KR102597830B1 - Charging robot for electric vehicle and control method thereof - Google Patents

Abstract

The present invention relates to an electric vehicle charging robot, and includes a battery module for charging a battery of an electric vehicle, a battery module unit to which a charging gun is coupled; A robot module unit including a tongs and an articulated robot arm for picking up the charging gun of the battery module unit and coupling it to an electric vehicle charging terminal or releasing the charging gun coupled to the electric vehicle; and a transfer module unit, which is a module that is coupled to the battery module unit and the robot module unit and moves each to a target point.

Description

Electric vehicle charging robot and its control method {CHARGING ROBOT FOR ELECTRIC VEHICLE AND CONTROL METHOD THEREOF}

The present invention relates to an electric vehicle charging robot and a control method thereof, and more specifically, to an electric vehicle charging robot and a control method thereof that enable unmanned charging of an electric vehicle using a movable charging robot even when the vehicle is not parked in an electric vehicle charging area. It's about.

In general, a conventional electric vehicle (or electric vehicle, EV (Electric Vehicle)) is parked in an electric vehicle charging area (or a parking lot exclusively for electric vehicle charging) and then its battery is charged using a wired or wireless charger.

However, the wired charger has a problem in that it is inconvenient for the elderly and female drivers to use it due to the increase in the volume and weight of the charging device (e.g., charging gun and cable, etc.) as the charging capacity increases (e.g., 50 kW → 100 kW). .

In addition, the wireless charger requires an additional wireless power receiving device to be installed in the vehicle, which increases the weight of the vehicle, has a relatively lower charging speed compared to the wired charging method, and is additionally equipped with a shielding device to prevent electromagnetic waves harmful to the human body. There is a problem that needs to be addressed.

In addition, the existing electric vehicle charging system has a problem in that the vehicle's charging waiting time increases if a sufficient charging location (or a dedicated parking lot equipped with a fixed charging station) is not secured in advance.

Therefore, even if you do not secure a charging location (or a dedicated parking lot equipped with a fixed charging station) in advance, you can easily use it in an unmanned manner even in existing parking lots (i.e. parking lots where regular vehicles, not electric vehicles, are parked) in response to the gradually increasing number of electric vehicles. There is a demand for technology that can quickly charge electric vehicles.

The background technology of the present invention is disclosed in Korean Patent Publication No. 10-2013-0118482 (published on October 30, 2013, electric vehicle battery replacement device and method).

According to one aspect of the present invention, the present invention was created to solve the above problems, and is an electric vehicle charging robot that allows unmanned charging of an electric vehicle using a movable charging robot even if the vehicle is not parked in the electric vehicle charging area. The purpose is to provide and a control method thereof.

An electric vehicle charging robot according to one aspect of the present invention is a battery module for charging a battery of an electric vehicle, including a battery module unit to which a charging gun is coupled; A robot module unit including a tongs and an articulated robot arm for picking up the charging gun of the battery module unit and coupling it to an electric vehicle charging terminal or releasing the charging gun coupled to the electric vehicle; and a transfer module unit, which is a module that is coupled to the battery module unit and the robot module unit and moves each to a target point.

In the present invention, the target point is characterized as a point where an electric vehicle to be charged is parked or a point where a battery charging station is located.

In the present invention, the transfer module unit includes: a first sensor unit including at least one sensor for setting a route to a target point and driving to avoid obstacles on the route; a first communication unit that communicates in a wired or wireless manner with the upper server that controls the electric vehicle charging robot, the robot module unit, and the battery module unit; a first coupling portion that physically couples or separates the robot module portion and the battery module portion; A first control unit that controls the first sensor unit, the first communication unit, and the first coupling unit, and controls the steering and speed of the transfer drive unit to move the electric vehicle charging robot to the target point; and a transfer drive unit that controls the steering and speed of the motor to which the wheels are connected according to the control of the first control unit.

In the present invention, the robot module unit includes a second sensor unit including at least one sensor for stably combining the charging gun by moving it to the target position; a second communication unit that communicates in a wired or wireless manner with the upper server that controls the electric vehicle charging robot, the transfer module unit, and the battery module unit; a second coupling portion that physically couples or separates the transfer module portion and the battery module portion; In order to move the robot arm holding the charging gun to the target position, the second sensor unit, the second communication unit, and the second coupling unit are controlled, and the angle and torque of the joints and tongs of the robot arm are controlled through the robot arm driving unit. a second control unit; and a robot arm driving unit that moves the charging gun to the target position by controlling the angle and torque of the joints and tongs of the multi-joint robot arm according to the control of the second control unit.

In the present invention, the target location includes a charging terminal location of an electric vehicle or a charging terminal location of a battery charging station.

In the present invention, the battery module unit includes a charging/discharging unit for charging an electric vehicle or charging a battery unit; A third communication unit that communicates with the upper server that controls the electric vehicle charging robot, the transfer module unit, and the robot module unit through wired and wireless methods; a third coupling part that physically couples or separates the transport module unit and the robot module unit; a third control unit that controls the charging/discharging unit to discharge the battery unit to charge an electric vehicle or to charge the battery unit at a charging station; and a battery unit in which at least one battery can be connected in series or in parallel depending on the charging capacity, and that discharges the charged power to charge the electric vehicle or performs charging itself at the charging station under the control of the third control unit. It is characterized by including.

A method of controlling an electric vehicle charging robot according to another aspect of the present invention includes the steps of receiving a request from a control unit of an electric vehicle charging robot or an electric vehicle charging robot system to charge an electric vehicle; The control unit moving the electric vehicle charging robot based on parking location information of the electric vehicle for which charging has been requested; The control unit scanning the exterior of the electric vehicle through the sensor unit of the robot module unit to find the battery charging port; The control unit detects the location of the battery charging port by analyzing the image obtained by scanning the exterior of the electric vehicle; When the charging port location of the electric vehicle is detected, the control unit uses a robot arm of the robot module unit to pick up the charging gun of the battery module unit and move it to the charging port; After moving the charging gun to the charging port location of the electric vehicle, the control unit inserts the charging gun by pressing it toward the charging port; And when the charging gun is completely inserted into the charging port, the control unit starts charging the battery of the electric vehicle.

In the present invention, the control unit is characterized as being a control unit of a robot module unit that functions as a main control unit of an electric vehicle charging robot, or a higher level server of the charging robot system.

In the present invention, in the step of receiving a request for charging the electric vehicle, at least one of the basic information of the vehicle, parking location, charging amount, and charging capacity information is included when requesting charging.

In the present invention, in order to determine completion of insertion or fastening of the charging gun, while moving the charging gun in the direction of the charging port of the electric vehicle, the control unit measures the distance to the charging port through the sensor unit and the gripper or tongs of the robot arm. measuring the applied torque; If the measured distance is more than a predetermined value (α) or the torque of the gripper or tongs does not satisfy a predetermined range (i.e., β≤torque≤γ) (torque<β or torque>γ), A step where the control unit stops inserting the charging gun; And if the measured distance is less than a predetermined value (α) and the torque of the gripper or tongs satisfies a predetermined range (β≤torque≤γ), the control unit accurately inserts the charging gun into the charging port and fastens it. Characterized in that it includes a step of determining that the process has been completed.

A method of controlling an electric vehicle charging robot according to another aspect of the present invention includes the steps of the control unit of the electric vehicle charging robot or the electric vehicle charging robot system checking the remaining battery capacity of each robot module unit and the battery module unit; When the remaining battery capacity of the robot module unit is low, the control unit returns the robot module unit to the charging station; When the robot module unit returns to the charging station, the control unit starts charging the robot module unit; If the remaining battery capacity of the robot module unit is not insufficient and a charging request signal from a charging request vehicle that is not in a charging state is received, the control unit selects the basic battery module unit according to the charging demand capacity, and then connects the robot module unit and the basic battery module unit. Moving in the direction of the electric vehicle that has received the charging request signal; And when the robot module unit arrives at the location of the electric vehicle that has received the charging request signal, the control unit controls the robot arm of the robot module unit to connect the charging gun of the basic battery module to the electric vehicle to start charging. It is characterized by:

In the present invention, when the remaining battery capacity of the robot module unit is not low, the control unit checks whether a charge release request signal is received from the vehicle in a charged state; When a charge release request signal is received from the charged state vehicle, the control unit moves the robot module in the direction of the electric vehicle that received the charge release request signal; When the robot module unit arrives at a location where the electric vehicle for which charging release has been requested is located, the control unit controls the robot arm to release the charging connector or charging gun from the electric vehicle for which charging release has been requested; and the step of the control unit returning the basic battery module from which the charging gun is released to the charging station to charge the basic battery module.

In the present invention, the control unit checks whether a low-charge signal is received from a vehicle in a state of charge; The control unit selects an additional battery module according to the insufficient charge capacity, and moves the robot module unit and the additional battery module unit in the direction of the electric vehicle that has received the insufficient charge signal; When the robot module unit arrives at a location where the electric vehicle that has received the low-charge signal is located, the control unit controls the robot arm to release the charging gun of the basic battery module from the electric vehicle and replace it with an additional battery module; And returning the basic battery module from which the charging gun is separated to the charging station to charge the basic battery module.

In the present invention, the robot module unit is combined with a transfer module unit and a battery module unit, and the control unit is a control unit of the robot module unit that functions as the main control unit of the electric vehicle charging robot, or an upper server of the charging robot system. .

According to one aspect of the present invention, the present invention allows unmanned charging of an electric vehicle using a movable charging robot even if the vehicle is not parked in an electric vehicle charging area.

1 is an exemplary diagram showing the schematic configuration of an electric vehicle charging robot according to an embodiment of the present invention.
Figure 2 is an example diagram showing a more specific configuration of the transfer module part in Figure 1.
Figure 3 is an example diagram showing a more specific configuration of the robot module part in Figure 1.
Figure 4 is an example diagram showing a more specific configuration of the battery module part in Figure 1.
FIG. 5 is an example diagram showing the virtual shapes shown in FIG. 1 to aid understanding of the transfer module unit, robot module unit, and battery module unit.
Figure 6 is a flowchart illustrating a charging method using an electric vehicle charging robot according to an embodiment of the present invention.
FIG. 7 is a flowchart for explaining in more detail the process (S106) of determining insertion or fastening of the rechargeable gun in FIG. 6.
Figure 8 is a flowchart illustrating a method for controlling an electric vehicle charging robot according to an embodiment of the present invention.

Hereinafter, an embodiment of an electric vehicle charging robot and its control method according to the present invention will be described with reference to the attached drawings.

In this process, the thickness of lines or sizes of components shown in the drawing may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are terms defined in consideration of functions in the present invention, and may vary depending on the intention or custom of the user or operator. Therefore, definitions of these terms should be made based on the content throughout this specification.

Figure 1 is an exemplary diagram showing the schematic configuration of an electric vehicle charging robot according to an embodiment of the present invention.

As shown in FIG. 1, the electric vehicle charging robot according to this embodiment includes a transfer module unit 110, a robot module unit 200, and a battery module unit 300.

The transfer module unit 110 is a module that moves the electric vehicle charging robot to the target point (that is, the point where the electric car to be charged is parked or the point where the battery charging station is located).

The battery charging station can simultaneously charge multiple batteries.

The transfer module unit 110 is equipped with wheels and is capable of autonomous steering.

The transfer module unit 110 can connect and transfer at least one of the robot module unit 200 and the battery module unit 300, respectively.

The robot module unit 200 includes a multi-joint robot arm (i.e., a robot arm for picking up a charging gun and coupling it to an electric vehicle charging terminal).

The battery module unit 300 is a battery for charging an electric vehicle and is coupled with a charging gun.

In this embodiment, a method of charging an electric vehicle by picking up a charging gun coupled to each battery and combining it with an electric vehicle charging terminal using the articulated robot arm of the robot module unit 200 is described. However, the charging gun is not included in the robot arm itself. A robot arm that is directly connected and has a charging gun attached to each battery may be installed.

However, considering cost and efficiency, it is preferable that the charging gun is coupled to the battery, and the robot arm picks up the charging gun coupled to the battery to charge the electric vehicle.

FIG. 2 is an exemplary diagram showing a more specific configuration of the transfer module unit in FIG. 1.

Referring to FIG. 2, the transfer module unit 100 includes a first sensor unit 110, a first communication unit 120, a first coupling unit 130, a first control unit 140, and a transfer driver 150. Includes.

The first sensor unit 110 sets a route to the target point (i.e., a point where the electric vehicle to be charged is parked or a point where a battery charging station is located), and also has at least a minimum number for driving to avoid obstacles on the path. Includes one or more sensors (e.g. GPS, infrared sensor, radar sensor, LiDAR sensor, image sensor, ultrasonic sensor, etc.).

The first communication unit 120 communicates with a higher level server (i.e., a server that controls the electric vehicle charging robot) (not shown), the robot module unit 200, and the battery module unit 300 in a wired or wireless manner.

The first communication unit 120 receives information for moving to a target point (i.e., a point where an electric vehicle to be charged is parked or a point where a battery charging station is located) according to a command from a higher level server (not shown), and also Transmits and receives information for coupling (or separation) by communicating with the robot module unit 200 and the battery module unit 300, which were separated (or connected) before or after moving to the target point. .

The first coupling unit 130 physically couples the robot module unit 200 and the battery module unit 300. Additionally, the first coupling portion 130 separates the physically coupled robot module portion 200 and the battery module portion 300.

The first control unit 140 controls the first sensor unit 110, the first communication unit 120, and the first coupling unit 130 in order to move the transfer module unit 100 to the electric vehicle charging point. , controls the steering and speed of the transport drive unit 150 (e.g., a motor connected to a wheel).

The transport driver 150 controls the steering and speed of the motor to which the wheels are connected according to the control of the first control unit 140, and moves the transport module unit 100 to the target point (i.e., where the electric vehicle to be charged is parked). transport to a point where there is a battery charging station.

Figure 3 is an example diagram showing a more specific configuration of the robot module part in Figure 1.

Referring to FIG. 3, the robot module unit 200 includes a second sensor unit 210, a second communication unit 220, a second coupling unit 230, a second control unit 240, and a robot arm driving unit 250. ) includes.

The second sensor unit 210 includes at least one sensor (e.g., a gyro sensor, including infrared sensors, image sensors, ultrasonic sensors, etc.)

The second communication unit 220 communicates with the upper server (i.e., the server that controls the electric vehicle charging robot) (not shown), the transfer module unit 100, and the battery module unit 300 in a wired or wireless manner.

The second communication unit 220 moves the charging gun to the target location (i.e., the charging terminal location of an electric vehicle or the charging terminal location of a battery charging station) according to a command from a higher level server (not shown) and provides information for stable coupling. (e.g. location of charging terminal for each vehicle, location of charging terminal for each charging station) is received.

The second coupling unit 230 physically couples the transfer module unit 100 and the battery module unit 300. Additionally, the second coupling portion 230 separates the physically coupled transport module portion 100 and the battery module portion 300.

The second control unit 240 is configured to move the robot arm (not shown) holding the charging gun to the target location (i.e., the charging terminal location of an electric vehicle or the charging terminal location of a battery charging station). (210), the second communication unit 220, and the second coupling unit 230 are controlled, and the angles of the joints of the robot arm and the tongs are controlled through the robot arm driving unit 250 (e.g., multi-joint robot arm and tongs). and control the torque.

The robot arm driving unit 250 controls the angle and torque of the joints and grippers of the multi-joint robot arm under the control of the second control unit 240, so that the charged gun picked up using the robot arm (not shown) is controlled. It is moved to the target location (i.e., the charging terminal location of an electric vehicle or the charging terminal location of a battery charging station) and combined.

FIG. 4 is an exemplary diagram showing a more specific configuration of the battery module portion in FIG. 1.

Referring to FIG. 4, the battery module unit 300 includes a charge/discharge unit 310, a third communication unit 320, a third coupling unit 330, a third control unit 340, and a battery unit 350. do.

The charging/discharging unit 310 charges the electric vehicle or its own battery unit 350 using a charging gun or charging terminal.

The third communication unit 320 communicates with the upper server (i.e., the server that controls the electric vehicle charging robot) (not shown), the transfer module unit 100, and the robot module unit 200 in a wired or wireless manner.

The third communication unit 320 receives charging and discharging commands according to commands from a higher level server (not shown).

The third coupling unit 330 physically couples the transfer module unit 100 and the robot module unit 200. Additionally, the third coupling portion 330 separates the physically coupled transport module portion 100 and the robot module portion 300.

The third control unit 340 controls the charging and discharging unit 310 to discharge the battery unit 350 to charge an electric vehicle or to charge the battery unit 350 at a charging station (not shown). do.

The battery unit 350 connects at least one battery in series (or parallel) according to the charging capacity, and charges the electric vehicle or at a charging station (not shown) under the control of the third control unit 340. Charges its own battery.

FIG. 5 is an example diagram showing the virtual shapes shown in FIG. 1 to aid understanding of the transfer module unit, robot module unit, and battery module unit.

Referring to FIG. 5, (a) in FIG. 5 is an example diagram illustrating a situation in which the battery module unit 300 connected to the transfer module unit 100 is charged at a charging station, and (b) in FIG. 5 is a transfer module unit 100. It is an example diagram illustrating a situation in which the robot module unit 200 connected to the unit 100 is transferred, and Figure 5 (c) shows the battery module unit 300 and the robot module unit connected to each transfer module unit 100 ( 200) is an example diagram illustrating the situation of combining and transporting, and Figure 5 (d) shows the robot arm of the robot module unit 200 picking up the charging gun of the battery module unit 300 and connecting it to the charging terminal of the electric vehicle. This is an example diagram illustrating the situation, and Figure 5(e) is an example diagram illustrating a situation in which the battery module unit 300 for charging an electric vehicle is separated and left behind, and then the robot module unit 200 is transported to another point.

Meanwhile, in the present embodiment, for convenience of explanation, the transfer module unit 100, the robot module unit 200, and the battery module unit 300 are described as having separate control units 140, 240, and 340, respectively. , In practice, any one control unit (e.g., a control unit of the robot module unit) among the plurality of control units 140, 240, and 340 may integratedly control the functions of each module unit 100, 200, and 300, or any One control unit (e.g., the control unit of the robot module unit) may function as the main control unit to integratedly control other control units.

In addition, in this embodiment, only the method of charging by using the charging robot as a target point by driving autonomously has been described, but the communication units 120, 220, and 320 can also receive a remote control signal for remote control. Accordingly, the user may remotely control each charging robot by transmitting a remote control signal through a higher level server (not shown). Additionally, the communication units 120, 220, and 320 may determine each other's current status (e.g., current location, whether the battery is charged or discharged, remaining battery capacity, etc.).

Figure 6 is a flowchart for explaining a charging method using an electric vehicle charging robot according to an embodiment of the present invention.

Referring to FIG. 6, a user (or driver) who has parked and gotten off an electric vehicle (EV) in a parking lot requests EV battery charging using an app on a mobile terminal (e.g., an app that requests electric vehicle charging) (S101 ).

At this time, the driver sets and transmits the basic information of the vehicle (e.g. vehicle model, license plate number, etc.), parking location, charging amount, and charging capacity.

Accordingly, the charging robot system (or the upper server that controls the charging robot) stores map information inside the parking lot, and moves the charging robot based on the parking location information of the vehicle received in step S101 (S102).

At this time, the charging robot detects obstacles in the direction of movement based on information detected through the first sensor unit 110 while moving to the parking position, and moves the charging robot to the target point through avoidance driving when an obstacle is found.

At this time, after the charging robot arrives at the electric vehicle that has requested battery charging, it checks the surrounding illumination level using an illumination sensor (not shown) and prepares for situations where lights are needed depending on the external/internal parking lot. If the area around the vehicle is dark, turn on the lights to scan the exterior of the vehicle.

Then, the exterior of the vehicle is scanned to find the battery charging port of the electric vehicle using a camera (not shown) mounted on the robot arm (S103).

Additionally, the second control unit 240 detects the location of the battery charging port by analyzing the image obtained by scanning the exterior of the electric vehicle as described above (S104).

For example, even for the same electric vehicle, the position of the charging port varies depending on the front/rear parking method, so accurate detection of the position of the charging port is necessary through external scan images (i.e., images obtained by scanning the exterior of the electric vehicle). At this time, the charging robot can learn the general shape of the electric vehicle charging port and detect the exact location of the vehicle charging port through a charging port morphology analysis algorithm from the measured image.

When the charging port location of the electric vehicle is detected as described above, the second control unit 240 moves the charging gun to the detected charging port (S105).

For example, since the charging gun exists in a fixed position on the robot arm, it can be easily moved to the charging gun position through the initial robot arm teaching process. Then, after moving the robot arm to the charging gun, the charging gun is taken out from the holder (i.e. charging gun holder) using the gripper (or tongs) mounted on the robot arm and the charging gun is moved to the charging port location of the detected electric vehicle.

After moving the charging gun to the charging port position of the electric vehicle as described above, the second control unit 240 inserts the charging gun by strongly pressing it in the charging port direction (S106).

For example, if you do not accurately measure the distance between the charging gun and the charging port of the vehicle (electric vehicle), the robot arm may insert the charging gun more forcefully than necessary and the charging port may be damaged. Therefore, accurately measure the distance between the charging gun and the charging port. Prevents collisions with the charging port and moves the charging gun toward the charging port.

More specifically, when the distance between the charging gun and the charging port falls within the specified α value while moving, the second control unit 240 temporarily stops the movement of the charging gun and then additionally sets the torque sensor value mounted on the gripper (or tongs). Monitors and stops the charging gun movement even if it falls below the specified β value or increases above the specified γ value. In other words, if the docking position between the charging gun and the charging port is determined to be inconsistent, the robot arm movement is stopped (see FIG. 7).

For reference, to measure the above distance, a camera that can extract the depth of the image, such as an IR (infrared) camera, can be used, but considering cost, it is possible to extract the distance between the charging gun and the charging port by combining a general camera and an ultrasonic sensor. It may be possible.

When the charging gun is completely inserted (i.e., fastened) into the charging port as described above, the second control unit 240 starts charging the battery of the electric vehicle (S107).

FIG. 7 is a flowchart to explain in more detail the process (S106) of determining insertion or fastening of the charging gun in FIG. 6.

Referring to FIG. 7, the second control unit 240 starts moving the charging gun in the vertical direction (i.e., toward the charging port of the electric vehicle) (S201), and the second sensor unit 210 (e.g., ultrasonic sensor) Measure the distance to the charging port through (S202).

At this time, if the measured distance (i.e., the distance from the charging gun to the charging port) is more than a predetermined value (α) (S203), the second control unit 240 determines that it has moved beyond the charging port and inserts the charging gun. Stop (S209).

In addition, the second control unit 240 measures the torque applied to the gripper (or tongs) through the second sensor unit 210 (eg, torque sensor) (S204).

At this time, if the charging gun accurately enters (or moves) toward the charging port, the torque of the gripper (or tongs) must satisfy a predetermined range (i.e., β ≤ torque ≤ γ). However, if the torque of the gripper (or tongs) does not satisfy a predetermined range (i.e., torque <β or torque>γ), it may be determined that the charging gun has not entered (or moved) accurately in the direction of the charging port. there is.

Therefore, when the torque of the gripper (or tongs) does not satisfy the predetermined range (i.e., torque <β or torque>γ) (S205), the second control unit 240 stops insertion of the charging gun (S209) ).

However, the measured distance (i.e., the distance from the charging gun to the charging port) is less than a predetermined value (α) (S203), and the torque of the gripper (or tongs) is within a predetermined range (i.e., β ≤ If torque ≤ γ) is satisfied (S208), the second control unit 240 determines that the charging gun has been correctly inserted into the charging port and fastening has been completed (S210).

Additionally, the second control unit 240 may receive a fastening completion signal from the electric vehicle charging port and determine that fastening is complete.

Figure 8 is a flowchart for explaining a method of controlling an electric vehicle charging robot according to an embodiment of the present invention.

For convenience, the following embodiment will be described assuming that the transfer module unit 100 and the battery module unit 300 are combined with the robot module unit 200. Additionally, the description will be made assuming that the second control unit 240 functions as a main control unit (hereinafter simply referred to as a control unit). However, in a charging robot system (or a system that controls a charging robot), a higher level server (not shown) may take over the role of the second control unit 240.

Referring to FIG. 8, the control unit 240 checks the remaining battery capacity (remaining battery capacity) of the robot module unit 200 and the battery module unit 300 (S301).

First, when the remaining battery capacity of the robot module unit 200 is low (example in S302), the control unit 240 returns the robot module unit 200 to the charging station (not shown) (S303).

And when the robot module unit 200 returns to the charging station (not shown) (example in S304), the control unit 240 starts charging the robot module unit 200 (S305).

However, although not shown in the drawing, the robot module unit 200 does not return to the charging station (not shown) for charging, but charges using the power of the battery module unit 300 (charges a battery to be used as an operating power source). )You may.

Meanwhile, if the remaining battery capacity of the robot module unit 200 is not low (No in S302), it is checked whether a release request signal (i.e., charging release request signal) of the vehicle in the charging state (i.e., an electric vehicle being charged) is received ( S306).

Accordingly, when a release request signal (i.e., charging release request signal) of a vehicle in a charging state (i.e., an electric vehicle being charged) is received (example in S306), the control unit 240 sends a release request signal to the robot module unit 200. Move in the direction of the received electric vehicle (S307).

When the robot module unit 200 arrives at the location where the vehicle that has requested release (i.e., the electric vehicle that has requested release from charging) is located (example in S308), the control unit 240 controls the robot arm to connect the charging connector (e.g., charging gun). ) is released from the release request vehicle (i.e., the electric vehicle that requested release from charging) (S309).

Then, the battery module (i.e., basic battery module) that has been released from charge (i.e., the charging gun has been removed) is returned to the charging station (not shown) (S310), and the battery module (i.e., basic battery module) is charged ( S311).

Meanwhile, when a low-charge signal (i.e., additional charging request signal) of a vehicle in a state of charge (i.e., an electric vehicle being charged) is received (example of S312), the control unit 240 selects an additional battery module 300 according to the insufficient charging capacity. Then, the robot module unit 200 and the additional battery module unit 300 are moved in the direction of the electric vehicle that has received the insufficient charge signal (i.e., additional charging request signal) (S314).

Accordingly, when the robot module unit 200 arrives at the location of the electric vehicle that has received the insufficient charge signal (i.e., additional charging request signal) (example in S315), the control unit 240 controls the robot arm to perform basic The battery module (i.e., the battery module that was charging the electric vehicle) is released and the additional battery module (i.e., the battery module that was moved for additional charging of the electric vehicle) is replaced (S316).

Then, the battery module (i.e., basic battery module) that has been released from charge (i.e., the charging gun has been removed) is returned to the charging station (not shown) (S317), and the battery module (i.e., basic battery module) is charged ( S318).

Meanwhile, when a charging request signal (i.e., a charging request signal) is received from a charging request vehicle (i.e., an electric vehicle requiring charging) that is not in a charging state (example of S319), the control unit 240 determines the charging request capacity (i.e., a large or small vehicle). The basic battery module unit 300 is selected (S320), and the robot module unit 200 and the basic battery module unit 300 are connected to the charging request signal (S320). In other words, it moves in the direction of the electric vehicle that has received the charging request signal (S321).

Accordingly, when the robot module unit 200 arrives at the location where the electric vehicle that has received the charging request signal (i.e., the charging request signal) is located (example in S322), the control unit 240 controls the robot arm to recharge the basic battery. Connect the charging gun (or charging connector) of the module (i.e., the battery module that was charging the electric vehicle) to the electric vehicle (S323).

As described above, the armature charging robot (or charging robot system) according to the present embodiment provides the battery module unit 300 according to the request (e.g., request through a smartphone app) of an electric vehicle parked in a parking lot where a fixed charger is not secured. The robot module unit 200 included is moved to a charging request vehicle (i.e., an electric vehicle requiring charging) to charge the electric vehicle.

At this time, if there is more than one vehicle requiring charging (i.e., an electric vehicle requiring charging) at the same time, the charging robot (i.e., robot module unit) supplies the first battery to the first vehicle requiring charging (i.e., an electric vehicle requiring charging). After maintaining the charge by leaving the module unit 300, it moves with the additional battery module unit 300 to the second charging vehicle (i.e., an electric vehicle requiring charging) to perform charging. Therefore, even if the number of vehicles requiring charging (i.e., electric vehicles requiring charging) increases, it is possible to respond as many times as the number of battery module units 300.

And, when a request for disassembly of charging occurs in a vehicle whose charging has been completed, the robot module unit moves and removes the charging gun (i.e. charging connector) from the electric vehicle and returns the battery module unit 300 to the charging station (not shown) to charge it. If the battery capacity of the battery module unit 300 being charged is insufficient, charging of the electric vehicle can be continued by replacing it with another battery module unit (or an additional battery module unit) (or connecting it in series or parallel).

Accordingly, this embodiment allows charging of an electric vehicle without being affected by an increase in the volume and weight of the charging device (e.g., charging gun and cable, etc.), and allows charging of the electric vehicle even if it is not parked in a parking lot exclusively for electric vehicle charging. It enables unmanned charging to be performed automatically regardless of time even if the driver is not waiting in the vehicle. Unlike wireless charging, there is no need to attach a separate additional device for robot charging to the vehicle, so the user does not need to attach it to the vehicle. It has the effect of improving convenience and improving fuel efficiency.

The present invention has been described above with reference to the embodiments shown in the drawings, but these are merely illustrative, and various modifications and other equivalent embodiments can be made by those skilled in the art. You will understand the point. Therefore, the scope of technical protection of the present invention should be determined by the scope of the patent claims below.

100: transfer module unit 110: first sensor unit
120: first communication unit 130: first coupling unit
140: first control unit 150: transfer driving unit
200: Robot module unit 210: Second sensor unit
220: second communication unit 230: second coupling unit
240: second control unit 250: robot arm driving unit
300: Battery module part 310: Charging part
320: third communication unit 330: third coupling unit
340: third control unit 350: battery unit

Claims (14)

A battery module for charging the battery of an electric vehicle, a battery module unit coupled with a charging gun;
A robot module unit including a tongs and an articulated robot arm for picking up the charging gun of the battery module unit and coupling it to an electric vehicle charging terminal or releasing the charging gun coupled to the electric vehicle; and
Includes a transfer module unit, which is a module that is coupled to the battery module unit and the robot module unit and moves them to their respective target points,
The robot module part,
a second sensor unit including at least one sensor for stably coupling the charging gun to the target position;
a second communication unit that communicates with at least one of the upper server, the transfer module unit, and the battery module unit through a wired or wireless method;
a second coupling portion that physically couples or separates the transfer module portion and the battery module portion;
In order to move the robot arm holding the charging gun to the target position, the second sensor unit, the second communication unit, and the second coupling unit are controlled, and the angle and torque of the joints and tongs of the robot arm are controlled through the robot arm driving unit. a second control unit; and
An electric vehicle charging robot comprising a robot arm driving unit that moves the charging gun to the target position by controlling the angle and torque of the joints and tongs of the multi-joint robot arm under the control of the second control unit.
The method of claim 1, wherein the target point is:
An electric vehicle charging robot, characterized in that it is a point where an electric car to be charged is parked or a point where a battery charging station is located.
The method of claim 1, wherein the transfer module unit,
A first sensor unit including at least one sensor for setting a route to a target point and driving to avoid obstacles on the route;
a first communication unit that communicates in a wired or wireless manner with the upper server that controls the electric vehicle charging robot, the robot module unit, and the battery module unit;
a first coupling portion that physically couples or separates the robot module portion and the battery module portion;
A first control unit that controls the first sensor unit, the first communication unit, and the first coupling unit, and controls the steering and speed of the transfer drive unit to move the electric vehicle charging robot to the target point; and
An electric vehicle charging robot comprising a transport drive unit that controls the steering and speed of a motor to which the wheels are connected according to the control of the first control unit.
delete The method of claim 1, wherein the target location is:
An electric vehicle charging robot comprising a charging terminal location of an electric vehicle or a charging terminal location of a battery charging station.
A battery module for charging the battery of an electric vehicle, a battery module unit coupled with a charging gun;
A robot module unit including a tongs and an articulated robot arm for picking up the charging gun of the battery module unit and coupling it to an electric vehicle charging terminal or releasing the charging gun coupled to the electric vehicle; and
It includes a transfer module unit, which is a module that is coupled to the battery module unit and the robot module unit and moves them to their respective target points,
The battery module part,
A charging/discharging unit that charges an electric vehicle or charges a battery unit;
A third communication unit that communicates with at least one of the upper server, the transfer module unit, and the robot module unit through a wired or wireless method;
a third coupling part that physically couples or separates the transport module unit and the robot module unit;
a third control unit that controls the charging/discharging unit to discharge the battery unit to charge an electric vehicle or to charge the battery unit at a charging station; and
At least one battery may be connected in series or parallel depending on the charging capacity, and a battery unit that discharges the charged power to charge the electric vehicle or performs charging itself at the charging station under the control of the third control unit; An electric vehicle charging robot comprising:
A step of receiving a request from the electric vehicle charging robot or the control unit of the electric vehicle charging robot system to charge the electric vehicle;
The control unit moving the electric vehicle charging robot based on parking location information of the electric vehicle for which charging has been requested;
The control unit scanning the exterior of the electric vehicle through the sensor unit of the robot module unit to find the battery charging port;
The control unit detects the location of the battery charging port by analyzing the image obtained by scanning the exterior of the electric vehicle;
When the charging port location of the electric vehicle is detected, the control unit uses a robot arm of the robot module unit to pick up the charging gun of the battery module unit and move it to the charging port;
After moving the charging gun to the charging port location of the electric vehicle, the control unit inserts the charging gun by pressing it toward the charging port; and
When the charging gun is completely inserted into the charging port, the control unit starts charging the battery of the electric vehicle.
The method of claim 7, wherein the control unit:
A control method of an electric vehicle charging robot, characterized in that the control unit of the robot module unit functioning as the main control unit of the electric vehicle charging robot, or the upper server of the charging robot system.
The method of claim 7, wherein in the step of receiving a request to charge the electric vehicle,
When requesting recharge,
A control method for an electric vehicle charging robot, comprising at least one of basic vehicle information, parking location, charging amount, and charging capacity information.
The method of claim 7, in order to determine completion of insertion or fastening of the charging gun,
While moving the charging gun toward the charging port of the electric vehicle, the control unit measures the distance to the charging port and the torque applied to the gripper or tongs of the robot arm through the sensor unit;
If the measured distance is more than a predetermined value (α) or the torque of the gripper or tongs does not satisfy a predetermined range (i.e., β≤torque≤γ) (torque<β or torque>γ), A step where the control unit stops inserting the charging gun; and
If the measured distance is less than a predetermined value (α) and the torque of the gripper or tongs satisfies a predetermined range (β≤torque≤γ), the control unit ensures that the charging gun is correctly inserted into the charging port and the fastening is completed. A control method of an electric vehicle charging robot comprising: determining that
A step of the control unit of the electric vehicle charging robot or the electric vehicle charging robot system checking the remaining battery capacity of each robot module unit and the battery module unit;
When the remaining battery capacity of the robot module is low, the control unit returns the robot module to the charging station;
When the robot module unit returns to the charging station, the control unit starts charging the robot module unit;
If the remaining battery capacity of the robot module unit is not insufficient and a charging request signal from a charging request vehicle that is not in a charging state is received, the control unit selects the basic battery module unit according to the charging demand capacity and then selects the basic battery module unit and the basic battery module unit. Moving in the direction of the electric vehicle that has received the charging request signal; and
When the robot module unit arrives at a location where the electric vehicle that has received the charging request signal is located, the control unit controls the robot arm of the robot module unit to connect the charging gun of the basic battery module to the electric vehicle to start charging; A control method for an electric vehicle charging robot, characterized in that.
According to clause 11,
When the remaining battery capacity of the robot module unit is not low, the control unit checks whether a charge release request signal is received from the vehicle in a charged state;
When a charge release request signal is received from the charged state vehicle, the control unit moves the robot module in the direction of the electric vehicle that received the charge release request signal;
When the robot module unit arrives at a location where the electric vehicle for which charging release has been requested is located, the control unit controls the robot arm to release the charging connector or charging gun from the electric vehicle for which charging release has been requested; and
The control method of an electric vehicle charging robot further comprising the step of allowing the control unit to return the basic battery module from which the charging gun is released to the charging station to charge the basic battery module.
According to clause 11,
The control unit checking whether a low-charge signal is received from the vehicle in a state of charge;
The control unit selects an additional battery module according to the insufficient charge capacity, and moves the robot module unit and the additional battery module unit in the direction of the electric vehicle that has received the insufficient charge signal;
When the robot module unit arrives at a location where the electric vehicle that has received the low-charge signal is located, the control unit controls the robot arm to release the charging gun of the basic battery module from the electric vehicle and replace it with an additional battery module; and
A method of controlling an electric vehicle charging robot, further comprising: returning the basic battery module from which the charging gun is separated to a charging station to charge the basic battery module.
According to clause 11,
The robot module part is combined with the transfer module part and the battery module part,
The control unit is a control unit of the robot module unit that functions as the main control unit of the electric vehicle charging robot, or a higher level server of the charging robot system.

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