Charging system

Abstract

To provide a charging system capable of detecting abnormality of the charging system such as a crack of a charging connector.SOLUTION: A charging system according to the present invention includes a charging device having a charging connector, an arm mechanism capable of gripping the charging connector, an imaging device provided in the arm mechanism, a mirror provided in the charging device or the arm mechanism, and an abnormality detection device that captures an image of the charging connector reflected in the mirror using the imaging device and detects an abnormality of the charging connector using the captured image. Accordingly, it is possible to detect an abnormality of the charging system such as a crack of the charging connector.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] Patent Document 1 describes a charging system that determines whether or not certain safety conditions, such as whether the charging cable is not entering the charging compartment, are met when inserting a charging connector into a vehicle's charging port. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-79759 Summary of the Invention [Problem to be solved by the invention]

[0004] The charging system described in Patent Document 1 cannot detect abnormalities in the charging system, such as cracks in the charging connector.

[0005] The present disclosure has been made in consideration of the above-mentioned problems, and has an object to provide a charging system that is capable of detecting an abnormality in the charging system, such as a crack in a charging connector. [Means for solving the problem]

[0006] The charging system according to the present disclosure includes a charging device having a charging connector, an arm mechanism capable of holding the charging connector, an imaging device provided on the arm mechanism, a mirror provided on the charging device or the arm mechanism, and an abnormality detection device that uses the imaging device to capture an image of the charging connector reflected in the mirror and detects an abnormality in the charging connector using the captured image. [Effects of the Invention]

[0007] According to the charging system according to the present disclosure, it is possible to detect an abnormality in the charging system, such as a crack in the charging connector. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram showing the configuration of a charging system according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a schematic diagram showing the appearance of the charging system according to the embodiment of the present disclosure. [Figure 3] FIG. 3 is a flowchart showing the flow of an abnormality detection process according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, a charging system according to an embodiment of the present disclosure will be described with reference to the drawings.

[0010] 〔composition〕 First, the configuration of a charging system according to an embodiment of the present disclosure will be described with reference to Figures 1 and 2. Figure 1 is a block diagram showing the configuration of a charging system according to an embodiment of the present disclosure. Figure 2 is a schematic diagram showing the appearance of the charging system according to an embodiment of the present disclosure.

[0011] A charging system according to an embodiment of the present disclosure is for simultaneously charging multiple vehicles using chargers installed on a site such as a parking lot, and as shown in Fig. 1, includes a charger 1, an arm mechanism 2, a control device 3, infrastructure equipment 4, and vehicles 5. The charger 1, arm mechanism 2, control device 3, infrastructure equipment 4, and vehicles 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.

[0012] The charger (charging stand, charging post) 1 supplies power to a vehicle 5 to be charged. As shown in FIG. 2 , the charger 1 is installed on a pedestal 6 and connected to a control panel 7. The control panel 7 is connected to, for example, a substation (cubicle) that transforms power from a power plant. The pedestal 6 is installed, for example, in a parking lot or the like that can accommodate vehicles 5. The pedestal 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. The charger 1, the arm mechanism 2, and the control panel 7 are arranged on the pedestal 6. In this embodiment, two chargers 1 are installed on the pedestal 6, and are configured to be able to charge two or more vehicles 5 simultaneously.

[0013] When installing the charger 1 in a parking lot, it is installed as a frame unit. That is, the charger 1, arm mechanism 2, and control panel 7 are installed on the frame 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 frame 6 is transported to the parking lot and installed (for example, anchored). By installing the charger 1 and arm mechanism 2 as a frame unit in this way, the degree of freedom in installing the charger 1 and arm mechanism 2 is improved and installation costs can be minimized.

[0014] Returning to Fig. 1, the charger 1 includes a control unit 11, a communication unit 12, a charging connector 13, a charging cable 14, and a mirror 15 (see Fig. 2).

[0015] The control unit 11 is configured with 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.

[0016] 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.

[0017] 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 and removed from charging port 53 of vehicle 5, and then engaged with the side surface of charger 1. While FIG. 2 shows an example in which one charging connector 13 is provided for one charger 1, multiple charging connectors 13 may be provided for one charger 1.

[0018] Returning to FIG. 1, 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. 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.

[0019] 2, mirror 15 is installed on the outer surface of charger 1, and the installation position, size, and angle are adjusted so that charging port 53 of vehicle 5 is reflected during charging. In this embodiment, mirror 15 is installed on charger 1, but mirror 15 may also be installed on arm mechanism 2. However, even in this case, the installation position, size, and angle of mirror 15 are adjusted so that charging port 53 of vehicle 5 is reflected during charging.

[0020] Returning to FIG. 1, 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 is installed and fixed to a stand 6. The arm mechanism 2 includes a control unit 21, a communication unit 22, and a camera 23.

[0021] Control unit 21 is configured with 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.

[0022] 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, the camera 23 installed at the tip of the arm mechanism 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 arm mechanism 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.

[0023] 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.

[0024] Camera 23 is used to capture an image of charging port 53 and for use in the abnormality detection process described below. Camera 23 is provided at the tip of arm mechanism 2 (arm mechanism main body). It is preferable to use a 3D camera as camera 23, which is capable of acquiring information in the depth direction.

[0025] The control device 3 controls the charger 1, the arm mechanism 2, and the multiple vehicles 5, and performs, for example, charging control of the charger 1, control of the operation of the arm mechanism 2, control of the infrastructure equipment 4, control of the driving of the vehicles 5, and abnormality detection of the charging system, such as the charging connector 13. The control device 3 is configured, for example, by a general-purpose computer such as a workstation or a personal computer, or a server located on the cloud. The control device 3 may be configured by separate hardware depending on the control target (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. The control device 3 functions as an abnormality detection device according to the present invention.

[0026] The control device 3 includes a control unit 31 and a communication unit 32 .

[0027] The control unit 31 is configured 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.

[0028] 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.

[0029] 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 a waiting space in advance and leaving it waiting, the time required to switch vehicles 5 to be charged can be minimized, and the operation rate of the charger 1 can be improved.

[0030] Subsequently, when it is vehicle 5's turn to be charged, control unit 31 uses the location information of vehicle 5 acquired from infrastructure facility 4, etc., to automatically drive vehicle 5 from the waiting space to charging space Sp1 (see FIG. 2 ), and then automatically parks vehicle 5. Then, control unit 31 causes arm mechanism 2 to grasp charging connector 13, inserts charging connector 13 into charging port 53, and starts charging using charger 1.

[0031] 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 a waiting space, and then automatically parks vehicle 5.

[0032] When parking a 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. Then, the control unit 31 uses one arm mechanism 2 to simultaneously charge two or more vehicles 5. This increases the charge turnover rate.

[0033] The communication unit 32 is configured by, 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.

[0034] The infrastructure equipment 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). The infrastructure equipment 4 is arranged around the charging space Sp1 for the vehicle 5, around the waiting space for the vehicle 5, on the driving route of the vehicle 5 (on both sides of the driving route, etc.), etc.

[0035] The infrastructure facility 4 includes a control unit 41, a communication unit 42, and a sensor 43.

[0036] 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.

[0037] 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.

[0038] The sensor 43 is configured by, for example, a LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging), a camera, etc.

[0039] 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.

[0040] Vehicle 5 includes a control unit 51, a communication unit 52, and a charging port 53. Note that, among the components of vehicle 5, Fig. 1 illustrates only the components essential for realizing the power supply system according to the embodiment, and other components are not illustrated.

[0041] 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.

[0042] Control unit 51 performs automatic driving and automatic parking, for example, 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 the "charging port cover") and leaves the parking space.

[0043] 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 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 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.

[0044] 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 a waiting space, and then automatically parks the vehicle 5.

[0045] 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.

[0046] The charging port (inlet) 53 is for receiving a supply of electric power from the charger 1. When the charging connector 13 of the charger 1 is inserted into this charging port 53, the electric power from the charger 1 is stored in the battery of the vehicle 5 (not shown).

[0047] In a charging system having such a configuration, the control device 3 executes the abnormality detection process described below to detect an abnormality in the charging system, such as a crack in the charging connector 13. Hereinafter, the operation of the control device 3 when executing the abnormality detection process will be described with reference to the flowchart shown in Fig. 3. The control device 3 corresponds to the abnormality detection device according to the present invention.

[0048] [Abnormality detection process] 3 is a flowchart showing the flow of the abnormality detection process according to the embodiment of the present disclosure. The abnormality detection process starts when the vehicle 5 to be charged is parked in the charging space Sp1, and proceeds to step S1.

[0049] In the processing of step S1, the control device 3 uses the camera 23 provided in the arm mechanism 2 to capture an image of the surroundings of the vehicle 5 to be charged, and determines whether or not there is an obstacle around the vehicle 5 based on the captured image. If the determination result shows that there is no obstacle around the vehicle 5 (step S1: Yes), the control device 3 proceeds with the abnormality detection processing to the processing of step S2. On the other hand, if there is an obstacle around the vehicle 5 (step S1: No), the control device 3 proceeds with the abnormality detection processing to the processing of step S8.

[0050] In the process of step S2, the control device 3 uses the camera 23 included in the arm mechanism 2 to capture an image of the charging connector 13 reflected in the mirror 15, and determines whether the arm mechanism 2 is correctly holding the charging connector 13 based on the captured image. Specifically, the control device 3 stores an image of the charging connector 13 reflected in the mirror 15 under normal conditions, and performs template matching to compare the stored image with the captured image, thereby determining whether the arm mechanism 2 is correctly holding the charging connector 13. The control device 3 may detect torque on each axis of the arm mechanism 2 and determine whether the arm mechanism 2 is correctly holding the charging connector 13 based on the detected torque. If the determination results in the arm mechanism 2 correctly holding the charging connector 13 (step S2: Yes), the control device 3 proceeds to the process of step S3 in the abnormality detection process. On the other hand, if the arm mechanism 2 is not correctly holding the charging connector 13 (step S2: No), the control device 3 proceeds to the process of step S9 in the abnormality detection process.

[0051] In the process of step S3, control device 3 determines whether or not there is an abnormality in the shape of charging connector 13 (such as clogging with foreign matter or bent pins) based on the image captured in the process of step S2. Specifically, control device 3 stores an image of charging connector 13 in a normal state reflected in mirror 15, and performs template matching to compare the stored image with the captured image, thereby determining whether or not there is an abnormality in the shape of charging connector 13. If the result of the determination is that there is no abnormality in the shape of charging connector 13 (step S3: Yes), control device 3 proceeds to the process of step S4 in the abnormality detection process. On the other hand, if there is an abnormality in the shape of charging connector 13 (step S3: No), control device 3 proceeds to the process of step S10 in the abnormality detection process.

[0052] In the processing of step S4, the control device 3 uses the camera 23 provided in the arm mechanism 2 to capture an image of the charging port 53 of the vehicle 5 to be charged, and determines whether the cover of the charging port 53 of the vehicle 5 is open based on the captured image. If the result of the determination is that the cover of the charging port 53 of the vehicle 5 is open (step S4: Yes), the control device 3 proceeds with the abnormality detection processing to the processing of step S5. On the other hand, if the cover of the charging port 53 of the vehicle 5 is not open (step S4: No), the control device 3 proceeds with the abnormality detection processing to the processing of step S11.

[0053] In the processing of step S5, the control device 3 uses the camera 23 provided on the arm mechanism 2 to capture an image of the charging port 53 of the vehicle 5 to be charged, and determines, based on the captured image, whether or not the shape of the charging port 53 of the vehicle 5 can be recognized without being affected by surrounding environmental conditions such as solar radiation conditions. If the result of the determination is that the shape of the charging port 53 of the vehicle 5 can be recognized (step S5: Yes), the control device 3 proceeds with the abnormality detection processing to processing of step S6. On the other hand, if the shape of the charging port 53 of the vehicle 5 cannot be recognized (step S5: No), the control device 3 proceeds with the abnormality detection processing to processing of step S12.

[0054] In the process of step S6, the control device 3 uses the camera 23 provided in the arm mechanism 2 to capture an image of the charging port 53 of the vehicle 5 to be charged, and determines whether or not there is an abnormality in the shape of the charging port 53 of the vehicle 5 based on the captured image. If the determination shows that there is no abnormality in the shape of the charging port 53 of the vehicle 5 (step S6: Yes), the control device 3 proceeds with the abnormality detection process to the process of step S7. On the other hand, if there is an abnormality in the shape of the charging port 53 of the vehicle 5 (step S6: No), the control device 3 proceeds with the abnormality detection process to the process of step S13.

[0055] In the process of step S7, the control device 3 uses the torque sensor built into the arm mechanism 2 to determine whether the torque when inserting the charging connector 13 into the charging port 53 of the vehicle 5 and when removing the charging connector 13 from the charging port 53 of the vehicle 5 is within a normal range. If the determination results in the torque being within the normal range (step S7: Yes), the control device 3 ends the series of abnormality detection processes. On the other hand, if the torque is not within the normal range (step S7: No), the control device 3 advances the abnormality detection process to the process of step S14.

[0056] In the processing of step S8, the control device 3 turns on an obstacle detection determination flag indicating that an obstacle exists around the vehicle 5, and notifies the vehicle 5 that an obstacle exists around the vehicle 5. This completes the processing of step S8, and the series of abnormality detection processing ends.

[0057] In the process of step S9, control device 3 turns on a charging connector holding abnormality determination flag indicating that arm mechanism 2 is not properly holding charging connector 13, and notifies that arm mechanism 2 is not properly holding charging connector 13. This completes the process of step S9, and the series of abnormality detection processes ends.

[0058] In the process of step S10, control device 3 turns on a charging connector shape abnormality determination flag indicating that there is an abnormality in the shape of charging connector 13, and notifies that there is an abnormality in the shape of charging connector 13. This completes the process of step S10, and the series of abnormality detection processes ends.

[0059] In the process of step S11, control device 3 turns on a charging port open / close abnormality determination flag indicating that the cover of charging port 53 is not open, and notifies that the cover of charging port 53 is not open. This completes the process of step S11, and the series of abnormality detection processes ends.

[0060] In the process of step S12, the control device 3 turns on an environmental abnormality determination flag indicating that the shape of the charging port cannot be recognized due to an environmental factor, and notifies the user that the shape of the charging port cannot be recognized due to an environmental factor, thereby completing the process of step S12 and terminating the series of abnormality detection processes.

[0061] In the process of step S13, control device 3 turns on a charging port shape abnormality determination flag indicating that an abnormality has occurred in the shape of charging port 53, and notifies that an abnormality has occurred in the shape of charging port 53. This completes the process of step S13, and the series of abnormality detection processes ends.

[0062] In the process of step S14, the control device 3 turns on a torque abnormality determination flag indicating that an abnormality has occurred in the torque, and notifies the user that an abnormality has occurred in the torque, thereby completing the process of step S14 and terminating the series of abnormality detection processes.

[0063] As is clear from the above description, the charging system according to the embodiment of the present disclosure includes a charger 1 having a charging connector 13, an arm mechanism 2 capable of gripping the charging connector 13, a camera 23 provided on the arm mechanism 2, a mirror 15 provided on the charger 1 or the arm mechanism 2, and a control device 3 that uses the camera 23 to capture an image of the charging connector 13 reflected in the mirror 15 and detects an abnormality in the charging connector 13 using the captured image. This makes it possible to detect an abnormality in the charging system, such as a crack in the charging connector 13.

[0064] Furthermore, in this embodiment, the control device 3 uses the camera 23 to capture an image of the charging port 53 of the vehicle 5 reflected in the mirror 15, and uses the captured image to detect an abnormality in the charging port 53. This makes it possible to detect an abnormality on the side of the vehicle 5 to be charged.

[0065] Furthermore, in this embodiment, control device 3 detects an abnormality in charging connector 13 by comparing an image of charging connector 13 captured by camera 23 with an image of charging connector 13 when normal. This allows for accurate detection of an abnormality in charging connector 13.

[0066] The above describes an embodiment applying the invention developed by the present inventors. However, the present invention is not limited to the description and drawings that form part of the disclosure of the present invention according to this embodiment. For example, the control device 3 may use the camera 23 provided on the arm mechanism 2 to capture an image of the interior of an uncharged vehicle 5 parked in the charging space Sp1, and perform control such as interior inspection and cleaning required for car sharing, etc., based on the captured image. This process allows the camera 23 to be effectively used even when the vehicle 5 is not being charged. Furthermore, other embodiments, examples, operational techniques, etc., made by those skilled in the art based on this embodiment are all included in the scope of the present invention. [Explanation of symbols]

[0067] 1 charger 2 Arm mechanism 3. Control device 4. Infrastructure 5 vehicles 6 Mounting stand 7 Control Panel 11, 21, 31, 41, 51 Control unit 12, 22, 32, 42, 52 Communications Department 13 Charging connector 14 Charging cable 15 mirror 23 Camera 43 Sensors 53 Charging port N Network

Claims

1. a charging device having a charging connector; an arm mechanism capable of gripping the charging connector; an imaging device provided on the arm mechanism; a mirror provided on the charging device or the arm mechanism; an abnormality detection device that uses the imaging device to capture an image of the charging connector reflected in the mirror and detects an abnormality in the charging connector using the captured image; Equipped with a charging system.

2. 2. The charging system according to claim 1, wherein the abnormality detection device uses the imaging device to capture an image of the charging port of the vehicle reflected in the mirror, and detects an abnormality in the charging port using the captured image.

3. 2. The charging system according to claim 1, wherein the abnormality detection device uses the imaging device to capture an image of the interior of a vehicle that is not being charged by the charging device, and inspects the interior of the vehicle based on the captured image.

4. 2. The charging system according to claim 1, wherein the abnormality detection device detects an abnormality in the charging connector by comparing an image of the charging connector captured by the imaging device with an image of the charging connector when it is normal.

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