Automatic charging robot and charging system

Abstract

To provide an automatic charging robot and a charging system capable of preventing a charging cable from being caught to stop the operation of an arm mechanism.SOLUTION: An automatic charging robot of the present invention includes an arm mechanism capable of gripping a charging connector connected to a charging device by a charging cable, and a control device that automatically performs control to operate the arm mechanism, in which a mechanical sensor capable of detecting an overload due to catching of the charging cable is provided in the arm mechanism, and the control device controls the operation of the arm mechanism so as to return to the previous operation or the second previous operation when the mechanical sensor detects the overload, and to return to the operation when the overload is detected when the overload is released.SELECTED DRAWING: Figure 6

Description

[Technical Field]

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

[0002] Patent Document 1 discloses a charging system that includes a charging device in which one or more charging cables with charging plugs are connected to the device body, and an arm mechanism that grasps any charging plug provided on the charging device and automatically inserts or removes the charging plug into or from the charging port of a vehicle located in a charging space. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-072625 Summary of the Invention [Problem to be solved by the invention]

[0004] However, while the arm mechanism gripping the charging connector (charging plug) is operating, there is a risk that the charging cable may get caught, causing the arm mechanism to stop operating.

[0005] The present invention has been made in consideration of the above-mentioned problems, and its purpose is to provide an automatic charging robot and charging system that can prevent the charging cable from getting caught and causing the arm mechanism to stop operating. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the object, the automatic charging robot of the present invention comprises an arm mechanism capable of grasping a charging connector connected to a charging device by a charging cable, and a control device that automatically controls the operation of the arm mechanism, and a mechanical sensor that can detect overload caused by the charging cable getting caught is provided in the arm mechanism, and when the overload is detected by the mechanical sensor, the control device controls the operation of the arm mechanism so that it returns to the previous operation or the operation two operations ago, and when the overload is released, it returns to the operation when the overload was detected.

[0007] As a result, the automatic charging robot according to the present invention can release the trapped charging cable with simple control, thereby preventing the charging cable from getting caught and causing the arm mechanism to stop operating.

[0008] In the above, when the overload is detected, the control device may perform control to reduce the operating speed of the arm mechanism when returning to the previous operation or the operation two operations ago.

[0009] This makes it possible to prevent a large load from being applied to the arm mechanism when releasing the charging cable from being caught.

[0010] In addition, the automatic charging robot of the present invention comprises an arm mechanism capable of grasping a charging connector connected to a charging device by a charging cable, a control device that automatically controls the operation of the arm mechanism, and a camera provided on the arm mechanism, and the control device calculates the direction in which to operate the arm mechanism to release the snagged charging cable based on image information regarding the snagged charging cable captured by the camera, and causes the arm mechanism to perform the operation to release the snagged charging cable based on the calculation result of the direction in which to operate the arm mechanism.

[0011] As a result, the automatic charging robot of the present invention can objectively observe the abnormal state of the charging cable getting caught using a camera and have the arm mechanism perform an operation to release the charging cable from the snag, thereby preventing the charging cable from getting caught and causing the arm mechanism to stop operating.

[0012] In addition, the automatic charging robot of the present invention includes an arm mechanism capable of grasping a charging connector connected to a charging device by a charging cable, and a control device that automatically controls the operation of the arm mechanism, and the control device controls the operation of the arm mechanism so that the charging cable is pulled out to the minimum necessary length from a cable winding device that winds up the charging cable so that it can be pulled out.

[0013] As a result, the automatic charging robot of the present invention can adopt a structure that makes it physically difficult for the charging cable to get caught, by always pulling out only the minimum necessary length, and it is possible to prevent the charging cable from getting caught and causing the arm mechanism to stop operating.

[0014] A charging system according to the present invention includes a charging device having a charging connector connected by a charging cable, and any one of the automatic charging robots described above.

[0015] As a result, the charging system according to the present invention can prevent the charging cable from getting caught and causing the arm mechanism to stop operating. [Effects of the Invention]

[0016] The automatic charging robot and charging system according to the present invention have the advantage of being able to prevent the charging cable from getting caught and causing the arm mechanism to stop operating. [Brief explanation of the drawings]

[0017] [Figure 1] FIG. 1 is a block diagram showing a schematic configuration of a charging system according to the first embodiment. [Figure 2] FIG. 2 is a perspective view showing a schematic configuration of the charging system according to the first embodiment. [Figure 3] FIG. 3 is a plan view showing a schematic configuration of the charging system according to the first embodiment. [Figure 4] FIG. 4 is a side view showing a schematic configuration of the charging system according to the first embodiment. [Figure 5] FIG. 5 is a flowchart showing the overall flow of the charging method executed by the charging system according to the first embodiment. [Figure 6] FIG. 6 is a flowchart showing an example of control of an abnormality handling operation executed by the control unit of the automatic charging robot in the charging system according to the first embodiment. [Figure 7] FIG. 7 is a flowchart showing an example of control of an abnormality handling operation executed by the control unit of the automatic charging robot in the charging system according to the second embodiment. [Figure 8] FIG. 8 is a side view showing a schematic configuration of a charging system according to the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0018] (Embodiment 1) A first embodiment of a charging system including an automatic charging robot according to the present invention will be described below, although the present invention is not limited to this embodiment.

[0019] Fig. 1 is a block diagram showing a schematic configuration of a charging system 100 according to embodiment 1. Fig. 2 is a perspective view showing a schematic configuration of the charging system 100 according to embodiment 1. Fig. 3 is a plan view showing a schematic configuration of the charging system 100 according to embodiment 1. Fig. 4 is a side view showing a schematic configuration of the charging system 100 according to embodiment 1.

[0020] A charging system 100 according to the first embodiment is for simultaneously charging multiple vehicles using chargers installed in, for example, a parking lot. As shown in FIG. 1 , the charging system 100 according to the first embodiment includes a charger 1, an automatic charging robot 2, a control device 3, infrastructure equipment 4, and a vehicle 5. The charger 1, the automatic charging robot 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, by an internet network, a mobile phone network, or the like.

[0021] The charger (charging stand, charging post) 1 is a charging device for supplying 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 the voltage of power from a power plant.

[0022] 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.

[0023] 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.

[0024] 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 automatic charging robot 2 and the control device 3 through communication via the network N.

[0025] The charging connector (charging gun, charging plug) 13 is used to supply power to the vehicle 5 to be charged. When not charging, the charging connector 13 is engaged with the side of the charger 1. When charging of the vehicle 5 begins, the charging connector 13 is grasped by the fixed automatic charging robot 2 and inserted into the charging port 53 of the vehicle 5. In this state, power is supplied from the charger 1 to the vehicle 5 through the charging connector 13. Thereafter, when charging of the vehicle 5 is completed, the charging connector 13 is grasped again by the automatic charging robot 2, removed from the charging port 53 of the vehicle 5, and then engaged with the side of the charger 1.

[0026] Although FIGS. 2 to 4 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.

[0027] 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.

[0028] 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.

[0029] The automatic charging robot 2 is configured to grip the charging connector 13 and automatically insert and remove it from the charging port 53 when charging the vehicle 5 from the charger 1.

[0030] As shown in FIG. 1, the automatic charging robot 2 includes an arm mechanism 20, a control unit 21, a communication unit 22, a camera 23, a dynamic sensor 25, and a driving device.

[0031] The base end of the arm mechanism 20 is installed and fixed on the stand 6. The arm mechanism 20 is provided at an arm tip 24, which is the tip end of a robot arm 201 having multiple joints, and has a robot hand 241 that can grip the charging connector 13.

[0032] Control unit 21 is a control device realized by a processor such as a CPU and a memory (main storage unit) such as a RAM and a ROM. Based on instructions from control device 3, control unit 21 automatically controls the drive device to grip charging connector 13 with robot hand 241 of arm mechanism 20, and inserts and removes charging connector 13 from charging port 53. In other words, control unit 21 automatically controls the operation of arm mechanism 20 based on instructions from control device 3. Control unit 21 is also disposed, for example, within the base end of arm mechanism 20.

[0033] Furthermore, when inserting the gripped charging connector 13 into the charging port 53, the control unit 21 identifies the position of the charging port 53 and the distance to the charging port 53 (the distance between the charging connector 13 and the charging port 53) from an image captured by, for example, a camera 23 installed at the tip of the automatic charging robot 2. The shape of the charging port 53 of the vehicle 5 is standardized. Therefore, the position of the charging port 53 can be identified by performing pattern matching based on the image of the charging port 53 captured by the camera 23. Furthermore, the distance from the charging connector 13 gripped by the automatic charging robot 2 to the charging port 53 can be identified by using a 3D (three-dimensional) camera as the camera 23 to acquire information in the depth direction.

[0034] 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 through communication via the network N. The communication unit 22 is also disposed, for example, within the base end portion of the arm mechanism 20.

[0035] Camera 23 is used to capture an image of charging port 53. Camera 23 is provided at the tip of automatic charging robot 2 (arm mechanism main body). Camera 23 is configured to be able to communicate with control unit 21 via, for example, a communication cable. Furthermore, it is preferable to use a 3D camera as camera 23, which is capable of acquiring information in the depth direction.

[0036] The control device 3 controls the charger 1, the automatic charging robot 2, and the plurality of vehicles 5. The control device 3 performs, for example, charging control of the charger 1, control of the operation of the automatic charging robot 2, control of the infrastructure equipment 4, and driving 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 (the charger 1, the automatic charging robot 2, the infrastructure equipment 4, and the 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.

[0037] As shown in FIG. 1, the control device 3 includes a control unit 31 and a communication unit 32.

[0038] 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.

[0039] The control unit 31 controls the driving of the vehicle 5 based on information (e.g., location information of the vehicle 5, etc.) acquired from the infrastructure facility 4. 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 carried by the user (e.g., a smartphone connected to the network N), 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.

[0040] When 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 a waiting space, and then automatically parks the vehicle 5. By moving the vehicle 5 to be charged to the waiting space in advance and leaving it waiting, the time required to switch vehicles 5 to be charged can be minimized, and the availability of the charger 1 can be improved.

[0041] Subsequently, when it is the vehicle 5's turn to be charged, the control unit 31 uses the location information of the vehicle 5 acquired from the infrastructure 4 to automatically drive the vehicle 5 from the waiting space to the charging space Sp1 and then automatically parks the vehicle 5. Then, the control unit 31 causes the automatic charging robot 2 to grasp the charging connector 13, and causes the automatic charging robot 2 to insert the grasped charging connector 13 into the charging port 53, thereby starting charging by the charger 1.

[0042] Next, when charging of the vehicle 5 is completed, the control unit 31 causes the automatic charging robot 2 to grip the charging connector 13 again and remove the gripped charging connector 13 from the charging port 53. Next, using the position information of the vehicle 5 acquired from the infrastructure facility 4, the control unit 31 causes the vehicle 5 to automatically drive from the charging space Sp1 to a waiting space, and then automatically parks the vehicle 5.

[0043] 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.

[0044] 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.

[0045] The control unit 31 can charge two or more vehicles 5 simultaneously using one automatic charging robot 2. In this case, 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 automatic charging robot 2 to grasp the charging connector 13 of the first charger 1 (charger 1 on the upper side of the page). Next, the control unit 31 inserts the charging connector 13 grasped by the automatic charging robot 2 into the charging port 53 of vehicle A, causing charging of vehicle A to begin.

[0046] Next, 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 automatic charging robot 2 to grasp the charging connector 13 of the second charger 1 (charger 1 on the lower side of the page). Next, while vehicle A is being charged, the control unit 31 inserts the charging connector 13 grasped by the automatic charging robot 2 into the charging port 53 of vehicle B, and starts charging vehicle B.

[0047] FIG. 5 is a flowchart showing the overall flow of the charging method executed by the charging system 100 according to the first embodiment.

[0048] 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).

[0049] 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.

[0050] The reservation information includes, for example, information for identifying the user (e.g., a user ID), information regarding the date and time the charging reservation was sent, and information regarding the date and time the user desires to charge. The reservation information also includes other information for identifying the vehicle 5 (e.g., a vehicle number), information regarding the location of the charging port 53 of the vehicle 5, information regarding the remaining battery level (SOC: State Of Charge) of the vehicle 5, and the current location of the vehicle 5. Note that "information regarding the location of the charging port 53" is, for example, information regarding 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.

[0051] 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).

[0052] Next, the user parks the vehicle 5 in a parking space in the parking lot (the parking lot where the charger 1 is installed) (step S4). Next, the user gets out of the vehicle 5, opens the charging lid 54 and the charging port cover (step S5), and leaves the parking space.

[0053] Next, the vehicle 5 automatically drives from the parking space to the waiting space 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 to the charging space Sp1 based on instructions from the control device 3 (step S7).

[0054] When the vehicle 5 stops in the charging space Sp1, the control device 3 transmits an instruction (grasp instruction) to the automatic charging robot 2 to grasp the charging connector 13 (step S8). In response to this, the automatic charging robot 2 grasps the charging connector 13 with the arm mechanism 20 (step S9) and moves the charging connector 13 to the vicinity of the charging port 53. Next, the automatic charging robot 2 detects the position of the charging port 53, for example, by pattern matching based on image information of the charging port 53 captured by the camera 23 (step S10), and inserts the charging connector 13 into the charging port 53 (step S11).

[0055] Next, the automatic charging robot 2 locks the charging connector 13 to the charging port 53 (vehicle 5) using a locking mechanism or the like to prevent the charging connector 13 from coming off the charging port 53 (step S12), releases the arm tip 24 of the arm mechanism 20 from gripping the charging connector 13, and returns to a predetermined standby position (step S13). Note that the "predetermined standby position" may be, for example, a state in which the entire arm mechanism 20 is contained within the range of the stand 6 (a state in which the arm mechanism 20 does not protrude from the stand 6), as shown in FIG. 1 . Also, in step S13, the automatic charging robot 2 transmits information regarding the current operating states of the arm mechanism 20, charging connector 13, and the like (for example, the current position of the arm mechanism 20 and whether or not the charging connector 13 is locked) to the control device 3.

[0056] 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 automatic charging robot 2 indicating that charging is completed.

[0057] Next, the automatic charging robot 2 unlocks the charging connector 13 (step S17) and removes the charging connector 13 from the charging port 53 using the arm tip 24 of the arm mechanism 20 (step S18). Next, the automatic charging robot 2 returns the removed charging connector 13 to a predetermined position on the charger 1 (for example, the side of the charger 1) (step S19), releases the grip of the charging connector 13 by the arm tip 24, and returns the arm mechanism 20 to a predetermined standby position (step S20).

[0058] Next, the vehicle 5 automatically travels from the charging space Sp1 to the waiting space (step S21) based on instructions from the control device 3. Next, the user closes the charging port cover and the charging lid 54 in the waiting space, gets into the vehicle 5 (step S22), and leaves the parking lot.

[0059] Although not shown in Fig. 5, when the vehicle 5 is traveling automatically in steps S6, S7, and S21, 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 acquired from the infrastructure facility 4, for example, and sequentially transmits to the vehicle 5 the locations of the waiting space and charging space Sp1, as well as the traveling route to the waiting space and charging space Sp1. In this way, the control device 3 controls the traveling of the vehicle 5 within the parking lot.

[0060] In the charging system 100 according to the first embodiment described above, a single fixed arm mechanism 20 is used to operate a plurality of charging connectors 13, and a plurality of vehicles 5 are simultaneously charged. In this case, since the arm mechanism 20 itself cannot move, the plurality of vehicles 5 can be simultaneously charged by moving the vehicle 5 while the charging connector 13 is inserted and charging is being performed.

[0061] As described above, the charging system 100 according to the first embodiment can charge two or more vehicles 5 simultaneously with a simple configuration, regardless of the location of the charging port 53 of the vehicle 5 or the type of parking lot, thereby increasing the charging turnover rate. As a result, it is possible to shorten the time that users have to wait for charging, and to improve profitability when developing a business of charging vehicles 5. Furthermore, by using the automatic driving and automatic parking of the vehicle 5 to charge the vehicle 5, it is not necessary for the user to wait for charging, and convenience for the user is improved.

[0062] Furthermore, in the charging system 100 according to the first embodiment, the arm mechanism 20 of the automatic charging robot 2 is provided with a dynamic sensor 25 capable of detecting an overload caused by snagging of the charging cable 14. The dynamic sensor 25 is attached, for example, to the base of the arm tip 24. When the dynamic sensor 25 detects an overload caused by snagging of the charging cable 14, the control unit 21 controls the drive device to, for example, slow down the movement speed of the arm mechanism 20 compared to immediately before the overload was detected and operate the arm mechanism 20 so as to return to the movement one or two steps before. This allows the arm mechanism 20 to retrace its movement steps as a method for removing (unlocking) the snagged charging cable 14, thereby easily releasing the snagged charging cable 14 and eliminating the overload on the arm mechanism 20. Furthermore, slowing down the movement speed of the arm mechanism 20 makes it possible to prevent a large load from being applied to the arm mechanism 20 when unhooking the snagged charging cable 14. Then, when the overload is released, the control unit 21 controls the drive device to operate the arm mechanism 20 so that it returns to its original operation, i.e., the operation when the overload was detected by the mechanical sensor 25.

[0063] In this way, in the charging system 100 according to the first embodiment, it is possible to prevent the charging cable 14 from getting caught and causing the operation of the arm mechanism 20 to stop.

[0064] FIG. 6 is a flowchart showing an example of control of an abnormality handling operation executed by the control unit 21 of the automatic charging robot 2 in the charging system 100 according to the first embodiment.

[0065] First, control unit 21 detects an overload caused by snagging of charging cable 14 using dynamic sensor 25 (step S31). Next, control unit 21 controls the drive device to slow down the operating speed of arm mechanism 20 (step S32). Next, control unit 21 controls the drive device to return the operation of arm mechanism 20 to the operation immediately before or two operations before (step S33). Next, control unit 21 determines whether the overload has been removed (step S34). If control unit 21 determines that the overload has been removed (Yes in step S34), it controls the drive device to resume the operation of arm mechanism 20 from the point where it was returned to (step S35). Then, control unit 21 ends control of the series of abnormality handling operations. On the other hand, if control unit 21 determines that the overload has not been removed (No in step S34), it controls the drive device to stop the operation of arm mechanism 20. Then, control unit 21 ends control of the series of abnormality handling operations.

[0066] As described above, in the charging system 100 according to embodiment 1, by providing the automatic charging robot 2 with the functionality to perform abnormality handling operations to resolve abnormalities in a simple manner, it is possible to reduce the time required for facility management and improve the operating rate.

[0067] (Embodiment 2) Hereinafter, a charging system including an automatic charging robot according to a second embodiment of the present invention will be described. Note that in this embodiment, the same configuration as in the first embodiment will not be described as appropriate.

[0068] In the charging system 100 according to the second embodiment, the camera 23 provided on the automatic charging robot 2 has a function of recognizing the operating status of the arm mechanism 20. The camera 23 can communicate with the control unit 21 of the automatic charging robot 2 and can send image information from the camera 23 to the control unit 21. The control unit 21 is equipped with AI (artificial intelligence) in a section that processes the image information from the camera 23. The control unit 21 incorporates a program that stops the operation of the arm mechanism 20 when it detects the image information indicating that the charging cable 14 is stuck. The AI ​​of the control unit 21 has a function of calculating the coordinate position of the operation of the arm mechanism 20 on a coordinate system consisting of the X-axis, Y-axis, and Z-axis, and can calculate the operation that determines whether the charging cable 14 is stuck from the coordinate position of the arm mechanism 20 and the image information. The control unit 21 also has a function of temporarily inserting the AI ​​calculation results into the operation program of the arm mechanism 20. When it determines that the charging cable 14 is stuck, the control unit 21 can automatically perform an abnormality correction operation on the arm mechanism 20 to remove the stuck charging cable 14. In this way, in the charging system 100 according to the second embodiment, it is possible to prevent the charging cable 14 from getting caught and causing the operation of the arm mechanism 20 to stop.

[0069] A camera having a function of recognizing the operating status of arm mechanism 20 may be provided on arm mechanism 20 separately from camera 23 for capturing an image of charging port 53.

[0070] FIG. 7 is a flowchart showing an example of control of an abnormality handling operation executed by the control unit 21 of the automatic charging robot 2 in the charging system 100 according to the second embodiment.

[0071] First, controller 21 detects that charging cable 14 is caught based on image information from camera 23 (step S41). Next, controller 21 controls the drive device to stop the operation of arm mechanism 20 (step S42). Next, controller 21 uses AI to calculate the direction of movement of arm mechanism 20 to release charging cable 14 from the caught state (step S43). Next, controller 21 controls the drive device based on the calculation result from AI to perform the operation to release charging cable 14 from the caught state (step S44). Then, controller 21 ends control of the series of abnormality processing operations.

[0072] As described above, in the charging system 100 according to the second embodiment, an abnormal state of the charging cable 14 being caught can be objectively observed by the camera 23, and an operation to deal with the abnormality can be automatically performed by the automatic charging robot 2. As a result, in the charging system 100 according to the second embodiment, even a severe caught abnormality can be dealt with without human intervention, thereby reducing the time required for facility management and improving the availability rate.

[0073] (Embodiment 3) Hereinafter, a third embodiment of a charging system including an automatic charging robot according to the present invention will be described. Note that in this embodiment, the same configurations as those in the first and second embodiments will not be described as appropriate.

[0074] FIG. 8 is a side view showing a schematic configuration of a charging system 100 according to the third embodiment.

[0075] In a charging system 100 according to the third embodiment, as shown in FIG. 8 , a cable winding device 8 is provided in a charger 1 as a mechanism for winding up a charging cable 14. The cable winding device 8 is configured such that a drum-shaped reel unit 81 is rotatably supported by a rotary shaft 82 on a support member 83 fixed on a stand 6 near the charger 1. The cable winding device 8 is also configured to automatically wind up the charging cable 14 that has been reeled out (pulled out) from the reel unit 81 using the force of a spring. Therefore, when inserting the charging connector 13 into the charging port 53 of the vehicle 5, the automatic charging robot 2 operates the arm mechanism 20 of the cable winding device 8 so as to reel out (pull out) the charging cable 14 against the force of the spring.

[0076] In this way, the cable winding device 8 is configured to always only pay out (pull out) the charging cable 14 wound around the reel unit 81 by the minimum necessary length, for example, the length that allows the charging connector 13 to move between a predetermined position on the charger 1 (the side surface of the charger 1) and the charging port 53 of the vehicle 5. In the charging system 100 according to the third embodiment, the cable winding device 8 always only pays out (pull out) the charging cable 14 by the minimum necessary length, thereby making it possible to employ a structure that physically makes it difficult for the charging cable 14 to get caught. In this way, the charging system 100 according to the third embodiment can prevent the charging cable 14 from getting caught and causing the arm mechanism 20 to stop operating.

[0077] As a result, in the charging system 100 according to the third embodiment, the frequency of abnormalities caused by the charging cable 14 getting caught can be reduced inexpensively, and the time required for facility management can be reduced and the availability rate can be improved. [Explanation of symbols]

[0078] 1 charger 2. Automatic charging robot 3. Control device 5 vehicles 6 Mounting stand 8 Cable winding device 11 Control section 12 Communications Department 13 Charging connector 14 Charging cable 20 Arm mechanism 21 Control Unit 22 Communications Department 23 Camera 24 Arm tip 25 Mechanical Sensor 53 Charging port 54 Charging lid 81 Reel section 82 Rotation axis 83 Support member 100 Charging System

Claims

1. an arm mechanism capable of gripping a charging connector connected to the charging device by a charging cable; a control device that automatically controls the operation of the arm mechanism; Equipped with a mechanical sensor capable of detecting an overload caused by the charging cable being caught is provided in the arm mechanism; When the overload is detected by the mechanical sensor, the control device controls the operation of the arm mechanism so that the arm mechanism returns to the operation immediately before or two operations before, and when the overload is released, the arm mechanism returns to the operation when the overload was detected. Automatic charging robot.

2. When the overload is detected, the control device performs control to slow down the operation speed of the arm mechanism when returning to the previous operation or the operation two operations ago. The automatic charging robot according to claim 1 .

3. an arm mechanism capable of gripping a charging connector connected to the charging device by a charging cable; a control device that automatically controls the operation of the arm mechanism; a camera provided on the arm mechanism; Equipped with The control device calculates a direction in which to operate the arm mechanism to release the trapped charging cable based on image information regarding the trapped charging cable captured by the camera, and causes the arm mechanism to perform an operation to release the trapped charging cable based on a result of the calculation of the direction in which to operate the arm mechanism. Automatic charging robot.

4. an arm mechanism capable of gripping a charging connector connected to the charging device by a charging cable; a control device that automatically controls the operation of the arm mechanism; Equipped with the control device controls the operation of the arm mechanism so that the charging cable is pulled out by a minimum necessary length from a cable winding device that winds up the charging cable in a pullable manner. Automatic charging robot.

5. a charging device to which the charging connector is connected via a charging cable; The automatic charging robot according to any one of claims 1 to 4, An automatic charging system.

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