Charging device

Abstract

To provide a charging device capable of identifying a position of a lid without additionally using a camera.SOLUTION: A charging device includes a multi-joint robot that can grasp a charging connector provided to a charging stand by means of an articulated robot and has a force sensor installed therein. The charging connector is automatically inserted to a lid which is a power supply port for an electric automobile. In addition, in the charging device, the multi-joint robot further includes a contact-type probe, and the contact-type probe is brought into contact with the lid, whereby the position of the lid is identified.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a charging device.

Background Art

[0002] Patent Document 1 discloses a technique of inserting a charging connector into a power supply port of an electric vehicle using an articulated robot. In this technique, a camera is used to identify the position of the power supply port on the electric vehicle side, and a force sensor is used to control the force feedback of the robot arm.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In Patent Document 1, a camera is used. However, since the BEV (Battery Electric Vehicle) charging station to be automated is outdoors, it is affected by disturbances such as raindrops and sunlight. Therefore, there has been a problem that it is difficult to recognize the lid position by image processing using a camera or the like.

Means for Solving the Problems

[0005] A charging device according to an embodiment includes an articulated robot that can grip a charging connector provided on a charging stand and is equipped with a force sensor. In the charging device for automatically inserting the charging connector into a lid that is a power supply port of an electric vehicle, the articulated robot further includes a contact probe, and the contact probe is brought into contact with the lid to identify the position of the lid.

Effects of the Invention

[0006] According to the charging device of the present disclosure, the position of the lid can be specified without using a separate camera.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Embodiments for Carrying Out the Invention

[0008] The present embodiment Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. FIGS. 1 and 2 are flowcharts showing an example of a charging device according to the present embodiment. In FIGS. 1 and 2, the operation of a charging device that holds a charging connector provided on a charging stand and automatically inserts the charging connector into a lid that is a power supply port of an electric vehicle by a multi-joint robot equipped with a force sensor and a touch probe (contact type probe) will be described.

[0009] First, in step S101, the position of the lid is confirmed. Then, the process proceeds to step S102.

[0010] In step S102, the charging device moves the touch probe attached to the tip of the robot's hand forward. Then, the process proceeds to step S103.

[0011] In step S103, the charging device measures the position of the vehicle in the left-right direction. Then, the process proceeds to step S104.

[0012] In step S104, the charging device shifts the position of the touch probe and moves the touch probe forward. Then, the process proceeds to step S105.

[0013] In step S105, the charging device measures the inclination of the vehicle. Then, it proceeds to step S106.

[0014] In step S106, the charging device opens the lid halfway. Then, it proceeds to step S107.

[0015] In step S107, the charging device confirms that the lid is open and measures the front - rear position of the vehicle. Then, it proceeds to step S108.

[0016] In step S108, the charging device opens the lid. Then, it proceeds to step S109.

[0017] In step S109, the charging device opens the inner lid. Then, it proceeds to step S110.

[0018] In step S110, the charging device shifts the initial position. Then, it proceeds to step S111.

[0019] Next, in the processes from step S111 to step S115, the charging device searches for the hole. In step S111, the charging device moves the touch probe to the initial position. Then, it proceeds to step S112.

[0020] In step S112, the charging device shifts the position of the touch probe in the X and Y directions. Here, X and Y are the coordinates shown in FIG. 3. FIG. 3 is a diagram showing the search range of the touch probe of the charging device according to the present embodiment. In FIG. 3, the touch probe searches the search range 302 including the hole 301. Specifically, it is shifted by 15 mm in the Y direction. In the X direction, as shown in FIG. 3, the amount of shift in the X direction varies depending on the number of searches. Then, it proceeds to step S113.

[0021] In step S113, the charging device records the position with the origin being the point where the charging connector is pressed against the inlet edge. Specifically, when searching for the hole (inlet) position, the charging device uses the force mode, presses the connector against the edge of the inlet, and sets the position where the inlet and the connector come into contact as the origin. Then, it proceeds to step S114.

[0022] In step S114, the charging device performs a full-range operation force in the YZ direction. Specifically, the charging device slides the touch probe from top to bottom while pressing it with a weight in the depth direction. For example, by sliding while pressing from top to bottom in the order shown in FIG. 3, the connector can enter the inlet part. Then, it proceeds to step S115.

[0023] In step S115, it is determined that the centering is completed when the movement amount in the depth direction from the origin used during the hole search exceeds the threshold value. Specifically, the charging device determines whether the movement amount in the Z direction, which is the depth direction, exceeds a predetermined threshold value. If the movement amount in the Z direction exceeds the predetermined threshold value, it proceeds to step S116. If the movement amount in the Z direction does not exceed the predetermined threshold value, it returns to step S111.

[0024] Next, in the processing from step S116 to step S118, the charging device performs centering. In step S116, the charging device sets the Z-direction force mode. Then, it proceeds to step S117.

[0025] In step S117, the charging device determines whether the movement amount in the Z direction, which is the depth direction, exceeds a predetermined threshold value. If the movement amount in the Z direction exceeds the predetermined threshold value, it proceeds to step S118. If the movement amount in the Z direction does not exceed the predetermined threshold value, it returns to step S116.

[0026] In step S118, the charging device performs a free drive. Then, it proceeds to step S119.

[0027] Next, in the processes from step S119 to step S121, the charging device performs insertion. In step S119, the charging device uses the Z-direction force mode and performs an operation of optimizing the parameters. When pushing in, the force mode and parameters are different from those at centering in step 116. Then, it proceeds to step S120.

[0028] In step S120, for the determination of completion of pushing in, the charging device measures the load received by the connector tip from inside the inlet. Then, when the measured value exceeds a preset threshold value and the stroke is equal to or greater than the threshold value, the operation is considered complete. Specifically, the charging device determines whether the measured value exceeds a preset threshold value and whether the movement amount in the Z direction (the depth direction) exceeds a predetermined threshold value. When the measured value exceeds the preset threshold value and the movement amount in the Z direction exceeds the predetermined threshold value, it proceeds to step S121. When the measured value does not exceed the preset threshold value or the movement amount in the Z direction does not exceed the predetermined threshold value, it returns to step S119.

[0029] In step S121, the charging device performs free drive. Then, it proceeds to step S122.

[0030] In step S122, the charging device closes the inner lid. Then, it proceeds to step S123.

[0031] In step S123, the charging device closes the lid. Then, the process ends.

[0032] Thus, according to the charging device of this embodiment, the position of the lid can be specified without separately using a camera.

[0033] Note that the present invention is not limited to the above embodiment, and can be appropriately changed without departing from the gist. For example, it may be applied to the automatic insertion control of the charging connector into the inlet of the parking lot charging station using only the force sensor without the image processing technology by the camera.

[0034] In addition, it may also be applied to lid position recognition, lid opening operation, and lid closing operation in "automatic refueling of gasoline vehicles at gas stations and vehicle production lines". In this case, it can be realized by fabricating a jig for gripping the fuel nozzle and inserting the fuel nozzle into the fuel filler opening through insertion control using the force sensor of the robot.

[0035] It can also be applied to lid position recognition, lid opening operation, and lid closing operation in the automation of hydrogen refueling at hydrogen refueling stations.

[0036] Each element described in the drawings as a flowchart for performing various processes can be composed of a CPU, a memory, and other circuits in terms of hardware, and can be realized by a program loaded in the memory or the like in terms of software. Therefore, it is understood by those skilled in the art that these functional blocks can be realized in various forms by only hardware, only software, or a combination thereof, and are not limited to any one of them.

[0037] In addition, the above-described program can be stored using various types of non-transitory computer-readable media and supplied to a computer. Non-transitory computer-readable media include various types of tangible recording media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROM (Read Only Memory), CD-R, CD-R / W, semiconductor memories (e.g., mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (Random Access Memory)). In addition, the program may be supplied to the computer by various types of temporary computer-readable media. Examples of temporary computer-readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable media can supply the program to the computer via a wired communication path such as electric wires and optical fibers, or a wireless communication path.

Claims

【Claim 1】 A charging device that can grip a charging connector provided in a charging stand by an articulated robot, and is equipped with an articulated robot equipped with a force sensor, and automatically inserts the charging connector into a lid that is a power supply port of an electric vehicle. In the charging device, the articulated robot further includes a contact probe, and the contact probe is brought into contact with the lid to identify the position of the lid.

Images