Charging system

Abstract

To provide a charging system capable of minimizing an installation space.SOLUTION: The charging system includes a charger including a charging connector, an arm mechanism configured to hold the charging connector and move the charging connector within a predetermined range, and a control device configured to control the charger, the arm mechanism, and the plurality of vehicles, wherein the charging connector is disposed such that a portion held by the arm mechanism faces the arm mechanism.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a charging system. [Background technology]

[0002] Patent Document 1 discloses a charging system that uses an arm mechanism and a charger to charge a plurality of vehicles. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6497478 Summary of the Invention [Problem to be solved by the invention]

[0004] The technology disclosed in Patent Document 1 requires a fairly wide range of motion for the arm mechanism, so there is room for improvement in terms of installation space.

[0005] The present disclosure has been made in view of the above, and has an object to provide a charging system that can minimize installation space. [Means for solving the problem]

[0006] The charging system of the present disclosure includes a charger equipped with a charging connector, an arm mechanism capable of gripping the charging connector and moving the charging connector within a predetermined range, and a control device that controls the charger, the arm mechanism, and multiple vehicles, wherein the portion of the charging connector that is gripped by the arm mechanism is positioned facing the arm mechanism. [Effects of the Invention]

[0007] According to the present disclosure, by arranging the charging connector toward the arm mechanism, the range of motion of the arm mechanism can be reduced, thereby reducing the width of the stand and minimizing the installation space. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram showing a schematic configuration of a charging system according to an embodiment. [Figure 2] FIG. 2 is a perspective view showing a schematic configuration of the charging system according to the embodiment. [Figure 3] FIG. 3 is a plan view showing a schematic configuration of the charging system according to the embodiment. [Figure 4] FIG. 4 is a side view showing a schematic configuration of the charging system according to the embodiment. [Figure 5] FIG. 5 is a diagram showing the trajectory of the arm mechanism when it tries to grasp the charging connector and the direction in which the charging connector is arranged in the charging system according to the embodiment. [Figure 6] FIG. 6 is a diagram showing an example of the configuration of the tip of the arm mechanism and the charging connector in the charging system according to the embodiment, showing a state in which the arm-side bracket is open. [Figure 7] FIG. 7 is a diagram showing an example of the configuration of the tip of the arm mechanism and the charging connector in the charging system according to the embodiment, in which the arm-side bracket is closed. [Figure 8] FIG. 8 is a schematic diagram showing the overall flow of a charging method executed by the charging system according to the embodiment. [Figure 9] FIG. 9 is a schematic diagram showing an example of a charging system according to an embodiment in which two vehicles are charged simultaneously using an arm mechanism. [Figure 10] FIG. 10 is a schematic diagram showing an example of a charging system according to an embodiment in which two vehicles are charged simultaneously using an arm mechanism. [Figure 11]FIG. 11 is a flowchart showing the overall flow of the charging method executed by the charging system according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] A charging system according to an embodiment of the present disclosure will be described with reference to the drawings. Note that the components in the following embodiments include those that are easily replaceable by those skilled in the art, or those that are substantially the same.

[0010] (Charging system) A charging system according to an embodiment will be described with reference to FIGS. 1 to 10. The charging system according to the embodiment is for simultaneously charging multiple vehicles using a charger installed in, for example, a parking lot. As shown in FIG. 1, the charging system according to the embodiment includes a charger 1, an arm mechanism 2, a control device 3, infrastructure equipment 4, and a vehicle 5. The charger 1, the arm mechanism 2, the control device 3, infrastructure equipment 4, and the vehicle 5 all have communication functions and are configured to be able to communicate with each other and exchange various information via a network N. This network N is configured, for example, from an internet network, a mobile phone network, or the like.

[0011] (charger) The charger (charging stand, charging post) 1 supplies power to a vehicle 5 to be charged. As shown in FIGS. 2 to 4, the charger 1 is installed on a stand 6. The charger 1 is also connected to a control panel 7. This control panel 7 is connected to, for example, a transformer facility (cubicle) that transforms power from a power plant.

[0012] As shown in FIG. 1, the charger 1 includes a control unit 11, a communication unit 12, a charging connector 13, and a charging cable 14.

[0013] The control unit 11 is realized by a processor such as a CPU (Central Processing Unit) and a memory (main storage unit) such as a RAM (Random Access Memory), a ROM (Read Only Memory), etc. Based on instructions from the control device 3, the control unit 11 supplies power to the vehicle 5 to be charged.

[0014] The communication unit 12 is configured by, for example, a LAN (Local Area Network) interface board, a wireless communication circuit for wireless communication, etc. The communication unit 12 exchanges information with, for example, the arm mechanism 2 and the control device 3 by communication via the network N.

[0015] Charging connector (charging gun, charging plug) 13 is used to supply power to vehicle 5 to be charged. Charging connector 13 is engaged with the side surface of charger 1 when not charging. When charging of vehicle 5 begins, charging connector 13 is gripped by fixed arm mechanism 2 and inserted into charging port 53 of vehicle 5. In this state, power is supplied from charger 1 to vehicle 5 through charging connector 13. Thereafter, when charging of vehicle 5 is completed, charging connector 13 is gripped again by arm mechanism 2, removed from charging port 53 of vehicle 5, and then engaged with the side surface of charger 1.

[0016] 5 shows the trajectory X of arm mechanism 2 as it moves to grasp charging connector 13 when charging vehicle 5, and the direction in which charging connector 13 is disposed. The width of base 6 (curb width) is set in accordance with trajectory X of the movement of arm mechanism 2 shown in FIG. 5. Furthermore, charging connector 13 is disposed such that the portion (base end portion) grasped by arm mechanism 2 faces the arm mechanism 2 (see arrow Y in FIG. 5).

[0017] In this way, by arranging the base end portion of charging connector 13 toward arm mechanism 2, arm mechanism 2 moves in the length direction of base 6 when grasping charging connector 13, as shown in part Z in FIG. 5 , for example. This makes it possible to reduce the range of motion of arm mechanism 2, specifically the width of trajectory X, compared to when the base end portion of charging connector 13 is not arranged toward arm mechanism 2. As a result, the width (curb width) of base 6 on which arm mechanism 2 is installed can be reduced, thereby minimizing the installation space for arm mechanism 2. Furthermore, by minimizing the width of base 6 on which charger 1 and arm mechanism 2 are mounted, the width of base 6 may be made equal to the width of charger 1.

[0018] Although FIGS. 2 to 5 show an example in which one charging connector 13 is provided for one charger 1, a plurality of charging connectors 13 may be provided for one charger 1.

[0019] Charging cable 14 is provided between charging connector 13 and charger 1 (charger main body). Charging cable 14 is configured with a length that allows charging connector 13 to be inserted into charging port 53 regardless of the position of charging port 53 on vehicle 5. For example, while FIG. 3 shows an example in which charging port 53 is located on the front left side of vehicle 5, depending on the vehicle model, charging port 53 may be located on the rear left side, front center, rear center, etc. of vehicle 5. Therefore, charging cable 14 is configured with a length that allows charging connector 13 to be inserted regardless of whether charging port 53 is located on the front left side, rear left side, front center, or rear center of vehicle 5.

[0020] Depending on the model of vehicle 5, the charging port 53 may be located on the front right side or the rear right side of vehicle 5. In this case, for example, in FIG. 3, the vehicles 5 in the left and right charging spaces Sp1 are parked in opposite front-to-rear directions, and charging is performed with each charging port 53 facing toward the charger 1. For example, the vehicle 5 on the right side of FIG. 3 is parked in the charging space Sp1 with the front of the vehicle facing downward and the rear of the vehicle facing upward. Similarly, the vehicle 5 on the left side is parked with the front of the vehicle facing upward and the rear of the vehicle facing downward.

[0021] (Arm mechanism 2) The arm mechanism (automatic charging robot) 2 is used to grip the charging connector 13 when charging the vehicle 5 from the charger 1. The arm mechanism 2 can grip multiple charging connectors 13 and move each charging connector 13 within a predetermined range. The arm mechanism 2 is installed and fixed to a stand 6.

[0022] As shown in FIG. 1, the arm mechanism 2 includes a control unit 21, a communication unit 22, and a camera 23.

[0023] Control unit 21 is realized by a processor such as a CPU, and a memory (main storage unit) such as a RAM, a ROM, etc. Based on instructions from control device 3, control unit 21 grasps charging connector 13 and inserts charging connector 13 into charging port 53 and removes charging connector 13 from charging port 53.

[0024] Furthermore, when inserting the gripped charging connector 13 into charging port 53, control unit 21 identifies the position of charging port 53 and the distance to charging port 53 (the distance between charging connector 13 and charging port 53) from an image captured by, for example, camera 23 installed at the tip of arm mechanism 2. The shape of charging port 53 of vehicle 5 is standardized. Therefore, the position of charging port 53 can be identified by performing pattern matching based on the image of charging port 53 captured by camera 23. Furthermore, the distance from charging connector 13 gripped by arm mechanism 2 to charging port 53 can be identified by using a 3D (three-dimensional) camera as camera 23 to acquire information in the depth direction.

[0025] The communication unit 22 is configured by, for example, a LAN interface board, a wireless communication circuit for wireless communication, etc. The communication unit 22 exchanges information with, for example, the charger 1 and the control device 3 by communication via the network N.

[0026] Camera 23 is used to capture an image of charging port 53. Camera 23 is provided at the tip of arm mechanism 2 (arm mechanism main body). Furthermore, it is preferable to use a 3D camera as camera 23, which is capable of acquiring information in the depth direction.

[0027] 6 and 7 show an example of the configuration of tip end 24 of arm mechanism 2 and charging connector 13 of charger 1. Fig. 6 also shows a state in which arm-side bracket 241, which will be described later, is open and arm mechanism 2 is not gripping charging connector 13. Fig. 7 also shows a state in which arm-side bracket 241, which will be described later, is closed and arm mechanism 2 is gripping charging connector 13.

[0028] An openable and closable arm-side bracket 241 is attached to the tip 24 of the arm mechanism 2. This arm-side bracket 241 is for gripping a connector-side bracket 131, which will be described later.

[0029] The arm-side bracket 241 is configured to open and close relative to a connector-side bracket 131, which will be described later, by, for example, a servo motor (not shown) provided within the tip portion 24. Furthermore, a plurality of tapered pins 242 are provided on the inside of the arm-side bracket 241, as shown in the enlarged view of Fig. 6. These tapered pins 242 are provided on opposing inner surfaces 241a of the arm-side bracket 241, which are formed in a U-shape. Furthermore, the number of tapered pins 242 corresponds to the number of tapered holes 132 provided in the connector-side bracket 131, which will be described later.

[0030] A connector-side bracket 131 is attached to the base end of the charging connector 13. The connector-side bracket 131 is fixed to the base end of the charging connector 13. A plurality of tapered holes 132 are formed on the outside of the connector-side bracket 131. The tapered holes 132 are formed on outer surfaces 131a on both sides of the connector-side bracket 131, respectively.

[0031] As shown in Figures 6 and 7, the arm mechanism 2 grips the connector side bracket 131 with the arm side bracket 241, and grips the charging connector 13 by inserting multiple tapered pins 242 into multiple tapered holes 132, respectively.

[0032] In this way, in the charging system according to the embodiment, charging connector 13 is gripped not by friction but by inserting tapered pin 242 into tapered hole 132, so that charging connector 13 can be reliably gripped by a small servo motor provided in arm mechanism 2. As a result, the size and weight of arm mechanism 2 can be reduced, and the installation space for arm mechanism 2 can be minimized.

[0033] (Control device 3) The control device 3 controls the charger 1, the arm mechanism 2, and the multiple vehicles 5. The control device 3 performs, for example, charging control of the charger 1, control of the operation of the arm mechanism 2, control of the infrastructure equipment 4, and driving control (movement control) of the vehicles 5. The control device 3 is realized, for example, by a general-purpose computer such as a workstation or a personal computer, or a server located on the cloud. Note that the control device 3 may be configured with separate hardware depending on the objects to be controlled (charger 1, arm mechanism 2, infrastructure equipment 4, vehicles 5). Furthermore, the function of the control device 3 to control charging of the charger 1 may be performed by a control panel 7.

[0034] As shown in FIG. 1, the control device 3 includes a control unit 31 and a communication unit 32.

[0035] The control unit 31 is realized by a processor such as a CPU, and a memory (main storage unit) such as a RAM, a ROM, etc. Specific processing contents of the control unit 31 will be described below.

[0036] The control unit 31 controls the driving of the vehicle 5 based on information (such as the position information of the vehicle 5) acquired from the infrastructure facility 4. The control unit 31 also remotely controls the vehicle 5 to move the vehicle 5 within a predetermined range (within the operating range of the arm mechanism 2). The control unit 31 also parks the vehicle 5 within the predetermined range so that the charging port 53 of the vehicle 5 faces the charger 1.

[0037] For example, the control unit 31 accepts a charging reservation for the vehicle 5 from a user (e.g., a driver) of the vehicle 5. This charging reservation may be accepted based on information input into an information terminal (e.g., a smartphone connected to the network N) carried by the user, or may be accepted based on information input into an in-vehicle terminal (e.g., a car navigation system connected to the network N) by the user.

[0038] As the vehicle 5's turn to be charged approaches, the control unit 31 uses the location information of the vehicle 5 acquired from the infrastructure 4, etc., to automatically drive the vehicle 5 from the parking space where the vehicle 5 is parked to the waiting space Sp2, and then automatically parks the vehicle 5, as shown in Fig. 8. By moving the vehicle 5 to be charged to the waiting space Sp2 in advance and having it wait there, the time required to switch vehicles 5 to be charged can be minimized, and the availability of the charger 1 can be improved.

[0039] Subsequently, when it is the vehicle 5's turn to be charged, the control unit 31 uses the position information of the vehicle 5 obtained from the infrastructure 4, etc., to automatically drive the vehicle 5 from the waiting space Sp2 to the charging space Sp1, and then automatically parks the vehicle 5. Then, the control unit 31 causes the arm mechanism 2 to grasp the charging connector 13, inserts the charging connector 13 into the charging port 53, and starts charging using the charger 1.

[0040] Next, when charging of vehicle 5 is completed, control unit 31 causes arm mechanism 2 to grip charging connector 13 again and removes charging connector 13 from charging port 53. Next, using the position information of vehicle 5 acquired from infrastructure equipment 4, control unit 31 causes vehicle 5 to automatically drive from charging space Sp1 to waiting space Sp2, and then automatically parks vehicle 5.

[0041] When parking the vehicle 5 in the charging space Sp1, the control unit 31 parks the vehicle 5 so that the charging port 53 faces the charger 1. For example, when charging a vehicle 5 whose charging port 53 is located on the front left side, as shown in Fig. 3, the vehicle 5 is parked in the charging space Sp1 to the right of the charger 1 with the front of the vehicle facing upward on the paper and the rear of the vehicle facing downward on the paper so that the charging port 53 is on the left side. Conversely, the vehicle 5 is parked in the charging space Sp1 to the left of the charger 1 with the front of the vehicle facing downward on the paper so that the charging port 53 is on the right side.

[0042] Depending on the model of vehicle 5, charging port 53 may be located on the front right side or rear right side of vehicle 5, opposite to that shown in Figure 3. In this case, for example, in the example of two vehicles 5 shown in Figure 3, vehicle 5 is parked in charging space Sp1 on the right side of charger 1 with the front of the vehicle facing downward on the paper and the rear of the vehicle facing upward on the paper so that charging port 53 is on the left side. Conversely, vehicle 5 is parked in charging space Sp1 on the left side of charger 1 with the front of the vehicle facing upward on the paper so that charging port 53 is on the right side.

[0043] The control unit 31 charges two or more vehicles 5 simultaneously by operating the charging connectors 13 with one arm mechanism 2. In this case, as shown in FIG. 9 , the control unit 31 moves the first vehicle 5 (hereinafter referred to as "vehicle A") to a predetermined position (charging space Sp1 on the right side of the page). Next, the control unit 31 causes the arm mechanism 2 to grip the charging connector 13A of the first charger 1 (the charger 1 on the upper side of the page). Next, the control unit 31 inserts the charging connector 13A gripped by the arm mechanism 2 into the charging port 53 of vehicle A, and starts charging vehicle A.

[0044] Next, as shown in FIG. 10, the control unit 31 moves the second vehicle 5 (hereinafter referred to as "vehicle B") to a predetermined position (charging space Sp1 on the left side of the page). Next, the control unit 31 causes the arm mechanism 2 to grip the charging connector 13B of the second charger 1 (the charger 1 on the lower side of the page). Next, while vehicle A is being charged, the control unit 31 inserts the charging connector 13B gripped by the arm mechanism 2 into the charging port 53 of vehicle B, and starts charging vehicle B.

[0045] In this way, in the charging system according to this embodiment, two or more charging connectors 13A, 13B can be operated by one arm mechanism 2, and two or more vehicles 5 can be simultaneously charged. As a result, the charging turnover rate can be increased.

[0046] 9 and 10, before vehicle A stops at a predetermined position (charging space Sp1 on the right side of the paper), the control unit 31 may have the arm mechanism 2 grip the charging connector 13A of the first charger 1 (charger 1 on the upper side of the paper) and wait in advance. Similarly, before vehicle B stops at a predetermined position (charging space Sp1 on the left side of the paper), the control unit 31 may have the arm mechanism 2 grip the charging connector 13B of the second charger 1 (charger 1 on the lower side of the paper) and wait in advance.

[0047] 9 and 10, the "predetermined position" refers to charging space Sp1. In the example of FIGS. 9 and 10, when charging only one vehicle 5, control unit 31 may insert charging connector 13A (or charging connector 13B) into charging port 53, and then return arm mechanism 2 to a predetermined standby position to keep it on standby. Alternatively, control unit 31 may remove charging connector 13A (or charging connector 13B) from charging port 53, and then return arm mechanism 2 to a predetermined standby position to keep it on standby. In addition, control unit 31 may return arm mechanism 2 to a predetermined standby position to keep it on standby, for example, when there is no vehicle 5 waiting to be charged next or when there is no vehicle 5 that has already completed charging.

[0048] Additionally, while the first vehicle 5 (vehicle A) is being charged, the control unit 31 may move the second vehicle 5 (vehicle B) to a range where the charging connector 13B of the second charger 1 can be inserted using the arm mechanism 2. This allows the second vehicle 5 to be charged quickly.

[0049] Furthermore, when charging of the first vehicle 5 (vehicle A) is completed, control unit 31 moves arm mechanism 2 to the position of charging port 53 of first vehicle 5, unlocks charging connector 13A, and then causes arm mechanism 2 to remove charging connector 13A from charging port 53 of first vehicle 5. Furthermore, when charging of the second vehicle 5 (vehicle B) is completed, control unit 31 moves arm mechanism 2 to the position of charging port 53 of the second vehicle 5, unlocks charging connector 13B, and then causes arm mechanism 2 to remove charging connector 13B from charging port 53 of the second vehicle 5.

[0050] In this way, in the charging system according to the embodiment, the charging connectors 13A, 13B are held by the arm mechanism 2 in advance and wait before the vehicle 5 arrives at the charging space Sp1, thereby further increasing the charging turnover rate.

[0051] In the examples of Figures 9 and 10, the control unit 31 may determine whether to immediately remove the charging connectors 13A, 13B from the vehicle A currently being charged, depending on whether the following vehicle B is nearby (whether charging can be performed immediately for vehicle B).

[0052] In this case, when charging of vehicle A is completed and vehicle B is parked in a predetermined position (charging space Sp1 on the left side of the paper), control unit 31 uses arm mechanism 2 to insert charging connector 13B of second charger 1 (charger 1 on the lower side of the paper) into charging port 53 of vehicle B to start charging. Then, control unit 31 then removes charging connector 13A of first charger 1 (charger 1 on the upper side of the paper) from charging port 53 of vehicle A. In other words, when charging of vehicle A is completed and vehicle B is parked in charging space Sp1 and can be charged immediately, control unit 31 prioritizes inserting charging connector 13B into vehicle B over removing charging connector 13A from vehicle A.

[0053] On the other hand, when charging of vehicle A is completed but vehicle B is not parked in a predetermined position (charging space Sp1 on the left side of the drawing), control unit 31 uses arm mechanism 2 to remove charging connector 13A of the first charger 1 (charger 1 on the upper side of the drawing) from charging port 53 of vehicle A. Then, after vehicle B has stopped in the predetermined position, control unit 31 inserts charging connector 13B of the second charger 1 (charger 1 on the lower side of the drawing) into charging port 53 of vehicle B to start charging. In other words, when charging of vehicle A is completed but vehicle B is not parked in charging space Sp1 and cannot be charged immediately, control unit 31 prioritizes removing charging connector 13A from vehicle A over inserting charging connector 13B into vehicle B.

[0054] As described above, in the charging system according to the embodiment, when a single arm mechanism 2 operates multiple charging connectors 13A, 13B, it is determined whether to remove charging connector 13A, 13B from vehicle 5 first or insert another charging connector 13A, 13B into another vehicle 5 depending on the level of charging congestion. For example, when charging is congested, if insertion of charging connector 13A, 13B is ready first, priority is given to insertion into another vehicle 5 even if removal is completed later. On the other hand, when charging is not congested, priority is given to removal of charging connector 13A, 13B before insertion into another vehicle 5 begins.

[0055] In this way, in the charging system according to the embodiment, the charging turnover rate can be further increased by efficiently inserting the charging connectors 13A, 13B into the multiple vehicles 5 and removing the charging connectors 13A, 13B from the multiple vehicles 5.

[0056] The communication unit 32 is configured with, for example, a LAN (Local Area Network) interface board, a wireless communication circuit for wireless communication, etc. The communication unit 32 exchanges information with, for example, the charger 1, the arm mechanism 2, the infrastructure equipment 4, and the vehicle 5 through communication via the network N.

[0057] (Infrastructure 4) The infrastructure 4 is intended to realize, for example, automatic driving of the vehicle 5 in a parking lot and automatic parking using advanced parking (advanced parking assistance function). For example, as shown in Fig. 8, the infrastructure 4 is arranged around a charging space Sp1 for the vehicle 5, around a waiting space Sp2 for the vehicle 5, on the driving route of the vehicle 5 (on both sides of the driving route, etc.), etc.

[0058] As shown in FIG. 1, the infrastructure facility 4 includes a control unit 41, a communication unit 42, and a sensor 43.

[0059] The control unit 41 is realized by a processor such as a CPU, and a memory (main storage unit) such as a RAM, a ROM, etc. The control unit 41 transmits, for example, information about the position of the vehicle 5 detected by the sensor 43 to the control device 3.

[0060] The communication unit 42 is configured by, for example, a LAN (Local Area Network) interface board, a wireless communication circuit for wireless communication, etc. The communication unit 42 exchanges information with, for example, the control device 3 and the vehicle 5 through communication via the network N.

[0061] The sensor 43 is configured by, for example, a LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging), a camera, etc.

[0062] (Vehicle 5) The vehicle 5 is an electrically powered vehicle that can be supplied with power, such as a plug-in hybrid electric vehicle (PHEV) or a battery electric vehicle (BEV). The vehicle 5 may also be an autonomous vehicle that can travel autonomously without being operated by a driver. The vehicle 5 may also be equipped with an automatic parking function that automatically parks the vehicle or a parking assist function that assists with parking.

[0063] As shown in Fig. 1, vehicle 5 includes a control unit 51, a communication unit 52, and a charging port 53. Note that Fig. 1 illustrates only the components of vehicle 5 that are essential for realizing the power supply system according to the embodiment, and does not illustrate other components.

[0064] The control unit 51 is an electronic control unit (ECU) whose main components are a microcomputer including, for example, a CPU, RAM, ROM, etc. The control unit 51 comprehensively controls the operations of various components of the vehicle 5 by executing various programs.

[0065] Control unit 51 performs, for example, automatic driving and automatic parking in a parking lot based on instructions from control device 3. For example, when a user of vehicle 5 reserves charging using charger 1, the user drives vehicle 5 to a parking lot where charger 1 is installed and parks in a parking space within the parking lot. Then, when the user gets out of vehicle 5, the user opens the cover of charging port 54 (hereinafter referred to as "charging port cover") and leaves the parking space.

[0066] When the vehicle 5's turn to charge approaches, the control unit 51 automatically drives the vehicle 5 from the parking space to the waiting space Sp2 and then automatically parks it in accordance with instructions from the control device 3. Then, when the vehicle 5's turn to charge arrives, the control unit 51 automatically drives the vehicle 5 from the waiting space Sp2 to the charging space Sp1 and then automatically parks it in accordance with instructions from the control device 3. Then, the charging connector 13 held by the arm mechanism 2 is inserted into the charging port 53, and charging begins.

[0067] Next, when charging is completed, the arm mechanism 2 removes the charging connector 13 from the charging port 53. Next, in accordance with instructions from the control device 3, the control unit 51 automatically drives the vehicle 5 from the charging space Sp1 to the waiting space Sp2, and then automatically parks the vehicle 5.

[0068] The communication unit 52 is configured by, for example, a DCM (Data Communication Module), etc. The communication unit 52 exchanges information with, for example, the charger 1, the arm mechanism 2, the control device 3, and the infrastructure equipment 4 through communication via the network N.

[0069] Charging port (inlet) 53 is for receiving a supply of electric power from charger 1. When charging connector 13 of charger 1 is inserted into charging port 53, electric power from charger 1 is stored in a battery of vehicle 5 (not shown). Although charging port 53 is located on the front left side of vehicle 5 in the examples of FIGS. 2 to 4, it may also be located on the rear left side, front right side, rear right side, front center, rear center, etc. of vehicle 5.

[0070] The cradle 6 is installed, for example, in a parking lot or the like that can accumulate vehicles 5. The cradle 6 can be installed in any type of parking lot, such as a flat parking lot, a mechanical multi-story parking lot, or a self-propelled multi-story parking lot. As shown in FIGS. 2 to 4, the cradle 6 is equipped with a charger 1, an arm mechanism 2, and a control panel 7. In this embodiment, two chargers 1 are installed on the cradle 6, and the cradle 6 is configured to be able to charge two or more vehicles 5 simultaneously.

[0071] When installing the charger 1 in a parking lot, it is installed on a rack unit basis. That is, the charger 1, arm mechanism 2, and control panel 7 are installed on the rack 6 in advance at a factory or the like, and after adjusting the operation of the arm mechanism 2 (robot teaching), aligning the charger 1 and arm mechanism 2, and completing wiring work, the rack 6 is transported to the parking lot and installed (for example, anchored). Installing on a rack unit basis in this way improves the flexibility in installing the charger 1 and arm mechanism 2 and minimizes construction costs.

[0072] (Charging method) The flow of the charging method executed by the charging system according to the embodiment will be described with reference to FIG.

[0073] First, the user makes a reservation for charging (step S1). This reservation for charging may be made, for example, through an information terminal carried by the user (for example, a smartphone connected to the network N) or through an in-vehicle terminal (for example, a car navigation system connected to the network N).

[0074] Next, the control device 3 acquires charging reservation information from the information terminal or the in-vehicle terminal (step S2). This reservation information includes information necessary for charging the vehicle 5 by the charger 1.

[0075] The reservation information includes, for example, information for identifying the user (e.g., a user ID, etc.), information related to the date and time the charging reservation was sent, information related to the date and time the charging is desired, etc. The reservation information also includes other information for identifying the vehicle 5 (e.g., a vehicle number, etc.), the shape (body type) of the vehicle 5, information related to the location of the charging port 53 of the vehicle 5, information related to the remaining battery level (SOC: State Of Charge) of the vehicle 5, the current location of the vehicle 5, etc. Note that "information related to the location of the charging port 53" is, for example, information related to where the charging port 53 is located among the front left side, rear left side, front right side, rear right side, front center, and rear center of the vehicle 5.

[0076] Next, the control device 3 determines the order of charging of the vehicles 5 for which reservations have been accepted (step S3). In step S3, the order of charging of the vehicles 5 is determined based on, for example, the number of other vehicles 5 for which charging reservations have been accepted at the same time or around the same time, and the time until charging is completed predicted from the remaining battery power of the other vehicles 5. Also, in step S3, the control device 3 transmits information (order information) about the determined order to the vehicles 5 (and the user's information terminal and in-vehicle terminal).

[0077] Next, the user parks vehicle 5 in a parking space in a parking lot (a parking lot where charger 1 is installed) (step S4). Next, after getting out of vehicle 5, the user opens the charging port cover (step S5) and leaves the parking space.

[0078] Next, the vehicle 5 automatically drives from the parking space to the waiting space Sp2 based on instructions from the control device 3 (step S6). Then, when the vehicle's turn for charging arrives, the vehicle 5 automatically drives from the waiting space Sp2 to the charging space Sp1 based on instructions from the control device 3 (step S7).

[0079] When vehicle 5 stops in charging space Sp1, control device 3 transmits an instruction (gripping instruction) to arm mechanism 2 to grip charging connector 13 (step S8). In response to this, arm mechanism 2 grips charging connector 13 (step S9) and moves charging connector 13 to the vicinity of charging port 53. Next, arm mechanism 2 detects the position of charging port 53, for example, by pattern matching based on an image of charging port 53 (step S10), and inserts charging connector 13 into charging port 53 (step S11).

[0080] Next, arm mechanism 2 locks charging connector 13 using a locking mechanism (not shown) or the like to prevent charging connector 13 from coming off charging port 53 (step S12), then releases its grip on charging connector 13 and returns to a predetermined standby position (step S13). An example of the "predetermined standby position" is a position where the entire arm mechanism 2 is within the range of base 6 (a position that does not extend beyond base 6), as shown in FIG. 1 . Also, in step S13, arm mechanism 2 transmits information about the current operating state of arm mechanism 2 (for example, the current position, whether charging connector 13 is locked, etc.) to control device 3.

[0081] Here, the arm mechanism 2 returns to the predetermined standby position as in S13, for example, when there is no other vehicle 5 waiting to be charged next, or when there is no other vehicle 5 that has already been charged. For example, if there is another vehicle 5 waiting to be charged next, the arm mechanism 2 does not return to the predetermined standby position (without performing step S13), and directly performs the processing of step S9 and subsequent steps for the other vehicle 5. Also, for example, if there is another vehicle 5 that has already been charged next, the arm mechanism 2 does not return to the predetermined standby position (without performing step S13), and directly performs the processing of step S17 and subsequent steps for the other vehicle 5.

[0082] Next, the control device 3 transmits information (charging start instruction information) to the charger 1 instructing the charger 1 to start charging the vehicle 5 (step S14). Next, the charger 1 starts charging the vehicle 5 (step S15). Next, when charging of the vehicle 5 is completed (step S16), the charger 1 transmits information (charging completion information) to the arm mechanism 2 indicating that charging is completed.

[0083] Next, arm mechanism 2 unlocks charging connector 13 (step S17), grips charging connector 13 (step S18), and removes charging connector 13 from charging port 53 (step S19). Next, arm mechanism 2 returns the removed charging connector 13 to a predetermined position on charger 1 (for example, the side surface of charger 1) (step S20), releases its grip on charging connector 13, and returns to a predetermined standby position (step S21).

[0084] Here, the arm mechanism 2 returns to the predetermined standby position as in S21 when, for example, there is no other vehicle 5 waiting to be charged next, or there is no other vehicle 5 that has already been charged. For example, if there is another vehicle 5 waiting to be charged next, the arm mechanism 2 does not return to the predetermined standby position (without performing step S21), and directly performs the processing of step S9 and subsequent steps for the other vehicle 5. Also, for example, if there is another vehicle 5 that has already been charged next, the arm mechanism 2 does not return to the predetermined standby position (without performing step S21), and directly performs the processing of step S17 and subsequent steps for the other vehicle 5.

[0085] Next, the vehicle 5 automatically travels from the charging space Sp1 to the waiting space Sp2 based on instructions from the control device 3 (step S22). Next, the user closes the charging port 53 in the waiting space Sp2, gets into the vehicle 5 (step S23), and exits the parking lot.

[0086] Although not shown in Fig. 11, when the vehicle 5 is traveling automatically in steps S6, S7, and S22, the automatic traveling is realized by constant communication between the control device 3 and the vehicle 5. In this case, the control device 3 identifies the location of the vehicle 5 based on information obtained from, for example, the infrastructure facility 4, and sequentially transmits to the vehicle 5 the locations of the waiting space Sp2 and the charging space Sp1, the traveling route to the waiting space Sp2 and the charging space Sp1, etc. In this way, the control device 3 controls the traveling of the vehicle 5 within the parking lot.

[0087] According to the charging system of the embodiment described above, the range of motion of the arm mechanism 2 (the width of the locus X in FIG. 5 ) can be reduced by arranging the charging connector 13 of the charger 1 facing the direction of the arm mechanism 2. This allows the width of the stand 6 on which the arm mechanism 2 is installed (the curb width) to be reduced, thereby minimizing the installation space for the arm mechanism 2.

[0088] 6 and 7, in the charging system according to the embodiment, charging connector 13 is gripped not by friction but by inserting tapered pin 242 into tapered hole 132. This allows charging connector 13 to be reliably gripped by a small servo motor provided in arm mechanism 2. As a result, the size and weight of arm mechanism 2 can be reduced, and the installation space for arm mechanism 2 can be minimized.

[0089] Furthermore, in the charging system according to the embodiment, a single fixed arm mechanism 2 operates multiple charging connectors 13 to simultaneously charge multiple vehicles 5. In this case, since the arm mechanism 2 itself cannot move, multiple vehicles 5 can be simultaneously charged by moving the vehicles 5 while charging is in progress with the charging connectors 13 inserted.

[0090] As described above, the charging system according to the embodiment allows two or more vehicles 5 to be charged simultaneously with a simple configuration, regardless of the location of the charging port 53 of the vehicle 5 or the type of parking lot, and can increase the charging turnover rate. As a result, it is possible to shorten the time users have to wait for charging and improve profitability when developing a business of charging vehicles 5. In the charging system according to the embodiment, charging is performed using the automatic driving and automatic parking of the vehicle 5, so there is no need for users to wait for charging, improving user convenience.

[0091] Further advantages and modifications will readily occur to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general invention as defined by the appended claims and their equivalents. [Explanation of symbols]

[0092] 1 charger 11 Control section 12 Communications Department 13, 13A, 13B charging connector 131 Connector side bracket 131a Exterior 132 Tapered hole 14 Charging cable 2 Arm mechanism 21 Control Unit 22 Communications Department 23 Camera 24 Tip 241 Arm side bracket 241a Inner surface 242 Tapered pin 3. Control device 31 Control Unit 32 Communications Department 4. Infrastructure 41 Control Unit 42 Communications Department 43 Sensors 5 vehicles 51 Control section 52 Communications Department 53 Charging port N Network Sp1 Charging Space Sp2 Waiting space

Claims

1. a charger having a charging connector; an arm mechanism capable of gripping the charging connector and moving the charging connector within a predetermined range; a control device that controls the charger, the arm mechanism, and a plurality of vehicles; and The charging connector is arranged such that a portion to be gripped by the arm mechanism faces the arm mechanism. Charging system.

2. an arm-side bracket that can be opened and closed and has a tapered pin on the inside is attached to the tip of the arm mechanism; a connector-side bracket having an outer tapered hole is attached to a base end of the charging connector; the arm mechanism grips the connector-side bracket with the arm-side bracket and grips the charging connector by inserting the tapered pin into the tapered hole; The charging system of claim 1 .

3. The charging system according to claim 1 , wherein the control device parks the vehicle within the predetermined range so that a charging port of the vehicle faces the charger.

4. The charging system according to claim 1 , wherein a width of the stand on which the charger and the arm mechanism are mounted is equal to a width of the charger.

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