a is stopped. Then, the process proceeds to step S27.

[0059] On the other hand, in the process of step S27, if the contact of the charging robot 20a and the contact of the charging cable 32a are not detected (No in the process of step S27), the process proceeds to step S28. In the process of step S28, the charging operation by the charging robot 20a is continued. Next, in the process of step S29, when power is supplied to the battery of the vehicle 100a and charging is completed, the charging operation by the charging robot 20a is terminated. Next, in the process of step S30, the charging service control server 4 instructs the vehicle 100 via the vehicle information server 5 to unlock the front and rear doors 110aFL, 110aRL and windows 111aFL, 111aRL on the charging port 101a side of the vehicle 100a. In addition, when the front and rear doors 110aFL, 110aRL and windows 111aFL, 111aRL on the opposite side of the charging port 101a of the vehicle 100a (all doors) are locked in the process of step S25, the doors 110aFL, 110aRL and windows 111aFL, 111aRL are also unlocked. After that, the charging service control server 4 ends a series of automatic charging control processes.

[0060] In the automatic charging control device according to the third embodiment, when a vehicle 100b is parked on the opposite side of the charging port 101a of the vehicle 100a being automatically charged by the charging robot 20a and the vehicle 100b is charged by another charging robot 20b, it is possible to prevent people from getting on and off through the doors 110aFR, 110aRR of the vehicle 100a that are closer to the charging robot 20b. Also, it is possible to prevent passengers inside the vehicle 100a from reaching their hands out of the windows 111aFR, 111aRR.

[0061] In the automatic charging system 1 according to the third embodiment, contact between the occupant of the vehicle 100a and the charging robots 20a and 20b and the charging cables 32a and 32b can be suppressed during the charging operation of the vehicle 100a by the charging robot 20a.

[0062] In the automatic charging system 1 according to the third embodiment, when the charging robot 20a charges the vehicle 100a, control may be performed to lock only the door 110aFL and window 111aFL closest to the charging port 101a of the vehicle 100a.

[0063] (Embodiment 4) Hereinafter, an automatic charging control device according to the present invention will be described in embodiment 4. Note that in embodiment 4, the description of the same configuration as in embodiment 1 will be omitted as appropriate.

[0064] FIG. 7 is a diagram showing a parking lot 10 to which the automatic charging system 1 according to the fourth embodiment is applied.

[0065] In the automatic charging system 1 according to the fourth embodiment, as shown in Fig. 7, a vehicle 100a is parked in a parking space 11b, and a vehicle 100c is parked in a parking space 11a. The vehicle 100a includes a charging port 101a, front, rear, left and right doors 110aFL, 110aFR, 110aRL, and 110aRR, and front, rear, left and right windows 111aFL, 111aFR, 111aRL, and 111aRR. The vehicle 100c includes a charging port 101c, front, rear, left and right doors 110cFL, 110cFR, 110cRL, and 110cRR, and front, rear, left and right windows 111cFL, 111cFR, 111cRL, and 111cRR. The configurations of the vehicles 100a and 100c are similar to those of the vehicle 100 according to the first embodiment, and therefore detailed description thereof will be omitted.

[0066] In the automatic charging system 1 according to the fourth embodiment, when an instruction to start automatic charging is received from a user 3 of a vehicle 100a parked in a parking space 11b, the position of the charging port 101a of the vehicle 100a is acquired. Then, in the automatic charging system 1 according to the fourth embodiment, control is executed to lock all (front and rear) doors 110aFL, 110aRL and windows 111aFL, 111aRL on the charging port 101a side of the vehicle 100a.

[0067] Furthermore, in the automatic charging system 1 according to the fourth embodiment, it is determined whether or not another vehicle 100 is parked in the parking space 11a on the side of the charging port 101a of the vehicle 100a parked in the parking space 11b (presence or absence of another vehicle 100). If it is determined that another vehicle 100 (vehicle 100c in FIG. 7) is parked in the parking space 11a on the side of the charging port 101a of the vehicle 100a (there is another vehicle 100), control is performed to lock all (front and rear) doors 110cFR, 110cRR and windows 111cFR, 111cRR on the charging port 101a side of the vehicle 100a of the other vehicle 100 (vehicle 100c in FIG. 7) of the vehicle 100a (the side of the other vehicle 100 facing the charging port 101a of the vehicle 100a).

[0068] Moreover, in the automatic charging system 1 according to the fourth embodiment, similarly to the automatic charging system 1 according to the second embodiment, the presence or absence of contact with the charging robot 20 is constantly monitored using a contact detection sensor during charging operation by the charging robot 20. Moreover, in the automatic charging system 1 according to the fourth embodiment, the presence or absence of contact with the charging cable 32 is constantly monitored using a load sensor.

[0069] FIG. 8 is a flowchart showing an example of automatic charging control according to the fourth embodiment.

[0070] First, in the process of step S41, the charging service control server 4 acquires a charging reservation from the user 3. Next, in the process of step S42, the charging service control server 4 acquires the position of the charging port 101a of the vehicle 100a to be charged from the vehicle information server 5. Next, in the process of step S43, the charging service control server 4 locks the front and rear (all) doors 110aFL, 110aRL and windows 111aFL, 111aRL of the vehicle 100a on the charging port 101a side via the vehicle information server 5. Next, in the process of step S44, based on the detection result of the parking lot monitoring system 6, the charging service control server 4 determines whether or not another vehicle is parked on the charging port 101a side of the vehicle 100a. If it is determined that no other vehicle is parked on the charging port 101a side of the vehicle 100a (No in step S44), the process proceeds to step S46. On the other hand, if it is determined that another vehicle (vehicle 100c) is parked on the side of the charging port 101a of the vehicle 100a (Yes in step S44), the process proceeds to step S45. In the process of step S45, the front and rear doors 110cFR, 110cRR and windows 111cFR, 111cRR of the other vehicle (vehicle 100c) on the side of the charging port 101a of the vehicle 100a are locked. Next, in the process of step S46, the charging service control server 4 instructs the automatic charging device 2 to start charging.

[0071] Next, in the process of step S47, it is determined whether contact of the charging robot 20 or contact of the charging cable 32 has been detected. If it is determined that contact of the charging robot 20 or contact of the charging cable 32 has been detected (Yes in the process of step S47), the process proceeds to step S51. In the process of step S51, the charging operation by the charging robot 20 is stopped. Then, the process proceeds to step S47.

[0072] On the other hand, in the process of step S47, if contact of the charging robot 20 and contact of the charging cable 32 are not detected (No in the process of step S47), the process proceeds to step S48. In the process of step S48, the charging operation by the charging robot 20 is continued. Next, in the process of step S49, when power is supplied to the battery of the vehicle 100a and charging is completed, the charging operation by the charging robot 20 is terminated. Next, in the process of step S50, the front and rear doors 110aFL, 110aRL and windows 111aFL, 111aRL on the charging port 101a side of the vehicle 100a (all) are unlocked. In addition, when the processing of step S45 locks the front and rear (all) doors 110cFL, 110cRL and windows 111cFL, 111cRL of the other vehicle (vehicle 100c) on the charging port 101a side of the vehicle 100a, the doors 110cFL, 110cRL and windows 111cFL, 111cRL are also unlocked. After that, the charging service control server 4 ends a series of automatic charging controls.

[0073] In the automatic charging system 1 according to the fourth embodiment, control is performed to lock all (front and rear) doors 110aFL, 110aRL and windows 111aFL, 111aRL on the charging port 101a side of the vehicle 100a. This can prevent passengers from getting in and out of the vehicle 100a through the front and rear (all) doors 110aFL, 110aRL on the charging port 101a side. In addition, it can prevent passengers in the vehicle 100a from reaching their hands out of the front and rear (all) windows 111aFL, 111aRL on the charging port 101a side. Furthermore, in the automatic charging system 1 according to the fourth embodiment, control is performed to lock the front and rear (all) doors 110cFL, 110cRL and windows 111cFL, 111cRL on the charging port 101a side of the vehicle 100a of the vehicle 100c. This can prevent people from getting in and out of the vehicle 100c through the doors 110aFR, 110aRR on the charging port 101a side of the vehicle 100a. Also, it can prevent passengers inside the vehicle 100c from reaching their hands out of the front and rear (all) windows 111cFR, 111cRR on the charging port 101a side of the vehicle 100a in the vehicle 100c. Therefore, in the automatic charging system 1 according to the fourth embodiment, it is possible to prevent contact between the passengers of the vehicles 100a, 100c and the charging robot 20 and the charging cable 32 during the charging operation of the vehicle 100a by the charging robot 20.

[0074] In the automatic charging system 1 according to the fourth embodiment, when the charging robot 20a charges the vehicle 100a, only the door 110aFL and window 111aFL closest to the charging port 101a of the vehicle 100a may be controlled to be locked. In addition, in the automatic charging system 1 according to the fourth embodiment, when the charging robot 20a charges the vehicle 100a, only the door 110cFR and window 111cFR closest to the charging port 101a of the vehicle 100a of the vehicle 100c may be controlled to be locked. [Explanation of symbols]

[0075] 1 Automatic charging system 10. Parking Parking spaces 11a, 11b, 11c 20, 20a, 20b Charging robot 21, 21a, 21b Robot body 22,22a,22b Robot arm 23, 23a, 23b Robot Hand 30,30a,30b charger 31,31a,31b Charger body 32,32a,32b Charging cable 33, 33a, 33b Charging connector 100, 100a, 100b, 100c Vehicles 110FL, 110FR, 110RL, 110RR Door 111FL, 111FR, 111RL, 111RR Windows

Claims

1. a vehicle driven by electric power supplied from a power storage device; A charger including a charging cable having a charging connector; a charging robot capable of autonomous travel including a robot arm that grasps the charging connector and automatically inserts and removes the charging connector into and from a charging port of the vehicle located in a parking space; It is composed of An automatic charging system that charges the power storage device by inserting the charging connector into the charging port and supplying power from the charger to the power storage device, The automatic charging system is characterized in that it comprises a control device that controls the vehicle to lock the door and window closest to the charging port during at least the charging operation, from when the charging robot receives an instruction to start automatic charging and starts autonomous driving from a specified waiting position, until charging of the storage device is completed and the charging robot returns to the specified waiting position.

2. a vehicle driven by electric power supplied from a power storage device; A charger including a charging cable having a charging connector; a charging robot capable of autonomous travel including a robot arm that grasps the charging connector and automatically inserts and removes the charging connector into and from a charging port of the vehicle located in a parking space; It is composed of An automatic charging system that charges the power storage device by inserting the charging connector into the charging port and supplying power from the charger to the power storage device, An automatic charging system characterized by comprising a control device that performs control to lock all doors and windows on the charging port side of the vehicle at least during the charging operation, from when the charging robot receives an instruction to start automatic charging and starts autonomous driving from a specified waiting position, until charging of the storage device is completed and the charging robot returns to the specified waiting position.

3. A vehicle detection device is provided to detect whether or not there is another vehicle on the opposite side of the charging port with respect to the vehicle, The automatic charging system according to claim 1 or 2, characterized in that, when the other vehicle is present, the control device performs control to lock all doors and windows of the vehicle on the opposite side of the charging port at least during the charging operation based on the detection result of the vehicle detection device.

4. a vehicle detection device that detects whether or not there is another vehicle in a position facing the charging port with respect to the vehicle; The automatic charging system according to claim 1 or 2, characterized in that, when the other vehicle is present, the control device performs control to lock all doors and windows facing the charging port with respect to the other vehicle, at least during the charging operation, based on the detection result of the vehicle detection device.

Images