Vehicle charging device

Abstract

To provide a vehicle charging device capable of properly fitting a connector to an inlet of a vehicle.SOLUTION: A vehicle charging device 1 includes a connector 5 having a groove portion 51 guided by a linear protrusion 260 of an inlet 210, a support member 6, a connecting mechanism 7, an arm having a first end connected to the support member and a second end supported rotatably, a first drive mechanism that moves the arm in a first direction, a second drive mechanism that moves the arm in a second direction, a third drive mechanism that rotates the arm, a fourth drive mechanism that changes the angle of the connector, a sensor that detects the inlet, and a control unit, and the control unit controls the first drive mechanism, the second drive mechanism, the third drive mechanism, and the fourth drive mechanism on the basis of the calculated position of the protrusion, and fits the connector to the inlet along the first direction L while inserting the protrusion 260 of the inlet into the groove portion 51 of the connector.SELECTED DRAWING: Figure 14

Description

Technical Field

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

Background Art

[0002] Conventionally, there is a charging device for charging a vehicle. The vehicle charging system of Patent Document 1 has a power supply fitting body and includes a power supply device provided in a parking space of the vehicle. The vehicle charging system has an insertion / extraction direction moving part that fits the power supply fitting body to the power receiving fitting body of the vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] There may be variations in the stopping position of the vehicle, the orientation of the vehicle, etc. Even with such variations, a technology that can appropriately fit a connector to the inlet of the vehicle is desired.

[0005] An object of the present invention is to provide a vehicle charging device that can appropriately fit a connector to the inlet of a vehicle.

Means for Solving the Problems

[0006] The vehicle charging device of the present invention has a groove that is guided by a linear projection of an inlet located on the vehicle, and comprises a connector that fits into the inlet, a support member, a connecting mechanism that connects the connector and the support member and allows changes in the orientation of the connector, an arm that rotates to move the support member up and down and has a first end connected to the support member and a second end that is rotatably supported, a first drive mechanism that moves the arm in a first horizontal direction, a second drive mechanism that moves the arm in a second horizontal direction, a third drive mechanism that rotates the arm, and the corner of the connector with respect to the first direction The connector comprises a fourth drive mechanism that rotates the support member to change the degree, a sensor that detects the inlet, and a control unit, wherein the first direction and the second direction are orthogonal to each other, the control unit calculates the position of the projection in the first direction, the second direction, and the vertical direction based on information obtained from the sensor, and the control unit controls the first drive mechanism, the second drive mechanism, the third drive mechanism, and the fourth drive mechanism based on the calculated position of the projection, and fits the connector into the inlet along the first direction while inserting the projection of the inlet into the groove of the connector. [Effects of the Invention]

[0007] The vehicle charging device according to the present invention has a control unit that calculates the position of the protrusion in the first direction, second direction, and vertical direction based on information acquired from a sensor. Based on the calculated position of the protrusion, the control unit controls the first drive mechanism, second drive mechanism, third drive mechanism, and fourth drive mechanism, and fits the connector into the inlet along the first direction while inserting the protrusion of the inlet into the groove of the connector. The vehicle charging device according to the present invention has the effect of being able to properly fit the connector into the inlet of the vehicle. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a perspective view of a vehicle charging device according to an embodiment. [Figure 2] Figure 2 is a perspective view of a vehicle charging device according to an embodiment. [Figure 3] Figure 3 is a perspective view of a vehicle charging device according to an embodiment. [Figure 4] Figure 4 is a side view of a vehicle charging device according to an embodiment. [Figure 5] Figure 5 is a block diagram of a vehicle charging device according to an embodiment. [Figure 6] Figure 6 is a side view of the inlet scanned by the sensor. [Figure 7] Figure 7 is a side view of the inlet scanned by the sensor. [Figure 8] Figure 8 is a bottom view of the inlet scanned by the sensor. [Figure 9] Figure 9 is a side view showing the pitch angle. [Figure 10] Figure 10 is a bottom view of the inlet scanned by the sensor. [Figure 11] Figure 11 is a front view showing the roll angle. [Figure 12] Figure 12 is a bottom view of the inlet according to the embodiment. [Figure 13] Figure 13 is a cross-sectional view of the inlet and connector. [Figure 14] Figure 14 is a cross-sectional view of the inlet and connector. [Figure 15] Figure 15 is a diagram of a vehicle charging device according to a first modified example of the embodiment. [Figure 16] Figure 16 shows a scanline relating to a second modified example of the embodiment. [Figure 17] Figure 17 is a diagram illustrating a scanline according to a third modified example of the embodiment. [Figure 18] Figure 18 is a diagram illustrating a single scan. [Figure 19] Figure 19 illustrates the following scan. [Figure 20] Figure 20 shows the detection points, including points that were falsely detected.

Embodiments for Carrying Out the Invention

[0009] The vehicle charging device according to an embodiment of the present invention will be described in detail below with reference to the drawings. Note that the present invention is not limited by this embodiment. Also, the constituent elements in the following embodiments include those that can be easily assumed by those skilled in the art or those that are substantially the same.

[0010] [Embodiment] Embodiments will be described with reference to FIGS. 1 to 14. This embodiment relates to a vehicle charging device. FIGS. 1 to 3 are perspective views of the vehicle charging device according to the embodiment, FIG. 4 is a side view of the vehicle charging device according to the embodiment, FIG. 5 is a block diagram of the vehicle charging device according to the embodiment, FIGS. 6 and 7 are side views of the inlet scanned by the sensor, FIG. 8 is a bottom view of the inlet scanned by the sensor, FIG. 9 is a side view showing the pitch angle, FIG. 10 is a bottom view of the inlet scanned by the sensor, FIG. 11 is a front view showing the roll angle, FIG. 12 is a bottom view of the inlet according to the embodiment, and FIGS. 13 and 14 are cross-sectional views of the inlet and the connector.

[0011] As shown in FIG. 1, the vehicle charging device 1 of the present embodiment is disposed on the floor portion 100 of a parking space where the vehicle is parked. The vehicle charging device 1 has a housing 2. The housing 2 is fixed to the floor portion 100. The housing 2 has a slide-type cover 2a and a rotatable cover 2b. The covers 2a and 2b cover the devices housed in the internal space of the housing from above.

[0012] As shown in FIG. 2, the vehicle charging device 1 has a slide body 3 disposed inside the housing 2. The slide body 3 is a plate-shaped base member and is movable with respect to the housing 2 in a first direction L and a second direction W. The first direction L and the second direction W are horizontal directions. When the floor surface of the floor portion 100 is inclined, it is preferable that the first direction L and the second direction W are directions parallel to the floor surface of the floor portion 100.

[0013] The first direction L corresponds to the longitudinal direction of the vehicle 200 to be charged. The second direction W corresponds to the width direction of the vehicle 200. The vehicle 200 is positioned to be charged by the vehicle charging device 1 while moving forward or backward along the first direction L. In the illustrated vehicle charging device 1, the first direction L is the longitudinal direction of the housing 2. The second direction W is the short direction of the housing 2 and is perpendicular to the first direction L.

[0014] The vehicle charging device 1 includes a sensor 4, a connector 5, a support member 6, a coupling mechanism 7, and an arm 8. The vehicle charging device 1 further includes a first drive mechanism 10, a second drive mechanism 20, a third drive mechanism 30, and a fourth drive mechanism 40.

[0015] As shown in Figure 4, connector 5 mates with inlet 210 located on the vehicle 200. Inlet 210 is located on the bottom of the vehicle 200. By mating with inlet 210, connector 5 is connected to the battery of the vehicle 200.

[0016] Sensor 4 is used to detect the position of the inlet 210. Sensor 4 may be a distance measuring sensor, a sensor that captures an image and detects an object in the image, or any other position detection sensor. Sensor 4 may include multiple sensors with different detection methods. Sensor 4 in this embodiment is a laser sensor that detects the distance to a reflecting object using laser light. Sensor 4 emits laser light in a predetermined direction and receives the laser light reflected by the object.

[0017] Sensor 4 is positioned on the slide body 3 and moves with the slide body 3. The sensor 4 illustrated in Figure 2 has a first sensor 4A, a second sensor 4B, and a third sensor 4C. The three sensors 4A, 4B, and 4C are arranged in this order in the second direction W. The second sensor 4B emits laser light upwards in the vertical direction Z. The vertical direction is perpendicular to both the first direction L and the second direction W, and corresponds to the vertical direction of the vehicle 200. The first sensor 4A and the third sensor 4C emit laser light in an oblique direction inclined with respect to the vertical direction Z.

[0018] Connector 5 is a charging connector for charging the battery of the vehicle 200. Connector 5 has terminals for charging. The vehicle charging device 1 of this embodiment is configured so that the position of connector 5 can be moved in the first direction L, the second direction W, and the vertical direction Z.

[0019] The first drive mechanism 10 is a mechanism that moves the connector 5 in a first direction L. The first drive mechanism 10 has a first motor 11 and a gear 12 and is provided on the slide body 3. The gear 12 is arranged via a reduction gear from the output shaft of the first motor 11 and meshes with a rack gear located on a plate-shaped intermediate body that supports the slide body 3 so that it can slide in the first direction L below the slide body 3. The first motor 11 can move the slide body 3 in the first direction L relative to the intermediate body by rotating in the forward and reverse directions.

[0020] The second drive mechanism 20 is a mechanism that moves the connector 5 in the second direction W. The second drive mechanism 20 has a second motor 21 and a gear 22 and is provided on the intermediate body. The gear 22 is located on the output shaft of the second motor 21. The gear 22 meshes with a rack gear located on the housing 2 that supports the intermediate body so as to be slidable in the second direction W, via a reduction gear. The second motor 21 can move the intermediate body in the second direction W by rotating in the forward and reverse directions.

[0021] The third drive mechanism 30 is a mechanism that moves the connector 5 in the vertical direction Z. The connector 5 is connected to the slide body 3 via an arm 8, a support member 6, and a connecting mechanism 7. The arm 8 is a plate-shaped member and has a first end 81 and a second end 82. The first end 81 is connected to the support member 6. The second end 82 is rotatably supported relative to the slide body 3. In other words, the arm 8 is rotatable about the second end 82 as its center of rotation. By rotating, the arm 8 moves the support member 6 up and down.

[0022] The vehicle charging device 1 of this embodiment has a first arm 8A and a second arm 8B. The first arm 8A and the second arm 8B extend in a first direction L and face each other in a second direction W. The second ends 82 of the two arms 8A and 8B are connected to each other via a shaft. Therefore, the two arms 8A and 8B rotate in conjunction with each other.

[0023] The support member 6 is connected to the first end 81 of the first arm 8A and the first end 81 of the second arm 8B. The support member 6 is a plate-shaped member that extends in the second direction W. The support member 6 is pivotally supported by the first end 81 of the arm 8 so that it can rotate relative to the arm 8.

[0024] The connecting mechanism 7 connects the connector 5 and the support member 6 and is configured to allow changes in the orientation of the connector 5. As shown in Figure 3, the connecting mechanism 7 includes a universal joint 71 and a spring 72. The universal joint 71 and the spring 72 are positioned between the support member 6 and the connector 5 and extend in the first direction L. One end of the universal joint 71 and the spring 72 is connected to the support member 6, and the other end of the universal joint 71 and the spring 72 is connected to the connector 5.

[0025] A bearing may be placed between the universal joint 71 and the connector 5. In this case, the bearing allows the connector 5 to rotate with respect to the central axis of the first direction L as the center of rotation. When a bearing is provided, the connector 5 is rotatable relative to the universal joint 71.

[0026] The universal joint 71 of this embodiment allows for changes in the orientation of the connector 5 in two rotational directions. More specifically, the universal joint 71 allows rotation of the connector 5 around the central axis Wx of the second direction W. The universal joint 71 further allows rotation of the connector 5 around the central axis Zx of the vertical direction Z. The universal joint 71 is, for example, a cross joint.

[0027] The spring 72 has a first spring 72A and a second spring 72B. The first spring 72A and the second spring 72B are positioned on both sides in the second direction W with the universal joint 71 in between. The first spring 72A and the second spring 72B act on the connector 5 with a spring force that returns the connector 5 to a neutral position in the rotational direction.

[0028] The third drive mechanism 30 moves the connector 5 in the vertical direction Z by rotating the arm 8. As shown in Figure 2, the third drive mechanism 30 has a third motor 31, a first gear 32, and a second gear 33. The first gear 32 is located on the output shaft of the third motor 31. The second gear 33 is connected to the shaft that connects the two arms 8A and 8B and meshes with the first gear 32. The third motor 31 rotates the arm 8 by rotating in both forward and reverse directions.

[0029] The fourth drive mechanism 40 is configured to change the angle θ of the connector 5. The angle θ is the inclination angle of the connector 5 with respect to the first direction L. The fourth drive mechanism 40 has a fourth motor 41, a first sprocket 42, and a pair of second sprockets 43. The first sprocket 42 is located on the output shaft of the fourth motor 41. The second sprockets 43 are located coaxially with the shaft connecting the arms 8A and 8B and rotate relative to the shaft. An endless chain is wrapped around the first sprocket 42 and the second sprockets 43. A third sprocket 44 is located on the support member 6. An endless chain is wrapped around the second sprockets 43 and the third sprockets 44. The fourth motor 41 rotates the support member 6 relative to the arms 8A and 8B by rotating in the forward and reverse directions. As the support member 6 rotates, the angle θ of the connector 5 changes.

[0030] As shown in Figure 2, a cover 61 is fixed to the support member 6. The cover 61 covers the end of the connecting mechanism 7 on the side of the support member 6. As shown in Figure 3, a U-shaped contact member 52 is fixed to the connector 5. The contact member 52 contacts the cover 61 and is supported by the cover 61. The cover 61 and the contact member 52 restrict the movement of the connector 5. This restricting structure transmits a force in the mating direction to the connector 5 while allowing changes in the orientation of the connector 5 when the connector 5 is mated to the inlet 210, for example.

[0031] As shown in Figure 4, the vehicle charging device 1 mates the connector 5 with the inlet 210 of the vehicle 200. As will be explained below, before mating the connector 5 with the inlet 210, the vehicle charging device 1 detects the position and orientation of the inlet 210. Based on the detection results, the vehicle charging device 1 controls the position and orientation of the connector 5 while mating the connector 5 with the inlet 210.

[0032] Figure 5 shows a block diagram of the vehicle charging device 1 according to this embodiment. As shown in Figure 5, the vehicle charging device 1 has a control unit 50. The control unit 50 controls the sensor 4 and acquires the detection results of the sensor 4. The control unit 50 also controls the first drive mechanism 10, the second drive mechanism 20, the third drive mechanism 30, and the fourth drive mechanism 40. Based on the detection results of the sensor 4, the control unit 50 calculates the position and orientation of the inlet 210.

[0033] Figure 6 shows how the sensor 4 scans the inlet 210 in this embodiment. As shown in Figure 6, the inlet 210 has a base 220 and a mating portion 230. The base 220 is the part that is fixed to the vehicle 200 and has a substantially flat shape. The mating portion 230 rises downward from the base 220 in the vertical direction Z. The mating portion 230 has an opening into which the connector 5 is inserted. Terminals are housed inside the mating portion 230. The mating portion 230 in this embodiment has a rectangular parallelepiped shape.

[0034] A step exists in the vertical direction Z between the lower surface 220a of the base 220 and the lower surface 230a of the fitting portion 230. The control unit 50 calculates the position of the fitting portion 230 and the position of the projection 260, which will be described later, based on this step. As shown in Figure 6, the control unit 50 moves the slide body 3 in the first direction L while emitting laser light LB from the sensor 4. The sensor 4 emits laser light LB at equally spaced positions along the first direction L, for example, to measure the distance to the object. Figure 6 shows the laser light LB1 emitted from the second sensor 4B. The direction of emission of laser light LB1 from the second sensor 4B is the vertical direction Z.

[0035] Figure 7 shows the laser beam LB2 emitted from the first sensor 4A and the third sensor 4C. The laser beam LB2 is emitted in a direction inclined with respect to the vertical direction Z. A portion of the laser beam LB2 is reflected by the inlet 210 toward the first sensor 4A and the third sensor 4C. Another portion of the laser beam LB2 is reflected in a different direction from the sensor 4.

[0036] The vehicle charging device 1 of this embodiment has a first sensor 4A, a second sensor 4B, and a third sensor 4C. This allows the inlet 210 to be scanned along three lines L1, L2, and L3, which have different positions in the second direction W, as shown in Figure 8. The three lines L1, L2, and L3 are, for example, arranged at equal intervals.

[0037] The control unit 50 detects the position of the end portion 240 based on the detection result of the sensor 4. The end portion 240 is the end portion of the mating portion 230 in the first direction L. As shown in Figure 11, the end portion 240 has an opening 230b into which the connector 5 is inserted. The control unit 50 determines that the location where the distance detected by the sensor 4 changes significantly is the end portion 240.

[0038] As shown in Figure 8, the position 241 of the end 240 intersecting the first line L1, the position 242 of the end 240 intersecting the second line L2, and the position 243 of the end 240 intersecting the third line L3 are obtained. The control unit 50 calculates the coordinate values ​​of positions 241, 242, and 243 in each direction L, W, and Z, for example. Based on the coordinate values ​​of positions 241, 242, and 243, the control unit 50 calculates the yaw angle α of the inlet 210. The yaw angle α is the rotation angle of the vehicle 200 and the inlet 210 with the line in the vertical direction Z as the rotation center. The yaw angle α is also the inclination angle of the end 240 with respect to the second direction W.

[0039] Furthermore, the control unit 50 calculates the pitch angle β of the inlet 210 based on the detection results of the sensor 4. As shown in Figure 9, the pitch angle β is the inclination angle of the inlet 210 with respect to the first direction L. The pitch angle β is also the rotation angle of the vehicle 200 and the inlet 210 with the line of the second direction W as the rotation center.

[0040] Figure 10 shows a line W1 being scanned along the second direction W. The control unit 50 scans the inlet 210 along line W1 using the sensor 4. The position of line W1 in the first direction L is set based, for example, on detected positions 241, 242, 243. Line W1 is set to intersect with the fitting portion 230. The control unit 50 moves the slide body 3 in the second direction W while the sensor 4 scans the inlet 210.

[0041] The control unit 50 calculates the end portion 250 of the inlet 210 based on the scan results along line W1. The end portion 250 is the end portion of the fitting portion 230 in the second direction W. At the end portion 250, there is a step between the lower surface 230a and the base portion 220. The control unit 50 determines that the location where the distance detected by the sensor 4 changes significantly is the end portion 250. The control unit 50 obtains the position 251 of the end portion 250 that intersects line W1. The control unit 50 calculates, for example, the coordinate values ​​of the position 251 in each direction L, W, and Z.

[0042] Furthermore, the control unit 50 calculates the roll angle γ of the inlet 210 based on the detection results of the sensor 4 along line W1. As shown in Figure 11, the roll angle γ is the inclination angle of the inlet 210 with respect to the second direction W. The roll angle γ is also the rotation angle of the vehicle 200 and the inlet 210 with the line of the first direction L as the rotation center.

[0043] As shown in Figure 12, a linear projection 260 is positioned on the inlet 210. The projection 260 extends along the insertion direction Ins in which the connector 5 is inserted into the inlet 210. The insertion direction Ins is, for example, the longitudinal direction of the vehicle 200. The insertion direction Ins is also the axial direction of the mating portion 230. The opening 230b opens toward the insertion direction Ins. The projection 260 rises downward from the lower surface 220a of the base 220. The projection 260 extends from the end 240 of the mating portion 230 toward the mating portion 230 toward the mating portion 230.

[0044] The projection 260 in this embodiment has an uneven shape in which convex portions 260a and concave portions 260b are arranged alternately along the insertion direction Ins. The convex portions 260a protrude toward both sides in the width direction Wd. The width direction Wd is perpendicular to the insertion direction Ins and corresponds to the second direction W. The width direction Wd is, for example, the vehicle width direction of the vehicle 200.

[0045] As shown in Figure 3, the connector 5 has a groove 51 guided by a projection 260. The groove 51 is located on the top surface 5a of the connector 5. The top surface 5a is the surface facing the inlet 210 in the vertical direction Z. The connector 5 is fitted into the mating portion 230 by sliding the top surface 5a against the lower surface 220a of the inlet 210.

[0046] The groove 51 has a first groove 51a that extends linearly along the first direction L, and a tapered second groove 51b. The width of the first groove 51a corresponds to the width of the projection 260. When the projection 260 is inserted into the first groove 51a, the connector 5 is guided along the insertion direction Ins to the opening 230b of the mating portion 230.

[0047] The second groove 51b is continuous with the first groove 51a and has a tapered shape that narrows in width as it approaches the first groove 51a along the first direction L. The second groove 51b is located on the tip side in the insertion direction Ins relative to the first groove 51a. The second groove 51b guides the tip 260c of the projection 260 into the first groove 51a. The spreading angle of the second groove 51b is determined according to the maximum allowable value of the yaw angle α of the inlet 210. In other words, the second groove 51b is configured to accommodate the projection 260 and guide the projection 260 into the first groove 51a even when the yaw angle α is at its set maximum value.

[0048] The second groove 51b has an inlet 51c that opens toward the first direction L. The width of the second groove 51b is greatest at the inlet 51c. The groove 51 has a central axis Cx. When the coupling mechanism 7 is in a neutral position, the central axis Cx extends toward the first direction L.

[0049] The control unit 50 calculates the coordinate values ​​of the projection 260 based on the coordinate values ​​of positions 241, 242, and 243 of the mating portion 230, the coordinate value of position 251, and the pitch angle β of the inlet 210, etc. The control unit 50 calculates, for example, the position of the tip 260c of the projection 260. Based on the coordinate values ​​of the projection 260, the control unit 50 calculates the target position and target angle of the connector 5.

[0050] The target position of connector 5 is, for example, the target position in the first direction L, the second direction W, and the up-down direction Z. The target position of connector 5 may also be the target position of a predetermined part of connector 5. The predetermined part of connector 5 is, for example, the position of the central axis Cx in the second groove 51b. The predetermined part may also be the part where the entrance portion 51c and the central axis Cx intersect.

[0051] The position of connector 5 in the first direction L is controlled by the first drive mechanism 10. The position of connector 5 in the second direction W is controlled by the second drive mechanism 20. The position of connector 5 in the vertical direction Z is controlled by the third drive mechanism 30 and the fourth drive mechanism 40.

[0052] The target angle of connector 5 is the target value of the angle θ of connector 5. The target angle of connector 5 is determined so that the top surface 5a of connector 5 can make surface contact with the bottom surface 220a of inlet 210. The angle θ of connector 5 is controlled by the fourth drive mechanism 40.

[0053] The control unit 50 sets command values ​​for the first drive mechanism 10, the second drive mechanism 20, the third drive mechanism 30, and the fourth drive mechanism 40, respectively, based on the target position and target angle of the connector 5. The first motor 11 of the first drive mechanism 10 rotates according to the drive signal corresponding to the command value, moving the slide body 3 to the target position in the first direction L. The second motor 21 of the second drive mechanism 20 rotates according to the drive signal corresponding to the command value, moving the slide body 3 to the target position in the second direction W.

[0054] The third motor 31 of the third drive mechanism 30 rotates according to a drive signal corresponding to a command value, moving the support member 6 to a target position in the vertical direction Z. The fourth motor 41 of the fourth drive mechanism 40 rotates according to a drive signal corresponding to a command value, setting the angle θ of the connector 5 to a target angle.

[0055] Figure 13 shows the connector 5 positioned at the target location. The inlet 210 shown in Figure 13 has a yaw angle α and is inclined with respect to a first direction L and a second direction W. The entrance portion 51c of the groove 51 is positioned at the tip 260c of the projection 260. The entrance portion 51c faces the projection 260 in the first direction L. The entrance portion 51c also faces the opening 230b of the mating portion 230. The connector 5 is positioned such that the central axis Cx of the groove 51 and the central axis of the projection 260 intersect at the entrance portion 51c. In Figure 13, the connector 5 is in contact with the lower surface 220a of the base 220. That is, the angle θ of the connector 5 coincides with the pitch angle β of the inlet 210.

[0056] The control unit 50 moves the connector 5 toward the mating portion 230 in the first direction L from the state shown in Figure 13. The projection 260 enters the second groove 51b of the connector 5. As the connector 5 moves further toward the mating portion 230, the projection 260 is drawn into the first groove 51a, as shown in Figure 14. The projection 260 guides the groove 51 and changes the orientation of the connector 5. More specifically, the projection 260 rotates the connector 5 so that the direction of the central axis Cx of the groove 51 coincides with the insertion direction Ins. In this embodiment, the vehicle charging device 1 allows the rotation of the connector 5 by the universal joint 71 of the coupling mechanism 7.

[0057] The connector 5 is inserted into the opening 230b of the mating portion 230 while being guided by the projection 260. The vehicle charging device 1 of this embodiment further allows the connector 5 to follow the mating portion 230 as it is mated into the mating portion 230. The control unit 50 releases the brake of the second motor 21 when the connector 5 is mated into the mating portion 230. If the second motor 21 has an electromagnetic brake, the electromagnetic brake is released. This allows the sliding body 3 to move in the second direction W.

[0058] The projection 260 guides the connector 5, moving the connector 5 and the sliding body 3 in the second direction W, causing the connector 5 to follow the mating portion 230. Preferably, the projection 260 guides the connector 5 until the terminals of the connector 5 are mated with the terminals of the inlet 210. The projection 260 may also guide the connector 5 until the connector 5 is fully mated with the mating portion 230.

[0059] When the connector 5 is mated to the inlet 210, the control unit 50 starts charging the vehicle 200's battery. When charging is complete, the control unit 50 disconnects the connector 5 from the inlet 210. In this case, the control unit 50 moves the connector 5 along the first direction L to remove it from the mating portion 230. At this time, the control unit 50 moves the connector 5 in the first direction L with the brake of the second motor 21 released. This allows the connector 5 to be smoothly disconnected from the inlet 210.

[0060] When the connector 5 detaches from the inlet 210, the control unit 50 moves the connector 5 back to its initial position. The initial position is where all parts, including the connector 5, are housed inside the housing 2 and covered by the covers 2a and 2b.

[0061] The means by which the second drive mechanism 20 causes the connector 5 to follow the mating portion 230 is not limited to releasing the brake. For example, the second drive mechanism 20 may include a second motor 21, a ball screw driven by the second motor 21, and a spring. The ball screw extends in the second direction W. The second motor 21 moves the slide body 3 in the second direction W by rotating in the forward and reverse directions. The spring is interposed between the ball screw and the slide body 3, or between the second motor 21 and the slide body 3, allowing relative movement of the slide body 3 with respect to the ball screw. With this configuration, the external force that the connector 5 receives from the inlet 210 causes the slide body 3 to swing in the second direction W.

[0062] As described above, the vehicle charging device 1 of this embodiment includes a connector 5, a support member 6, a coupling mechanism 7, an arm 8, a first drive mechanism 10, a second drive mechanism 20, a third drive mechanism 30, a fourth drive mechanism 40, a sensor 4, and a control unit 50. The connector 5 is fitted into an inlet 210 located on the vehicle 200. The connector 5 has a groove 51 that is guided by a linear projection 260 of the inlet 210. The coupling mechanism 7 connects the connector 5 and the support member 6 and allows changes in the orientation of the connector 5. The arm 8 has a first end 81 that is connected to the support member 6 and a second end 82 that is rotatably supported. The arm 8 rotates to move the support member 6 up and down.

[0063] The first drive mechanism 10 is a mechanism that moves the arm 8 in the first horizontal direction L. The second drive mechanism 20 is a mechanism that moves the arm 8 in the second horizontal direction W. The third drive mechanism 30 is a mechanism that rotates the arm 8. The fourth drive mechanism 40 rotates the support member 6 so as to change the angle of the connector 5 with respect to the first direction L. The sensor 4 is a sensor that detects the inlet 210. The first direction L and the second direction W are orthogonal to each other.

[0064] The control unit 50 calculates the position of the projection 260 in the first direction L, the second direction W, and the vertical direction Z based on the information acquired from the sensor 4. Based on the calculated position of the projection 260, the control unit 50 controls the first drive mechanism 10, the second drive mechanism 20, the third drive mechanism 30, and the fourth drive mechanism 40 to fit the connector 5 into the inlet 210 along the first direction L while inserting the projection 260 of the inlet 210 into the groove 51 of the connector 5. The vehicle charging device 1 of this embodiment can properly fit the connector 5 into the inlet 210.

[0065] In this embodiment, the control unit 50 calculates the yaw angle α, pitch angle β, and roll angle γ of the inlet 210 based on information acquired from the sensor 4. Based on the calculated position of the projection 260, yaw angle α, pitch angle β, and roll angle γ, the control unit 50 controls the first drive mechanism 10, the second drive mechanism 20, the third drive mechanism 30, and the fourth drive mechanism 40. This enables highly accurate fitting control.

[0066] In this embodiment, the first direction L corresponds to the longitudinal direction of the vehicle 200 and is the direction in which the connector 5 is fitted to the inlet 210. The second direction W corresponds to the vehicle width direction of the vehicle 200. The second drive mechanism 20 has a second motor 21 that moves the arm 8 in the second direction W, and is configured to allow the connector 5 to move in the second direction W while following the inlet 210 when the connector 5 is fitted to the inlet 210. With this configuration, the connector 5 can be properly fitted to the inlet 210.

[0067] The second motor 21 in this embodiment has a brake. The control unit 50 releases the brake of the second motor 21 when the connector 5 is fitted into the inlet 210. This allows the connector 5 to be fitted smoothly into the inlet 210.

[0068] Note that the vehicle charging device 1 does not need to perform a scan in the second direction W. In this case, the position of the inlet 210, the yaw angle α, the pitch angle β, and the roll angle γ are calculated based on the scan results in the first direction L.

[0069] In the vehicle charging device 1, the number, arrangement, and angle of the sensors 4 are not limited to the number, arrangement, and angle exemplified. For example, the vehicle charging device 1 can obtain the position of the projection 260 and the yaw angle α, roll angle γ, and pitch angle β of the inlet 210 using at least one sensor 4.

[0070] [Modified Example of Embodiment 1] A first modified example of the embodiment will now be described. Figure 15 is a diagram of a vehicle charging device according to the first modified example of the embodiment. The vehicle charging device 1 of the first modified example has a reflective member 270 arranged in the inlet 210. The reflective member 270 has reflective properties that reflect at least laser beams LB1 and LB2. The reflective member 270 is configured to reflect the laser beams LB1 and LB2 in the direction in which the laser beams LB1 and LB2 are incident on the reflective member 270. The illustrated reflective member 270 is a reflective tape having adhesive tape.

[0071] The reflective member 270 includes a first reflective member 270A, a second reflective member 270B, and a third reflective member 270C. The first reflective member 270A is positioned on the lower surface 230a of the fitting portion 230. The first reflective member 270A is positioned near the end portion 240 on the lower surface 230a. Therefore, the detection accuracy is improved when the sensor 4 scans along lines L1, L2, and L3. For example, the amount of light received by the sensor 4 when scanning the first reflective member 270A is greater than the amount of light received by the sensor 4 when scanning a different portion from the first reflective member 270A. Therefore, the end portion 240 can be detected based on both the change in detection distance by the sensor 4 and the change in the amount of light received by the sensor 4. This improves the detection accuracy of the end portion 240.

[0072] The first reflective member 270A extends from one end to the other in the width direction Wd on the lower surface 230a. Therefore, the detection accuracy is improved when the sensor 4 scans along line W1. For example, the end 250 of the fitting portion 230 can be determined based on both the change in detection distance by the sensor 4 and the change in the amount of light received by the sensor 4.

[0073] The second reflective member 270B and the third reflective member 270C are positioned on the base 220 of the inlet 210. The second reflective member 270B and the third reflective member 270C are positioned on both sides in the width direction Wd, with the projection 260 in between. The two reflective members 270B and 270C are positioned symmetrically with respect to the central axis 260x of the projection 260. The control unit 50 of the first modified example sets the scan line W2 to intersect with the two reflective members 270B and 270C. This improves the detection accuracy for detecting the position of the projection 260.

[0074] [Second modified example of the embodiment] A second modified example of the embodiment will now be described. Figure 16 shows a scan line according to the second modified example of the embodiment. The vehicle charging device 1 of the second modified example scans multiple lines L1 and L2 along the first direction L with a single sensor 4. Lines L1 and L2 are set at different positions in the second direction W.

[0075] The control unit 50 positions the sensor 4 on the first line L1 and scans the inlet 210 while moving the sensor 4 toward one side of the first direction L. Next, the control unit 50 positions the sensor 4 on the second line L2 and scans the inlet 210 while moving the sensor 4 toward the other side of the first direction L. This detection operation makes it possible to reduce the number of sensors 4 required. Furthermore, it becomes possible to scan many lines with the same number of sensors 4, improving the detection accuracy of the end 240.

[0076] [Third Modification of the Embodiment] A third modification of the embodiment will now be described. Figure 17 is a diagram illustrating the scan line according to the third modification of the embodiment, Figure 18 is a diagram illustrating one scan, Figure 19 is a diagram illustrating the next scan, and Figure 20 is a diagram showing the detection points including a falsely detected point.

[0077] The control unit 50 according to the third modified embodiment sets up a plurality of scanning lines Sci (i=1,2,3,…) extending in the first direction L. The sensor 4 detects the end 240 of the mating portion 230 by scanning along the plurality of lines Sci. The end 240 has a linear shape that intersects the first direction L. The plurality of lines Sci are arranged at equal intervals in the second direction W. The interval ΔS of the plurality of lines Sci in the second direction W is set so that a target number Nt of lines Sci intersect the end 240 of the mating portion 230. In other words, the interval ΔS is set so that the number of points at which the end 240 is detected is equal to or greater than the target number Nt.

[0078] Here, the target number Nt is, for example, an integer greater than or equal to three. The target number Nt may be four or five lines. In the scan shown in Figure 17, the spacing ΔS is set so that five lines Sci intersect with the end 240. By scanning along multiple lines Sci, multiple points Dj (j=1,2,3,…) are detected as end 240. In Figure 17, as a result of the scan, end 240 is detected at five points from point D1 to point D5.

[0079] The scan interval ΔS is determined based on a set distance Ws in the second direction W. The set distance Ws is, for example, shorter than the width Wt of the mating portion 230. The set distance Ws is determined to ensure adequate accuracy in detecting the position and inclination of the end portion 240. The scan interval ΔS is the value obtained by dividing the set distance Ws into equal parts. In Figure 17, the interval ΔS is the length obtained by dividing the set distance Ws into four equal parts. In other words, within the range of the set distance Ws, a scan is performed along the five lines Sci.

[0080] As shown in Figure 17, the vehicle charging device 1 is configured with multiple lines Sci (i=1,2,3,…) including a target number Nt. The position of each line Sci is a position relative to the position of the vehicle charging device 1, and is, for example, a fixed position. The control unit 50 performs a scan along the multiple lines Sci using at least one sensor 4. If there is one sensor 4, the control unit 50 performs a scan of Sc1, Sc2, Sc3,…Sci in order, for example. If the vehicle charging device 1 has two sensors 4, the control unit 50 performs a scan of two of the multiple lines Sci in a single scan operation.

[0081] If there are multiple sensors 4, the distance between two adjacent sensors 4 is determined according to the interval ΔS. Let's assume there are two sensors 4 and ten lines Sci (i=10). In this case, the distance between the two sensors 4 is determined so that lines Sc1 and Sc6 can be scanned simultaneously, for example, as shown in Figure 18. In other words, the distance between the two sensors 4 is set to five times the scan interval ΔS. In Figure 18, the end 240 is not detected in line Sc1, but point D4 is detected by scanning line Sc6.

[0082] Once a scan is complete, the control unit 50 moves the sensor 4 in the second direction W to perform the next scan. The next scan is performed on lines Sc2 and Sc7, for example, as shown in Figure 19. In line Sc2, the end 240 is not detected, and point D5 is detected by scanning line Sc7. Similarly, scans are performed sequentially on lines Sci3 and Sc8, lines Sc4 and Sc9, lines Sc5 and Sc10. The direction of movement of the sensor 4 in all scans is the same direction in the first direction L. This suppresses a decrease in positional accuracy due to backlash of the first drive mechanism 10, etc.

[0083] The control unit 50 terminates the process of detecting the end 240 when, for example, a scan has been performed on all lines Sci. However, the termination condition for the process of detecting the end 240 is not limited to the completion of a scan on all lines Sci. The control unit 50 may terminate the process of detecting the end 240 when the number of points where the end 240 has been detected reaches a required number.

[0084] The control unit 50 verifies whether the point detected as the end portion 240 satisfies predetermined conditions. The predetermined conditions are for confirming that a location other than the end portion 240 is not mistakenly detected as the end portion 240. In the vicinity of the inlet 210 of the vehicle 200, there may be steps caused by other devices or components. If these steps are mistakenly detected as the end portion 240, it is desirable to be able to eliminate the mistakenly detected point.

[0085] The predetermined conditions include the condition that multiple detected points lie on the same straight line. This determination is made by calculation based on the coordinate values ​​in the first direction L, the second direction W, and the vertical direction Z for each detected point. The method for calculating the straight line is arbitrary. The straight line may be determined, for example, by the least squares method from all detected points. In this case, whether each point lies on the calculated straight line may be determined based on the distance between the calculated straight line and each point.

[0086] The straight line may be determined, for example, from among multiple detected points, excluding the point being evaluated. In this case, whether the point being evaluated lies on the calculated straight line may be determined based on the distance between the calculated straight line and the point being evaluated.

[0087] If the control unit 50 determines that any of the detected points are not on the same straight line, it may re-execute the scan for the end 240. If the control unit 50 determines that any of the detected points are not on the same straight line, it may extract the points that are determined to be on the same straight line. In this case, the control unit 50 may calculate the position of the end 240, etc., based on the extracted points. It is preferable that there are three or more points determined to be on the same straight line. The line Sci illustrated in Figure 17 is set to be able to detect five locations on the end 240 so that even if there are false detections, a sufficient number of points will be secured on the same straight line.

[0088] The control unit 50 calculates the edge line of the end portion 240 based on a plurality of points determined to be on the same straight line. In the third modified example, the control unit 50 calculates the edge line based on the coordinate values ​​of the two points at both ends of the plurality of points determined to be on the same straight line. The method of determining the edge line will be explained with reference to Figure 17. Assume that five points from point D1 to point D5 have been calculated as the end portion 240, as shown in Figure 17. If all points from point D1 to point D5 are determined to be on the same straight line, the control unit 50 calculates the edge line of the end portion 240 based on the coordinate values ​​in the first direction L, the coordinate values ​​in the second direction W, and the coordinate values ​​in the up and down direction Z at points D1 and D5. By using the points D1 and D5 at both ends, the accuracy of the edge line calculation is improved.

[0089] Figure 20 shows a state where another device 280 is mistakenly detected as the end 240. Point D6 is the point where the step of the other device 280 was mistakenly detected as the end 240. The position of point D6 is offset from the edge of the end 240. In this case, in the linear approximation, the five points D1, D2, D3, D4, and D5, excluding point D6, become dominant in determining the straight line. As a result, it is determined that point D6 is not on the calculated straight line. The control unit 50 selects the two endpoints D1 and D5 from the five points excluding point D6 among the detected points D1 to D6, and calculates the edge line based on points D1 and D5.

[0090] Once the detection process for the end portion 240 is completed, a step is performed to detect the end portion 250 of the fitting portion 230 by scanning in a second direction W. The step for detecting the end portion 250 may be the same as in the above embodiment.

[0091] The control unit 50 calculates the coordinate values ​​of the projection 260 based on the calculated position of the end portion 240 and the calculated position of the end portion 250. The method for calculating the coordinate values ​​of the projection 260 may be the same as in the above embodiment. According to the third modification, the detection accuracy for detecting the end portion 240 can be improved. This also improves the accuracy for detecting the position and orientation of the inlet 210.

[0092] As described above, the mating portion 230 of the inlet 210 has a linear end portion 240 that intersects the first direction L. The sensor 4 detects the end portion 240 of the mating portion 230 by scanning along a plurality of lines Sci (i=1,2,3,…) extending in the first direction L. The plurality of lines Sci are arranged at equal intervals in the second direction W. The interval ΔS of the plurality of lines Sci in the second direction W is set so that at least three lines Sci intersect the end portion 240 of the mating portion 230. The control unit 50 calculates the position of the projection 260 based on the position of the detected end portion 240. With this configuration, the detection accuracy of the end portion 240 is improved.

[0093] In the third modified example, the control unit 50 extracts multiple points that lie on the same straight line from point Dj (j=1,2,3,…) detected by the sensor 4 as the end 240 of the mating portion 230. The control unit 50 calculates the position of the end 240 of the mating portion 230 based on the coordinate values ​​of the two endpoints of the extracted multiple points. This calculation method makes it possible to accurately calculate the position and inclination of the end 240. Note that the position of the end 240 calculated here may be a provisional position. In this case, the position of the end 240 may be finally determined based on the position of the end 250 detected by scanning in the second direction W.

[0094] The embodiments and modifications disclosed above can be combined and implemented as appropriate. [Explanation of Symbols]

[0095] 1: Vehicle charging device 2: Housing, 2a, 2b: Cover, 3: Sliding part 4: Sensor, 4A: First sensor, 4B: Second sensor, 4C: Third sensor 5: Connector 6: Support member 7:Connection mechanism 8: Arm, 8A: First Arm, 8B: Second Arm 10: First drive mechanism, 11: First motor, 12: Gear 20: Second drive mechanism, 21: Second motor, 22: Gear 30: Third drive mechanism, 31: Third motor, 32: First gear, 33: Second gear 40: Fourth drive mechanism, 41: Fourth motor, 42: First sprocket 43: Second sprocket, 44: Third sprocket 50: Control Unit 51: Groove, 51a: First groove, 51b: Second groove, 52: Contact member 61: Cover 71: Universal joint 72: spring, 72A: first spring, 72B: second spring 81: First end, 82: Second end 200: Vehicle, 210: Inlet, 220: Base, 230: Fitting part 240: end, 241,242,243: position 250: End, 260: Protrusion 270: Reflective material, 280: Other devices L1: First line, L2: Second line, L3: Third line W1, W2: Line LB, LB1, LB2: Laser light Nt: Target number Sci: Line L: First direction, W: Second direction, Z: Vertical direction Wx: Central axis in the second direction, Zx: Central axis in the vertical direction Ws: set distance, Wt: width of the mating part α: Yaw angle, β: Pitch angle, γ: Roll angle θ: Connector angle ΔS: interval

Claims

1. A connector having a groove guided by a linear projection on an inlet located on the vehicle, and which fits into the inlet, Support member and A connecting mechanism that connects the connector and the support member and allows changes in the orientation of the connector, An arm having a first end connected to the support member and a second end that is rotatably supported, which rotates to raise and lower the support member, A first drive mechanism for moving the arm in a first horizontal direction, A second drive mechanism for moving the arm in a second horizontal direction, A third drive mechanism for rotating the aforementioned arm, A fourth drive mechanism that rotates the support member to change the angle of the connector with respect to the first direction, A sensor for detecting the inlet, Control unit and Equipped with, The first direction and the second direction are orthogonal to each other. The control unit calculates the position of the protrusion in the first direction, the second direction, and the vertical direction based on the information obtained from the sensor. The control unit controls the first drive mechanism, the second drive mechanism, the third drive mechanism, and the fourth drive mechanism based on the calculated position of the protrusion, and fits the connector into the inlet along the first direction while inserting the protrusion of the inlet into the groove of the connector. The control unit calculates the yaw angle, pitch angle, and roll angle of the inlet based on the information obtained from the sensor. The control unit controls the first drive mechanism, the second drive mechanism, the third drive mechanism, and the fourth drive mechanism based on the calculated position of the protrusion, the yaw angle, the pitch angle, and the roll angle. A vehicle charging device characterized by the following features.

2. The first direction corresponds to the longitudinal direction of the vehicle and is the direction in which the connector is fitted to the inlet. The second direction corresponds to the vehicle width direction of the vehicle, The second drive mechanism has a motor that moves the arm in the second direction, and is configured to allow the connector to move in the second direction while following the inlet when the connector is fitted into the inlet. The vehicle charging device according to claim 1.

3. The motor of the second drive mechanism has a brake, The control unit releases the brake of the motor of the second drive mechanism when the connector is fitted into the inlet. The vehicle charging device according to claim 2.

4. The inlet has a mating portion that engages with the connector, The fitting portion has a straight end that intersects the first direction, The sensor detects the end of the fitting portion by scanning along a plurality of lines extending in the first direction, Multiple lines are arranged at equal intervals in the second direction, The spacing between the plurality of lines in the second direction is set such that at least three of the lines intersect with the end of the fitting portion. The control unit calculates the position of the projection based on the detected position of the end. The vehicle charging device according to claim 1.

5. The control unit extracts a plurality of points that lie on the same straight line from the point detected by the sensor as the end of the fitting portion, The control unit calculates the position of the end of the fitting portion based on the coordinate values ​​of the two ends of the extracted points. The vehicle charging device according to claim 4.

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