JP2000092619A - Motor-driven vehicle charging system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a motor-driven vehicle charging system which can couple a power feeding coupler and a power receiving coupler with each other without catching foreign substances, etc., between them and without a trouble. SOLUTION: A light receiving/emitting device 96 provided on a power feeding coupler 40 side detects the position of a reflector 132 provided on a power receiving coupler 118 side and, while the detected state of the reflector 132 is kept, the power feeding coupler 40 is transferred to be coupled with the power receiving coupler 118. If the reflector 132 is not detected, it is judged that an obstruction exists between the reflector 132 and the device 96 and the operation of the transfer of the power feeding coupler 40 is stopped.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a charging system for an electric vehicle in which a power supply coupler of a charging device is connected to a power receiving coupler provided in the electric vehicle to charge a battery mounted on the electric vehicle.

[0002]

2. Description of the Related Art In recent years, electric vehicles have been developed as transfer means capable of suppressing depletion of fossil fuels and avoiding environmental pollution and the like. Usually, an electric vehicle is driven by using electric power supplied from a mounted battery as energy, and this electric power needs to be charged to the battery from the outside as appropriate, similarly to the case of gasoline. Therefore, the electric vehicle has a power receiving coupler to which a power supply coupler installed in a power supply station is fitted.

Here, when the electric vehicle is moved to the power supply station, if the power supply coupler is automatically engaged with the power receiving coupler and the automatic charging is started, the worker is required to do so. The burden will be reduced.

[0004] As a charging device capable of performing such processing, for example, there is a charging device disclosed in Japanese Patent Application Laid-Open No. 6-14408. In this conventional technique, a two-dimensional position and posture of an electric vehicle with respect to a charging device are detected by a position detector, and a power supply coupler of the charging device is displaced in accordance with the detected two-dimensional position and posture to receive power of the electric vehicle. It is configured to be coupled to a coupler.

In the charging device disclosed in Japanese Patent Application Laid-Open No. 9-182212, a position detector for detecting the position of the electric vehicle in the vehicle width direction is provided on the side of the charging device arranged in front of the electric vehicle. The power supply coupler is displaced in accordance with the detected position and is coupled to the power receiving coupler.

[0006]

However, in the above-mentioned prior art, the position detector only detects the position of the power receiving coupler and displaces the power supply coupler based on the information. If a foreign object is inserted between the power supply coupler and the power receiving coupler during operation, the power supply coupler or the power receiving coupler may be damaged.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and an electric motor which can be connected without interfering with a foreign substance or the like when the power supply coupler and the power receiving coupler are connected. It is an object to provide a vehicle charging system.

[0008]

In a charging system for an electric vehicle according to the present invention, when a detector arranged near a power supply coupler detects an object to be detected arranged near a power receiving coupler, the detection is performed. The power supply coupler is displaced by the displacement mechanism while maintaining the state, and the coupling operation to the power receiving coupler is performed. Then, during this operation, when the detector does not detect the object to be detected, the control means of the charging device determines that there is a foreign object between the power supply coupler and the power reception coupler, and determines the power reception coupler of the power supply coupler. Is stopped.

By stopping the displacement operation after returning the power supply coupler to the state before the displacement, it is possible to reliably prevent foreign matter from being caught.

Further, if the coupling operation is performed again after the power supply coupler is returned to the state before the displacement, the operation of the charging device is continuously performed with respect to the temporary insertion of foreign matter. be able to. In this case, prior to the re-combining operation, if the detection operation of the object to be detected is performed by the detector,
Foreign matter can be more reliably prevented from being caught.

When the object to be detected is disposed at a position where the charging lid provided on the power receiving coupler is detected in a fully opened state, the power supply coupler may come into contact with the charging lid as one of the foreign substances. Can be avoided.

Further, by providing a plurality of objects to be detected in the vicinity of the power receiving coupler and obtaining the position of the power receiving coupler from the positions of the objects with high accuracy, more accurate coupling can be realized.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a schematic explanatory diagram of an electric vehicle shared system to which an electric vehicle charging system according to the present embodiment is applied. This electric vehicle sharing system is constructed for the purpose of sharing a plurality of electric vehicles 10 by a plurality of users. For example, a port 13 capable of securing a plurality of electric vehicles 10 is provided in the usable range 12 of the electric vehicle 10, and a user who rents the electric vehicle 10 from the port 13 near a home or a company is After getting on the electric vehicle 10 and moving to a station or a supermarket to achieve the intended purpose, the electric vehicle 1 is connected to the nearest port 13.
Returns 0. Note that the usable range 12 of the electric vehicle 10
Inside, there are provided a plurality of communication means 14 for transmitting information relating to the use status of the electric vehicle 10 by communication, and the collected information is transmitted to the center 16 of the electric vehicle shared system. It is processed.

FIG. 2 shows the configuration of each port 13. The port 13 is provided with a landing 18 for a user to rent or return the electric vehicle 10 and a parking lot 19 for pooling a plurality of electric vehicles 10. A terminal control device 20 is installed. The user, for example, borrows or returns a desired electric vehicle 10 using the IC card in which usage information and the like are recorded in the port terminal control device 20.

An induction cable 22 and a magnetic nail 24 for automatically moving the electric vehicle 10 are buried between the landing 18 and each parking lot 19. A charging device 26 for charging a mounted battery is installed in one of the parking lots 19.

FIGS. 3 and 4 show the charging device 26 and the electric vehicle 10 parked in the parking lot 19 in which the charging device 26 is installed. The charging device 26 supplies power based on a charging command signal from the electric vehicle 10, and stops supplying power based on a charging completion signal from the electric vehicle 10, and is connected to the charger 28. And a charging robot 30 for automatically charging the electric vehicle 10.

The charging robot 30 has a main body 34 installed on a base 32, a first arm 36 having one end pivotally supported on the main body 34, and one end connected to the other end of the first arm 36. It is composed of a second arm 38 that is pivotally supported, and a power supply coupler 40 that is swingably held at the other end of the second arm 38. In this case, the main body 34 is configured to be displaceable in the vertical direction (the direction of the arrow Y), and the first arm 36 and the second
The arms 38 are configured to be pivotable about the main body 34 and the first arm 36, respectively. Therefore, the power supply coupler 40 pivotally supported at the end of the second arm 38 is connected to the electric vehicle 1.
It can be displaced in a three-dimensional direction of arrows X, Y, and Z with respect to 0.

On the base 32 side of the charging robot 30, an ultrasonic sensor 42 for detecting the distance in the direction of the arrow Z to the power receiving coupler 118 of the electric vehicle 10 is provided. Further, the parking lot 19 is provided with a tire treading force detection sensor 44 that detects the position of the electric vehicle 10 in the directions of the arrows X and Z when the rear wheel tires are mounted. Note that a CCD camera or the like may be used instead of the tire treading force detection sensor 44.

5 to 8 show the configuration of the power supply coupler 40 of the charging robot 30. FIG. The power supply coupler 40 is attached to an end of the second arm 38 via a first bracket 46. The second bracket 52 is attached to the first bracket 46 via two pin members 48 and 50 in the arrow X direction (FIG. 5).
And a direction that can be displaced in the direction perpendicular to the plane of FIG. 6). The second bracket 52 is integrally formed with a sleeve 53 in which the outer shape of the intermediate portion is formed in a prismatic shape. A shaft 54 is slidably inserted into the hollow portion of the sleeve 53. The first of the sleeve 53
A claw portion 56 whose outer shape is enlarged in a circular shape is formed in the end opening portion separated from the bracket 46.

The shaft 5 penetrating through the second bracket 52
4 is connected to a stopper pin 6 via a plate-like member 58.
0 is concatenated. The engagement of the stopper pin 60 with the hole 62 formed in the first bracket 46 prevents the power supply coupler 40 from being displaced in the arrow X direction. Note that the shaft 5 is located near one end of the shaft 54.
4 is provided with a limit switch 63 for detecting displacement in the axial direction. A ball 64 is engaged with the other end of the shaft 54. Near the ball 64 is a collar 66
And a spring 68 is provided between the collar 66 and the claw 56 formed on the sleeve 53.

Ball 6 provided at the end of shaft 54
4 supports the power supply coupler main body 72 via the bearing member 70 in a swingable manner. The power supply coupler main body 72 includes a bracket 73 that supports the bearing member 70, a core 74 connected to the bracket 73, and a power supply coil 76 wound around a portion of the core 74 protruding toward the electric vehicle 10. .
A central portion of the bracket 73 is formed in a cylindrical shape, and a donut-shaped stopper ring 78 that engages with the claw portion 56 of the second bracket 52 is provided on an inner peripheral portion thereof. Further, a holder 75 that holds four springs 80, 82, 84, 86 radially arranged is connected to the bracket 73. These springs 80, 82, 84, 86
Is in contact with the outer peripheral portion of the sleeve 53 having a prismatic shape.

The power supply coupler 40 configured as described above
Has an outer peripheral portion surrounded by a casing 88. In addition, three sets of engaging claws 92 are provided on the inner peripheral portion of the casing 88 on the electric vehicle 10 side via a shaft member 90. These engaging claws 92 are used by the electric vehicle 1 during charging.
The bracket 73 and the engaging claw 9
2 can be swung by a spring 94 disposed between the two ends. Further, at the end of the power supply coupler 40 on the side of the electric vehicle 10, when engaging with the electric vehicle 10, a light receiving / emitting element 96 for confirming the mutual position and the like is provided, and various elements related to charging are provided. A light emitting / receiving element 98 for exchanging signals such as a charge start command signal and a charge completion signal from the electric vehicle 10 is provided.

FIG. 9 shows a configuration of a control circuit of the charging robot 30 configured as described above. This control circuit controls the charging robot 30 and controls the charging robot 30.
9 and a charge control unit 101 that performs charge control based on a control signal from the electric vehicle 10. The ultrasonic sensor 42, the tire treading force detection sensor 44, and the light emitting / receiving element 96 are connected to the charging robot control unit 99.
4. Operation control of the first arm 36 and the second arm 38 is performed. The charging control unit 101 includes a charger 28, a feeding coil 7
6 and the light receiving / emitting element 98 are connected.

On the other hand, the electric vehicle 10 that can be automatically charged by the charging device 26 is configured as shown in FIG. That is, the electric vehicle 10 controls the vehicle 10 based on a vehicle control ECU 100 that performs overall control including driving control and charging control, a battery 102 that holds driving power, and electric power supplied from the battery 102. And an electric motor 104 to be driven. Also, a vehicle control ECU
100 includes a communication unit 106 for communicating with the outside, a brake control unit 108 for performing automatic driving, a steering control unit 110, and a sensor for detecting the induction cable 22 embedded in the port 13 (see FIG. 2). 112, 1
14. A sensor 116 for detecting the magnetic nail 24 is connected.

The sensors 112 and 114 are connected to the induction cable 2
2 (see FIG. 2), which detects a magnetic field generated by an alternating current flowing through the rear wheel 2 (see FIG. 2). When the electric vehicle 10 is traveling on the guide cable 22, the output values of the left and right sensors 112 and 114 match, but when the electric vehicle 10 is displaced left and right from the guide cable 22, the output signals of the sensors 112 and 114 on one side are changed. The other sensor 11
2, 114, it is detected that the electric vehicle 10 is not traveling on the guidance route.

The sensor 116 detects a magnetic field generated from a magnet (magnetic nail 24) embedded in the guide route, and generates an output signal at the moment when the electric vehicle 10 passes over the magnetic nail 24. The sensor 116 is installed at a position deviated from the center line of the electric vehicle 10 in response to the magnetic nail 24 being embedded at a position shifted right or left by a predetermined distance from the embedded position of the guide cable 22. ing.

Here, the induction cable 22 is connected to the electric vehicle 1.
0 has only a function of detecting that the vehicle 0 is shifted left and right from the guidance route.
It has a function for accurately detecting a position in the traveling direction of 0, for example, a stop position of the electric vehicle 10 and the like. Further, the magnetic nail 24 is used as an auxiliary also when the guidance route defined by the guidance cable 22 is sharply bent.

On the other hand, sensors 112, 114 and 116
Is for detecting a magnetic field, it is desirable to mount it on the electric vehicle 10 at a position away from a magnetic body in order to eliminate the influence of magnetic disturbance. It is preferable to make a contrivance such as using a material having a property. The electric vehicle 10
Has an “outer wheel difference”, the sensors 112, 114, and 116 are provided on the rear wheel shafts instead of the steered wheels (front wheels), and control is performed on the rear wheel shafts as a target of the guidance route, thereby enabling automatic driving. Trajectory following accuracy can be improved.

The electric vehicle 10 includes a power receiving coupler 1 for charging the battery 102 using the charging device 26.
And a charging lid opening / closing device 122 that opens and closes a charging lid 120 for protecting the power receiving coupler 118.
Are provided. As illustrated in FIG. 11, the power receiving coupler 118 is configured by winding a power receiving coil 126 around a core portion 124, and the power receiving coil 126 is connected to the battery 102 via a rectifier 127 and a contactor 129. The core unit 124 includes reflectors 132 and 133 for reflecting an optical signal from the light emitting / receiving element 96 provided in the core unit 74 of the power supply coupler 40, and
A light emitting / receiving element 134 for transmitting / receiving an optical signal to / from the light emitting / receiving element 98 is provided.

The charging lid opening / closing device 122 is configured as shown in FIGS. That is, the charging lid opening / closing device 122 is surrounded by the casing 123, and is integrally formed with the charging lid 120 via the brackets 128 and 130 at both ends of the rotating shaft 125 protruding from the casing 123. Stay 13
1, 135 are connected.

In the casing 123, a vehicle control EC is provided.
Motor 138 that rotates drive shaft 136 based on an opening / closing command signal for charging lid 120 supplied from U100
Is arranged. A worm 140 is connected to the drive shaft 136 of the motor 138, and a worm wheel 142 meshes with the worm 140. A gear train 144 in which a plurality of gears having different diameters mesh alternately is connected to the worm wheel 142 to form a so-called reduction mechanism. The last gear 146 of the gear train 144 meshes with a base plate 148 having a gear formed on the outer periphery.

The rotating shaft 125 of the charging lid 120 is rotatably inserted into the center of the base plate 148. On one surface of the base plate 148, a plurality of grooves 150 are formed around the rotation axis.
The ball member 152 is engaged with 50. On the other hand, a slide collar 154 is pivotally supported by the rotation shaft portion 125 so as to face the base plate 148. Slide color 154
Is configured to engage with an engagement surface 156 formed on the rotating shaft portion 125 and to be displaceable in the axial direction of the rotating shaft portion 125. A collar 157 is fixed to the rotating shaft 125, and a spring 159 is provided between the collar 157 and the slide collar 154. On the surface of the slide collar 154 facing the base plate 148,
An engagement groove 158 in which the ball member 152 is engaged is formed between a portion corresponding to the groove 150 and the groove 150.
The engagement groove 158 is formed in a conical shape so that the ball member 152 can be engaged and disengaged.

The dog 164 is further provided on the rotating shaft 125.
Has been fixed. On the other hand, a charging lid opening / closing detection sensor 166 that detects rotation of the dog 164 at a predetermined angle by the rotation shaft 125 is provided on the casing 123 side.

The electric vehicle shared system of this embodiment is basically configured as described above. Next, the operation of the system will be described.

First, the lending process of the electric vehicle 10 using the electric vehicle shared system will be schematically described with reference to FIGS.

The user can enter and leave the landing 18 at any port 13
In, using the port terminal control device 20, for example,
After collating the ID information with the IC card, the electric vehicle 10 is selected. Electric vehicle 1 selected by user
0 is guided by the guide cable 22 and the magnetic nail 24 buried in the parking lot 19 and moves to the landing 18 by automatic driving.

In this case, as shown in FIG. 10, the electric vehicle 10 has the sensor 11 at a position symmetrical along the rear wheel axis.
2, 114 are arranged. ECU 100 for vehicle control
Is generated by a current flowing through the induction cable 22 and controls the steering control unit 110 so that the strengths of the respective magnetic fields detected by the sensors 112 and 114 are equal, and the electric vehicle 10 is moved along the induction cable 22 Guide to the platform 18. Further, the vehicle control ECU 100 detects the position of the electric vehicle 10 in the traveling direction based on the strength of the magnetic field generated by the magnetic nail 24 detected by the sensor 116, and the electric vehicle 10 reaches the landing 18. At this time, the brake control unit 108 is controlled to stop the electric vehicle 10.

When the electric vehicle 10 reaches the landing 18,
The automatic operation mode is released. Thereafter, the user gets on the electric vehicle 10 and moves to the destination.

Next, a case where the electric vehicle 10 is returned and made to wait at the predetermined parking lot 19 will be described with reference to the flowchart shown in FIG.

The user can enter and exit the port 18 at an arbitrary port 13.
After getting off at, the return process is performed by operating the port terminal control device 20 (step S1). When the return process by the user is completed, the port terminal control device 20 automatically moves the electric vehicle 10 to a place (charging port) of the parking lot 19 where the charging device 26 is installed (step S2). This movement control is performed using the guide cable 22 and the magnetic nail 24 buried in the parking lot 19, as in the case of the lending process of the electric vehicle 10.

As shown in FIG. 3, a charging device and a tire treading force detection sensor 44 for detecting the position of the electric vehicle 10 are installed at the charging port. The tire treading force detection sensor 44 is connected to the charging device 26 by the electric vehicle 10.
Of the power receiving coupler 118 is within a predetermined range in the directions of the arrows X and Z (step S3).

The charging device 26 includes a tire treading force detection sensor 4
4 based on the detection signal from the charging device 2
It is determined whether or not the power supply coupler 40 is at a position where the power supply coupler 40 can be fitted (step S4). When it is determined that the vehicle is not located at the fitting position, the stop position of the charging port of the electric vehicle 10 is adjusted (step S5), and the processes of steps S3 and S4 are repeated.

If it is determined in step S4 that the power supply coupler 40 can be fitted, the charging lid 120 of the electric vehicle 10 is automatically opened (step S6). The operation will be described with reference to the flowchart shown in FIG.

Vehicle control ECU 1 for electric vehicle 10
When receiving the lid opening command signal from the charging device 26 (step S6a), the charging lid opening / closing device 12
2 is driven in the opening direction of the charging lid 120 (step S6b).

In this case, the drive shaft 136 of the motor 138
Rotates, and the base plate 148 rotates via a gear train 144 that constitutes a speed reduction mechanism including a worm wheel 142 that meshes with the worm 140. A slide collar 154 is coaxially connected to the base plate 148 via a ball member 152.
With the rotation of the slide collar 154, the rotating shaft 125 engaged with the slide collar 154 rotates. Accordingly, the charging lid 120 connected to the rotating shaft 125 via the bracket 128 and the stay 131 is opened.

On the other hand, the vehicle control ECU 100 detects the drive current of the motor 138 (step S6c), and when the current value exceeds a predetermined value (step S6d), that is, when the load on the motor 138 exceeds a predetermined value. If so, it is determined that the charging lid 120 has been fully opened, and the motor 138 is stopped (step S6e).

After the charging lid 120 is opened, the charging robot 30 constituting the charging device 26 is driven, and the power supply coupler 40 is fitted to the power receiving coupler 118 of the electric vehicle 10 (step S7). The operation will be described with reference to the flowchart shown in FIG.

The ultrasonic sensor 42 provided on the base 32 side of the charging robot 30 detects the distance from the charging robot 30 to the passive coupler 118 of the electric vehicle 10 (Step S7a). The charging robot control unit 99 of the charging robot 30 drives the first arm 36 and the second arm 38 based on the detected distance to the electric vehicle 10,
The power supply coupler 40 is moved in the arrow Z direction to a position where the position detection by the light receiving /
8 (step S7b). Next, while the position in the Z direction is fixed, the power supply coupler 40 is moved in the X direction and the Y direction to search for reflected light from the reflectors 132 and 133 provided in the power receiving coupler 118 (step S).
7c, S7d).

That is, light is emitted from the light receiving / emitting element 96 provided on the power supply coupler 40 to the power receiving coupler 118, and the reflector 132 provided on the power receiving coupler 118 side is provided.
Is searched for a position where the reflected light from the light receiving and emitting element 96 can be received. Then, the charging robot control unit 99 stores the position O1 (x1, y1) (see FIG. 17) of the power supply coupler 40 when receiving the reflected light from the reflector 132 (step S7e). The position O1 (x1, y1) is obtained by scanning light emitted from the light receiving / emitting element 96 on the charging robot 30 side near the reflector 132 having a predetermined area, and as central coordinates of a range in which reflected light is received. Shall be.

Similarly, the feed coupler 40 is moved in the X direction and in the Y direction.
The reflector 13 by the light emitting / receiving element 96.
3 is scanned, and the center coordinates of the received light range are determined as the position O2 (x2, y2) of the power supply coupler 40 with respect to the reflector 133 and stored (steps S7c to S7f).

Next, the center position O (x0, y0) of the power receiving coupler 118 is calculated from the two positions O1 and O2 of the power supply coupler 40 with respect to the reflectors 132 and 133 (step S7g). In this case, as shown in FIG. 17, the center O (x0, y) of the center of the power receiving coupler 118 is located at a midpoint on a straight line connecting the centers of the reflectors 132 and 133.
0), the position O (x0, y0) can be obtained as x0 = (x1 + x2) / 2 y0 = (y1 + y2) / 2.

Here, assuming that the position O '(x0', y0 ') of the center of the feeding coupler 40 in the charging robot 30 is known in advance with reference to the position of the light emitting / receiving element 96. The center position O '(x0', y0 ') of the power supply coupler 40 when the position matches the center position O1 (x1, y1) of the reflector 132, and the center position O (x0, y0) of the power receiving coupler 118. ) Can be obtained.

Then, the above-mentioned shift amount is obtained, and in order to correct the shift amount, the position is corrected by displacing the power supply coupler 40 in the arrow X direction and the arrow Y direction (step S).
7h). As a result, for example, even when the electric vehicle 10 is parked at an angle to the charging robot 30, the X coordinate and the Y coordinate of the center of the power receiving coupler 118 and the center of the power feeding coupler 40 match. Can be done. Since the reflector 132 has a predetermined area, the light from the light emitting / receiving element 96 can always be received even after the position is corrected.

Here, the center position of the power receiving coupler 118 is
By arranging the reflectors at two or more places apart from each other and detecting their positions, the reflectors can be obtained with high accuracy. For example, as shown in FIG. 18, reflectors 135a and 135b are arranged at the end of the power receiving coupler 118 on the side of the charging lid 120 and the lower end of the side facing away from the charging lid 120, or as shown in FIG. As described above, the reflectors 137a to 137c are arranged at two places on the charging lid 120 side and one place at the lower end on the side separated from the charging lid 120, and these positions are detected to determine the center position of the power receiving coupler 118. It can be determined with high accuracy.

Next, the charging robot control unit 99 drives the first arm 36 and the second arm 38 while keeping the X coordinate and the Y coordinate constant, and connects the power supply coupler 40 to the power receiving coupler 118 of the electric vehicle 10. (Step S7i).

In this case, the charging device 26
The presence / absence of reflected light from the reflector 132 is constantly monitored (step S7j), and the moving operation of the power supply coupler 40 is continued until there is reflected light and the power supply coupler 40 is fitted to the power receiving coupler 118. (Step S7
k).

That is, as shown in FIG. 20, the power supply coupler 40 moves in the direction of the arrow Z toward the power receiving coupler 118. For example, the charging lid 120 is closed while the power supply coupler 40 is moving. When a situation occurs, the light path L between the light emitting / receiving element 96 and the reflector 132 disposed on the side of the charging lid 120 is blocked (see a two-dot chain line), and there is no reflected light from the reflector 132 (step S7j). ), The charging robot control unit 99 determines that there is an obstacle in the route, and returns the power supply coupler 40 to the origin position (standby position), and then stops the moving operation of the power supply coupler 40 (step S7n). . By providing the reflector 132 on the mounting side of the charging lid 120, for example, as shown in FIG. 21, even in the case of the sliding type charging lid 120, the charging lid 120 may be used.
It is possible to stop the moving operation of the power supply coupler 40 in advance by detecting that an unexpected closing state has occurred. In addition, an obstacle other than the charging lid 120 is
Similarly, when the power supply coupler 40 is interposed between the power supply coupler 118 and the power receiving coupler 118, the moving operation of the power supply coupler 40 is stopped.
Damage such as 18 can be avoided.

As described above, when the charging robot control unit 99 detects an obstacle between the power supply coupler 40 and the power reception coupler 118, the power supply coupler 40 is returned to the origin position of the charging robot 30 and stopped. If this is the case, it is possible to reliably avoid interference due to obstacles, and it is also possible to easily perform an operation for removing the obstacles.

When an obstacle is detected in step S7j, the power supply coupler 40 is once returned to the origin position of the charging robot 30, and then the coupling operation to the power receiving coupler 118 is continued again. Upon detection, the power supply coupler 40 is stopped on the spot,
After the light receiving / emitting element 96 detects the reflector 132 again, by continuing the coupling operation again, it is possible to quickly perform the coupling operation when the obstacle is naturally avoided, which is efficient.

Next, the power supply coupler 40 is connected to the power receiving coupler 118.
The operation at the time of fitting into the device will be described.

In FIG. 5, when the power supply coupler 40 moves to the power receiving coupler 118 side and its tip (near the core portion 74) is pressed by the tip portion (near the core portion 124) of the power receiving coupler 118, the power feeding coupler 40 moves. Side power supply coupler body 7
2 is displaced together with the shaft 54 toward the first bracket 46. At this time, the engagement of the stopper ring 78 provided on the power supply coupler main body 72 with the claw portion 56 is released, and the engagement of the stopper pin 60 held in the hole portion 62 of the first bracket 46 with the first bracket 46 is performed. Is canceled. As a result, the power supply coupler main body 72 becomes swingable about the ball 64 mounted on the shaft 54, and becomes freely displaceable by a small amount in the direction of the arrow X along the electric vehicle 10.

In this case, the power supply coupler 40 is
Even when there is a slight displacement when pressed by 18, the power supply coupler 40 is fitted in a suitable state following the power receiving coupler 118 (see FIGS. 6 and 7). Further, since the power supply coupler 40 is in a fixed state until it is fitted to the power reception coupler 118, the power supply coupler 4
0 while moving to the receiving coupler 118 of the power supply coupler 40.
Does not swing, so that a situation in which the power supply coupler 40 is in an inappropriate state immediately before the engagement can be avoided, and a more favorable engagement state can be obtained.

After the fitting as described above, when the power supply coupler 40 is further pressed toward the power receiving coupler 118, the end of the shaft 54 comes into contact with the limit switch 63, whereby the power supply coupler 40 is connected to the power receiving coupler 118. Is securely detected.

When the fitted state is detected, the charging device 26
Stops the moving operation of the power supply coupler 40 (step S
7m), whereby the fitting is completed.

When the power supply coupler 40 is normally fitted to the power receiving coupler 118, charging control is started (step S8). This operation will be described with reference to the flowchart shown in FIG.

Vehicle control EC mounted on electric vehicle 10
U100 checks the state of charge of battery 102,
A charge start command signal is transmitted from the light receiving / emitting element 134 provided in the power receiving coupler 118 to the light receiving / emitting element 98 provided in the power supply coupler 40 (step S8a). The charging control unit 101 of the charging device 26 that has received the charging start signal supplies the current from the charger 28 to the power supply coil 76 of the power supply coupler 40. The magnetic field generated by this current generates a current for the power receiving coil 126 of the power receiving coupler 118. The generated current is converted into a direct current by the rectifier 127, and then supplied to the battery 102 through the contactor 129 which is turned on by the vehicle control ECU 100, whereby charging is performed (step S8b).

In this case, since the power supply coupler 40 is freely displaceable in the direction of the arrow X with respect to the power receiving coupler 118 and is swingable, it is assumed that the position of the electric vehicle 10 fluctuates during charging. Also the receiving coupler 118
The charging operation can be continued in a good state without damaging the battery.

The vehicle control ECU 100 includes a battery 10
The charging status of the charging device 2 is constantly checked, and when full charging is detected, a charging completion signal is transmitted to the charging device 26 via the light emitting / receiving element 134 and the contactor 129 is turned off (step S8c). The charging device 26 that has received the charging completion signal stops supplying current to the power feeding coil 76, and charging is completed (step S8d).

After the charging is completed as described above, the charging robot 30 controls the disengagement of the power supply coupler 40 (step S9). This operation will be described with reference to the flowchart shown in FIG.

Power receiving robot control unit 99 of charging device 26
Are the main body 34 of the charging robot 30, the first arm 36,
Based on a signal from a sensor (not shown) attached to the second arm 38, the position of the feeding coupler 40 in the fitted state in the X and Y directions is detected (step S9a).
Next, the power supply coupler 40 is moved in the Z direction by driving the first arm 36 and the second arm 38 while maintaining the detected positions in the X direction and the Y direction (step S9b). By performing control in this manner, the power supply coupler 4 can be mounted without damaging the power receiving coupler 118.
0 can be released. The power supply coupler 4
0 is the distance between the power receiving coupler 118 and the spring 6
The stopper ring 78 is moved by the elastic force of
And is returned to the fixed state. After detecting that the power supply coupler 40 has been separated from the power reception coupler 118 by a predetermined distance (step S9c), the main unit 34, the first arm 36, and the second arm 38 are moved to the origins in the X, Y, and Z directions. Thereby, the charging robot 30 is returned to the origin (step S9d).

Next, control for closing the charging lid 120 is performed (step S10). The operation is shown in FIG.
This will be described according to the flowchart shown in FIG.

When the power supply coupler 40 of the charging robot 30 is sufficiently separated from the electric vehicle 10 and a lid closing command signal for the charging lid 120 is supplied from the vehicle control ECU 100 (step S10a), the charging lid opening / closing device 12 is turned on.
2 is driven to rotate in a direction to close the charging lid 120 (step S10b).

In this case, the base plate 148 rotates via the gear train 144 connected to the drive shaft 136 of the motor 138 as in the case where the charging lid 120 is opened. The rotation of the base plate 148 is controlled by the ball member 15.
2, the slide collar 154 is rotated, and the rotating shaft 125 that engages with the slide collar 154 is rotated, so that the charging lid 120 is closed.

On the other hand, the vehicle control ECU 100 detects the drive current of the motor 138 (step S10c), and when the current value becomes equal to or larger than a predetermined value (step S10).
d), it is determined that the charging lid 120 is completely closed, and the motor 138 is stopped (step S10).
e).

The charging lid 120 in the opened state
Can be forcibly closed manually. That is, the user of the electric vehicle 10 can use the charging lid 120.
Is displaced in the closing direction, and when a force equal to or more than a predetermined value is applied to the rotating shaft portion 125, the slide collar 154
Since the ball member 152 is displaced along the rotating shaft portion 125 against the pressing force of 59, the locked state by the engagement groove 158 of the ball member 152 is released. Accordingly, the rotation shaft 125 and the slide collar 154 rotate while the base plate 148 does not rotate, and the charging lid 120 is displaced in the closing direction.

When the charging lid 120 is rotated by a predetermined angle in the closing direction, the dog 164 that rotates together with the rotating shaft 125 is detected by the charging lid opening / closing detection sensor 166, and the charging lid 120 is closed. Is recognized by the vehicle control ECU 100 (step S10f). Therefore, the vehicle control ECU 100 drives the motor 138 to rotate in the closing direction of the charging lid 120 (step S10b). In this case, when the base plate 148 rotates by a predetermined angle, the ball member 152 engages with the engagement groove 158 again.
8 and the slide collar 154 are connected. Accordingly, the charging lid 120 is forcibly displaced in the closing direction by the motor 138.

Thereafter, similarly to the case where the charging lid 120 is automatically closed, the vehicle control ECU 100 controls the motor 138.
Is detected (step S10c), and when the current value exceeds a predetermined value (step S10d), it is determined that the charging lid 120 is completely closed, and the motor 138 is stopped (step S10c). Step S10e).

The electric vehicle 10 with the charging lid 120 closed as described above moves to the lending standby position in the parking lot 19 (step S11).

According to the present invention, the power supply coupler (40) of the charging device (26) is connected to the power receiving coupler (118) provided in the electric vehicle (10), and the battery (102) mounted on the electric vehicle is provided. A charging system for an electric vehicle for charging a vehicle, wherein the electric vehicle includes an object to be detected (reflector 132) disposed near the power receiving coupler, and the charging device is disposed near the power supply coupler. A detector (light receiving / emitting element 96) for detecting the object to be detected, and a displacement mechanism (main body 34, first arm 36, second arm 3) for displacing the power supply coupler to be coupled to the power reception coupler.
8) controlling the displacement mechanism to stop the displacement operation of the displacement mechanism when the detector does not detect the object to be detected while the power supply coupler is being displaced by the displacement mechanism. Means (charging robot controller 9
9).

Further, in the present invention, when the detector does not detect the object to be detected while the power supply coupler is being displaced by the displacement mechanism, the control means sets the power supply coupler to a state before the displacement. After the return, the displacement operation is stopped.

In the present invention, when the detector does not detect the object to be detected while the power feeding coupler is being displaced by the displacement mechanism, the control means sets the power feeding coupler to a state before the displacement. After the recovery, the operation control for coupling the power supply coupler to the power receiving coupler is performed again.

In the present invention, the control means stops the displacement operation of the displacement mechanism when the detector does not detect the object to be detected while the feed coupler is being displaced by the displacement mechanism. After the detector detects the object again, the operation control for coupling the power supply coupler to the power receiving coupler is performed again.

Further, in the present invention, the power receiving coupler includes the charging lid (120), and the object to be detected is disposed at a position where the detector can be detected by the detector when the charging lid is fully opened. It is configured as follows.

Further, according to the present invention, a plurality of objects to be detected (reflectors 132 and 133) are arranged near the power receiving coupler, and the control means detects each of the objects to be detected by the detector to receive the power. It is configured to determine the position of the coupler.

[0085]

As described above, according to the electric vehicle charging system of the present invention, while the power supply coupler is moved toward the power receiving coupler of the electric vehicle, the detector on the power supply coupler side is connected to the power receiving coupler side. When an object to be detected is not detected, it is determined that there is an obstacle between them, and the moving operation of the power supply coupler is stopped. Therefore, when the power supply coupler is coupled to the power receiving coupler, it is possible to prevent a situation in which an obstacle is erroneously sandwiched.

When stopping the operation of the power supply coupler,
It is preferable to return to the position before the displacement and to stop, so that the obstacle can be easily removed.

If the operation of coupling is performed again after returning the power supply coupler to the position before the displacement, if the obstacle is removed during that time, the coupling operation can be continued efficiently. .

Further, if the operation of the power supply coupler is stopped at the position where the detector detects the obstacle, and the operation of re-coupling after detecting the removal of the obstacle is started, the time until the completion of the coupling is further reduced. Can be.

Here, when the object to be detected on the power receiving coupler side is provided on the mounting end side of the charging lid provided on the power receiving coupler, an unintentional closing state of the charging lid is detected and the coupling operation is stopped. Can be done. It is preferable that a plurality of objects to be detected be provided, since an obstacle can be detected and the position of the power receiving coupler with respect to the power feeding coupler can be obtained with high accuracy.

[Brief description of the drawings]

FIG. 1 is a schematic explanatory view showing the entire configuration of an electric vehicle shared system.

FIG. 2 is an explanatory diagram of a configuration of a port.

FIG. 3 is a diagram illustrating the relationship between an electric vehicle and a charging device at a charging port.

FIG. 4 is a diagram illustrating the relationship between an electric vehicle and a charging device at a charging port.

FIG. 5 is an explanatory sectional view of a power supply coupler of the charging robot.

FIG. 6 is an explanatory cross-sectional view of a power supply coupler of the charging robot set in a swingable state.

7 is a cross-sectional view of the power supply coupler shown in FIG. 6, taken along line VII-VII.

8 is an explanatory front view of the power supply coupler shown in FIG. 5;

FIG. 9 is a configuration block diagram of an electric system of the charging robot.

FIG. 10 is a configuration block diagram of an electric system of the electric vehicle.

FIG. 11 is an explanatory diagram of a power receiving coupler and a charging lid in the electric vehicle.

FIG. 12 is a configuration perspective view of a charging lid opening / closing device.

FIG. 13 is an explanatory sectional view of a charging lid opening / closing device.

FIG. 14 is a flowchart of the entire process from the vehicle return process to the completion of charging.

FIG. 15 is a flowchart of a charging lid opening / closing control process.

FIG. 16 is a flowchart of a power supply coupler fitting process performed by the charging robot.

FIG. 17 is an explanatory diagram for detecting the position of the power supply coupler with respect to the power reception coupler.

FIG. 18 is another explanatory view of the arrangement of the reflectors provided in the power receiving coupler.

FIG. 19 is another explanatory view of the arrangement of the reflectors provided in the power receiving coupler.

FIG. 20 is an explanatory diagram showing a relationship between the power supply coupler and an obstacle when the power supply coupler is coupled to the power reception coupler.

FIG. 21 is an explanatory diagram of a relationship between an electric power supply coupler and an obstacle as another embodiment when coupling the electric power supply coupler to the electric power reception coupler.

FIG. 22 is a flowchart of a charging process performed by a charging robot.

FIG. 23 is a flowchart of a disengagement process of the power supply coupler by the charging robot.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 ... Electric vehicle 13 ... Port 18 ... Boarding spot 19 ... Parking lot 20 ... Port terminal control device 26 ... Charging device 28 ... Charger 30 ... Charging robot 40 ... Power supply coupler 96, 98, 13
4: Light receiving / emitting element 99: Charging robot control unit 100: Vehicle control ECU 101: Charging control unit 102: Battery 104: Electric motor 118: Power receiving coupler 120: Charging lid 132, 133, 135a, 135b, 137a-13
7c ... Reflector

 ────────────────────────────────────────────────── ─── Continuing from the front page (72) Inventor Toshihiro Sone 1-4-1 Chuo, Wako-shi, Saitama Pref. Inside Honda R & D Co., Ltd. (72) Michio Shimada 1-4-1 Chuo, Wako-shi, Saitama F-term in Honda R & D Co., Ltd. (reference) 5H115 PC06 PG04 PI16 PO01 PO07 PO09 PO16 PU01 QN03 SF27 SF30 SL01 SL05 TD03 TD04 TD20 TO12 TO30 UI40

Claims (6)

[Claims] An electric vehicle charging system for charging a battery mounted on an electric vehicle by coupling a power supply coupler of a charging device to a power receiving coupler provided on the electric vehicle, wherein the electric vehicle is An object to be detected arranged near the power receiving coupler, the charging device is arranged near the power supply coupler and detects the object to be detected, and the power supply coupler is connected to the power receiving coupler. A displacement mechanism for displacing the coupling mechanism, and controlling the displacement mechanism. A charging system for an electric vehicle, comprising: control means for stopping the displacement operation. 2. The system according to claim 1, wherein said control means controls said power supply coupler when said detector does not detect said object during displacement of said power supply coupler by said displacement mechanism. After returning to the state before displacement,
A charging system for an electric vehicle, wherein the displacement operation is stopped. 3. The system according to claim 1, wherein said control means switches said power supply coupler when said detector does not detect said object during displacement of said power supply coupler by said displacement mechanism. After returning to the state before displacement,
An electric vehicle charging system, wherein operation control for coupling the power supply coupler to the power receiving coupler is performed again. 4. The system according to claim 1, wherein said control means controls the displacement mechanism when said detector does not detect said object while said feed coupler is being displaced by said displacement mechanism. A charging system for an electric vehicle, wherein the displacement operation is stopped, and after the detector detects the object to be detected again, operation control for coupling the power supply coupler to the power receiving coupler is performed again. 5. The system according to claim 1, wherein the power receiving coupler includes a charging lid, and the object to be detected is provided at a position where the detector can be detected by the detector when the charging lid is fully opened. A charging system for an electric vehicle. 6. The power receiving coupler according to claim 1, wherein a plurality of the detected objects are provided in the vicinity of the power receiving coupler, and wherein the control means detects each of the detected objects by the detector and performs the power receiving coupler operation. A charging system for an electric vehicle, wherein a charging position is obtained.