KR102656274B1 - Intelligent Autonomous Charging System - Google Patents

Abstract

The disclosed autonomous charging system includes a plurality of parking surfaces having different parking surface identification information; And a detection facility for generating charging target vehicle information including the parking surface identification information of the charging parking surface where the charging target vehicle requesting charging is parked among the plurality of parking surfaces and an image of the charging target vehicle; a parking lot equipped with; energy storage unit; and a charging unit that transmits power from the energy storage unit to the outside. A driving unit; and a docking unit; and an information collection unit that collects control information; And autonomous docking that performs autonomous driving by controlling the driving unit based on the control information, and controls the docking unit to connect the charging unit to a charging socket provided in the charging target vehicle, or the charging unit connected to the charging socket. A driving docking control unit that performs autonomous undocking to separate the charging unit; installed in the parking lot, towing or loading the charging device, docking operation including the autonomous driving and the autonomous docking, and the autonomous driving and the autonomy. A docking robot that performs undocking operations, including undocking; And based on the charging target vehicle information, a driving docking control unit that generates driving information including the location of the charging parking surface and docking information including the location of the charging socket, and generates control information including these; and an information provider that remotely provides the control information to the information collection unit, and a control server that controls charging and discharging of the charging target vehicle using the docking robot.

Description

Autonomous Charging System {Intelligent Autonomous Charging System}

The present invention (Disclosure) relates to an autonomous charging system, and specifically, destination information for autonomous driving and autonomous docking of the docking robot, including the location of the charging target vehicle and charging socket, is centrally generated from the control server to enable the docking robot. By providing this, the payload can be expanded compared to the docking robot's own device, maximizing the capacity of the rechargeable battery, and autonomous charging that can minimize the information processing of the docking robot itself to perform autonomous driving and autonomous docking. It's about the system.

Here, background information related to the present invention is provided, and this does not necessarily mean prior art (This section provides background information related to the present disclosure which is not necessarily prior art).

Electric vehicles, which run using electric energy and electric motors, are not only environmentally friendly in the form of energy they use, but also easy to integrate with autonomous driving technology, so electric vehicles have recently been rapidly expanding in sales.

Major market analysis agencies at home and abroad predict that as sales volume increases, manufacturers' aggressive technology development will improve battery performance and reduce manufacturing costs, a key component of electric vehicles, and demand will continue to increase.

One of the issues pointed out as the biggest variable in these market forecasts is the expansion of energy provision facilities, that is, the charging system.

Among the differences between internal combustion engine vehicles and electric vehicles, the difference in fuel used is not limited to physical shape.

Liquid fossil fuels such as gasoline, diesel, or liquefied petroleum gas (LPG) used as fuel for internal combustion engine vehicles are not only easy to transport and store, but the time required to supply fuel to a vehicle is shorter than that of an electric vehicle.

Charging times for electric vehicles are shortening due to rapid technological advancements, but compared to the refueling time for internal combustion engine vehicles, it is much longer, making it difficult to secure a dedicated space for charging electric vehicles.

Accordingly, a charging parking surface where electric vehicles can be charged is being installed and operated on a separate parking surface among the currently operating parking facilities.

However, in this case, there is a problem that the driver may feel inconvenienced because the driver must directly operate the charging equipment for charging.

In addition, because there is no related safety training when using high-pressure charging facilities, the burden is great on the mentally and physically weak, such as the elderly or women.

To solve this problem, an autonomous charging system using robots has recently been attracting attention in relation to electric vehicle charging technology.

In a parking lot space, which is a relatively narrow space compared to a road and does not have many high-speed moving vehicles, various devices and software capable of autonomous driving and autonomous docking are installed, and the vehicle is driven autonomously as a charging target vehicle that needs to be charged, and a charger is placed in the charging socket. By autonomously docking, the burden on drivers and accidents that may occur can be reduced.

Additionally, drivers can charge their cars just by normal parking, so there is no need to spend additional waiting time.

However, the development of a docking robot that can perform autonomous driving and autonomous docking safely without accident even in a parking lot has technical difficulties that make it difficult to expect in a short period of time.

In addition, when realizing this ideal docking robot with current related technology, the physical volume or size of the device for autonomous charging and autonomous docking and high-performance computer facilities for software execution are required.

These devices and facilities are larger and more complex than the devices or software for charging electric vehicles, which is the original function of the docking robot.

Therefore, there is a problem of reducing the actual payload of the docking robot for charging electric vehicles.

1. Korean Patent No. 10-1410272

The purpose of the present invention (Disclosure) is to provide an autonomous charging system that can solve the problem of reducing the actual payload that a docking robot has for charging an electric vehicle.

Here, a general summary of the present invention is provided, and this should not be construed as limiting the scope of the present invention (This section provides a general summary of the disclosure and is not a comprehensive disclosure of its full scope or all of its features).

In order to solve the above problem, an autonomous charging system according to one aspect among several aspects describing the present invention includes a plurality of parking surfaces having different parking surface identification information; And a detection facility for generating charging target vehicle information including the parking surface identification information of the charging parking surface where the charging target vehicle requesting charging is parked among the plurality of parking surfaces and an image of the charging target vehicle; a parking lot equipped with; energy storage unit; and a charging unit that transmits power from the energy storage unit to the outside. A running unit; and a docking unit; and an information collection unit that collects control information; And autonomous docking that performs autonomous driving by controlling the driving unit based on the control information, and controls the docking unit to connect the charging unit to a charging socket provided in the charging target vehicle, or the charging unit connected to the charging socket. A driving docking control unit that performs autonomous undocking to separate the charging unit; installed in the parking lot, towing or loading the charging device, docking operation including the autonomous driving and the autonomous docking, and the autonomous driving and the autonomy. A docking robot that performs undocking operations, including undocking; And based on the charging target vehicle information, a driving docking control unit that generates driving information including the location of the charging parking surface and docking information including the location of the charging socket, and generates control information including these; and an information provider that remotely provides the control information to the information collection unit, and a control server that controls charging and discharging of the charging target vehicle using the docking robot.

In the autonomous charging system according to one aspect of the present invention, the driving docking control unit determines the vehicle type of the charging target vehicle and the parking line on the charging parking surface according to an object shape recognition algorithm based on the charging target vehicle information. a shape analyzer that identifies; and a vehicle type storage device that stores the location of the charging socket for each vehicle type; And it may include a socket position analyzer that generates the docking information by calculating the position of the charging socket based on the parking line of the charging parking surface.

In the autonomous charging system according to one aspect of the present invention, the charging target vehicle is predetermined as a material of infrared-sensitive paint that responds to infra red on the surface of the charging target vehicle adjacent to the charging socket. A socket target formed by being painted in a target shape, wherein the detection equipment includes an infrared irradiator that irradiates infrared rays to the charging target vehicle, and the driving docking control unit detects an object based on the charging target vehicle information. a shape analyzer that identifies the parking line of the charging parking surface according to a shape recognition algorithm; and a target recognizer that recognizes the socket target in response to infrared rays; And a socket position analyzer that generates docking information including the position of the charging socket by calculating the relative position of the socket target based on the parking line of the charging parking surface.

In the autonomous charging system according to one aspect of the present invention, the driving docking control unit includes a map storage that stores location information of the plurality of parking surfaces; A driving analyzer that calculates a driving path to the charging parking surface based on the location information of the plurality of parking surfaces and the location of the charging parking surface included in the control information; A reference sensor that detects the parking line on the charging parking surface; A docking analyzer that calculates a docking path of the charging unit to the charging socket based on the parking line of the charging parking surface and the location of the charging socket included in the control information; A driving positioning unit that measures the position of the docking robot itself on the driving path; a docking positioning unit that measures the position of the charging unit on the docking path; A driving controller that controls the operation of the driving unit to drive autonomously based on the docking robot's own position on the driving path; and a docking controller that docks the charging unit to the charging socket by controlling the operation of the docking unit based on the docking path.

In the autonomous charging system according to one aspect of the present invention, the driving docking control unit includes a map storage that stores location information of the plurality of parking surfaces; And a driving analyzer that calculates a driving path to the charging parking surface based on the position information of the charging parking surface and the position information of the plurality of parking surfaces and generates the driving information including this; And a docking analyzer that calculates the docking path of the charging unit to the charging socket based on the parking line on the charging parking surface and the location of the charging socket and generates the docking information further including this. The driving docking control unit includes , a driving positioning unit that measures the position of the docking robot itself on the driving path; and a docking positioning unit that recognizes a parking line on the charging parking surface and measures the position of the charging unit on the docking path; and It will include a driving controller that controls the operation of the driving part based on the docking robot's own location to drive autonomously; and a docking controller that controls the operation of the docking part based on the docking path to dock the charging unit with the charging socket. You can.

In the autonomous charging system according to an aspect of the present invention, the driving docking control unit includes a map storage for storing location information of the plurality of parking surfaces; and location information of the charging parking surface and the plurality of parking surfaces. A driving analyzer that calculates a driving path to the charging parking surface based on the location information and generates driving information including this; And a docking analyzer that calculates the docking path of the charging unit to the charging socket based on the location of the charging socket, generates docking information including this, and docking analyzer; an image projector that projects a guidance image guiding the charging parking surface onto the floor of the parking lot; and guidance means including a laser irradiator that radiates a guidance laser (Laser) to the charging socket based on the docking path; and a guidance means controller that controls the operation of the guidance means, wherein the information collection unit includes: an image detector that detects the guidance image; And a laser detector located in the docking unit and detecting the guidance laser; It includes, the operation control unit, a driving controller for autonomous driving by controlling the operation of the driving unit according to the guidance image detected by the image detector; And It may include a docking controller that docks the charging unit with the charging socket by controlling the operation of the docking unit to follow the guidance laser detected by the laser detector.

In an autonomous charging system according to an aspect of the present invention, at least one of the charging target vehicle or the driver's portable terminal of the charging target vehicle sends a charging request signal and a vehicle number of the charging target vehicle. It includes a generating unit, and the sensing equipment includes: a parking identifier that generates parked vehicle information including images of the license plates of parked vehicles parked on the plurality of parking surfaces; And a vehicle identifier that generates the charging target vehicle information according to a docking start signal; wherein the control server identifies the parking surface where the charging target vehicle is parked based on the charging request signal and the parked vehicle information. Parking control unit classifies charging parking surfaces; And a charging control unit that generates the docking start signal when parking of the charging target vehicle and classification of the charging parking surface are completed, wherein the driving docking control unit operates the autonomous docking according to the docking start signal. can be performed.

In the autonomous charging system according to one aspect of the present invention, the charging device has a charging operation unit that initiates a charging operation to transmit power from the energy storage unit to the charging target vehicle according to a charging start signal, The charging control unit may generate the charging start signal when the docking operation is completed.

According to the present invention, destination information for autonomous driving and autonomous docking of the docking robot, including the location of the charging target vehicle and charging socket, is centrally generated from the control server and provided to the docking robot, thereby increasing the payload compared to the docking robot's own device. can be expanded, the capacity of the rechargeable battery can be maximized, and the information processing of the docking robot itself, which performs autonomous driving and autonomous docking, can be minimized.

1 is a diagram showing a first embodiment of an autonomous charging system according to the present invention.
FIG. 2 is a diagram illustrating the operation of the autonomous charging system of FIG. 1.
Figure 3 is a diagram explaining the operation of the second embodiment of the autonomous charging system according to the present invention.
Figure 4 is a diagram illustrating the operation of the control analysis unit in the autonomous charging system of Figure 3.
5 is a diagram illustrating the operation of a third embodiment of the autonomous charging system according to the present invention.
Figure 6 is a diagram illustrating the operation of the control analysis unit in the autonomous charging system of Figure 5.
Figure 7 is a diagram explaining the operation of the fourth embodiment of the autonomous charging system according to the present invention.
8 is a diagram illustrating the operation of the fifth embodiment of the autonomous charging system according to the present invention.
Figure 9 is a diagram explaining the operation of the fifth embodiment of the autonomous charging system according to the present invention.
Figures 10 and 11 are diagrams illustrating the operation of the control analysis unit in the autonomous charging system of Figure 9.
Figure 12 is a diagram explaining the operation of the sixth embodiment of the autonomous charging system according to the present invention.

Hereinafter, an embodiment implementing the autonomous charging system according to the present invention will be described in detail with reference to the drawings.

However, the essential technical idea of the present invention cannot be said to be limited to the embodiments described below, and based on the essential technical idea of the present invention, it cannot be said that the possible embodiments are limited by the embodiments described below. It is disclosed that the embodiment described in covers the scope that can be easily proposed by way of replacement or change.

In addition, the terms used below are selected for convenience of explanation, so in understanding the essential technical idea of the present invention, they are not limited to dictionary meanings and are appropriately interpreted as meanings that correspond to the technical idea of the present invention. It should be.

FIG. 1 is a diagram showing a first embodiment of the autonomous charging system according to the present invention, and FIG. 2 is a diagram explaining the operation of the autonomous charging system of FIG. 1.

Referring to Figures 1 and 2, the autonomous charging system according to this embodiment includes a parking lot 100, a charging device 400, a docking robot 200, and a control server 300.

The plurality of parking surfaces 110 have different parking surface identification information, and among the user vehicles using the parking lot 100, a charging target vehicle (1) requiring electric charging can be parked, and the charging target vehicle (110) has different parking surface identification information. 1) The parking surface where the car is parked can be classified into a charging parking surface (110a).

The detection facility 120 provides charging target vehicle information including parking surface identification information and an image of the charging target vehicle on the charging parking surface (110a) where the charging target vehicle (1) requesting charging is parked among the plurality of parking surfaces (110). Generate (120a).

At this time, the detection facility 120 may preferably include a vehicle detector 121 and a parking surface camera 122.

The parking surface camera 122 is preferably mounted on the camera moving rail 122a and adopts a gimbal structure. Accordingly, one parking surface camera 122 can acquire images of a subject parked on a plurality of parking surfaces, that is, the charging target vehicle (1).

The charging device 400 is a mobile energy storage device that supplies power to the charging vehicle 1, and includes an energy storage unit 410 and a charging unit 420.

The energy storage unit 410 may itself be a battery capable of charging and discharging.

The charging unit 420 transmits the power stored in the energy storage unit 410 to the outside.

The docking robot 200 is equipped with a traveling unit 220, a docking unit 230, an information collection unit 210, and a traveling docking control unit 240, and is placed in the parking lot 100 to tow or tow the charging device 400. It loads and performs docking operations, including autonomous driving and autonomous docking, and undocking operations, including autonomous driving and autonomous undocking.

The traveling unit 220 is composed of driving wheels and power means to enable the docking robot 200 to move its position.

The docking unit 230 has a robot arm structure, thereby docking the above-described charging unit 420 to the charging socket 1a.

The docking unit 230 preferably has a robot arm structure with a degree of freedom of 2 or more.

The information collection unit 210 collects control information provided by the information provision unit 320 of the control server 300, which will be described later.

The driving docking control unit performs autonomous driving by controlling the driving unit 220 based on the control information 310a based on the control information 310a collected by the information collection unit, and controls the docking unit 230. Thus, autonomous docking is performed by fastening the charging unit 420 to the charging socket 1a provided in the charging target vehicle 1, or autonomous undocking is performed by disconnecting the charging unit 420 fastened to the charging socket 1a.

The control server 300 includes a driving docking control unit 310 and an information providing unit 320, and controls charging and discharging of the charging target vehicle 1 using the docking robot 200.

The driving docking control unit 310 generates driving information including the location of the charging parking surface 110a and docking information including the location of the charging socket 1a, based on the charging target vehicle information 120a. , and generates control information 310a including these.

The information provider 320 remotely provides control information 310a to the information collection unit 210 mounted on the docking robot 200.

Accordingly, the autonomous charging system according to this embodiment includes a docking operation to dock the charging unit 420 and the charging socket 1a for charging and an undocking operation to separate the charging unit 420 and the charging socket 1a after completion of charging. By separating the docking robot 200, which performs, and the control server 300, which detects the charging socket 1a and calculates information about its location, autonomous movement and autonomous docking or undocking of the docking robot are performed. Hardware and software devices can be lightweight.

In addition, while the docking robot 200 is driving autonomously, the detection facility 120 and the driving docking control unit 9210 can calculate the exact location of the charging socket 1a, thereby ensuring safe autonomy of the docking robot 200. Sufficient time can be secured for driving.

In the autonomous charging system according to this embodiment, there are no particular restrictions on the shapes of the docking robot 200 and the control server 300, and the shapes shown in the drawings are merely arbitrarily shaped for convenience of explanation.

Figure 3 is a diagram explaining the operation of the second embodiment of the autonomous charging system according to the present invention, and Figure 4 is a diagram explaining the operation of the driving docking analysis unit in the autonomous charging system of Figure 3.

Referring to Figures 3 and 4, in the autonomous charging system according to this embodiment, the driving docking control unit 310 further includes a shape analyzer 311, a vehicle type storage device 312, and a socket position analyzer 313. .

The shape analyzer 311 identifies the vehicle model of the charging target vehicle 1 and the parking line 111 of the charging parking surface 110a according to an object shape recognition algorithm based on the charging target vehicle information 120a.

The vehicle type storage device 312 stores the location of the charging socket 1a for each vehicle type.

The socket position analyzer calculates the position of the charging socket (1a) based on the parking line of the charging parking surface (110a) and generates docking information.

Accordingly, each of the plurality of parking surfaces 110 may have a unique reference coordinate.

That is, each of the plurality of parking surfaces 110 has a parking line that divides the parking space, and when the charging target vehicle 1 is parked in the corresponding parking space and classified as a charging parking surface 110a, the charging parking surface 110a is classified as a charging parking surface 110a. The parking line dividing (110a) provides a relative reference point or baseline for the location of the charging socket (1a) of the vehicle (1) to be charged.

Therefore, since the autonomous charging system according to this embodiment calculates the position of the charging socket (1a) based on the parking line that is formed close to the charging target vehicle (1) and always has the same shape, within the parking lot (100) Regardless of the position of the charging parking surface 110a, the position of the charging socket 1a can be calculated within the same error range.

In addition, the docking robot can detect the parking line and recognize its relative position with the charging socket (1a) in a situation where it does not directly detect the charging socket (1a), so it easily performs autonomous docking and autonomous undocking operations. can do.

At this time, in the autonomous charging system of this embodiment, the shape analyzer 311 uses the side mirror 1b of the vehicle to be charged to determine whether the vehicle is parked in the front or rear, and determines whether the vehicle is parked in the front or rear, and determines the longitudinal alignment line 1c of the vehicle. The position of the charging socket 1a is calculated using the angle formed by the and parking lines.

In addition, it is desirable to calculate the height of the charging socket 1a from the ground based on the position of the charging socket 1a for each vehicle type stored in the vehicle type storage 312.

Figure 5 is a diagram explaining the operation of the third embodiment of the autonomous charging system according to the present invention, and Figure 6 is a diagram explaining the operation of the driving docking control unit in the autonomous charging system of Figure 5.

Referring to Figures 5 and 6, in the autonomous charging system according to this embodiment, the vehicle to be charged 1 is provided with a socket target 1d, and the detection device 120 includes an infrared irradiator.

Additionally, the driving docking control unit 310 includes a shape analyzer 311, a target detector 314, and a socket position analyzer 313.

The socket target 1d is formed by painting the surface of the charging vehicle 1 adjacent to the charging socket 1a in a predetermined target shape using an infrared-sensitive paint that is sensitive to infrared. Accordingly, when infrared rays are irradiated from the outside, the target shape emits light, so that the position of the charging socket 1a can be detected.

The infrared irradiator can identify the target shape by irradiating infrared rays to the charging target vehicle (1).

The target recognition device 314 recognizes a socket target in the shape of a target that emits light in response to infrared rays.

The shape analyzer 311 identifies the vehicle model of the charging target vehicle 1 and the parking line of the charging parking surface 110a according to an object shape recognition algorithm based on the charging target vehicle information 120a.

The vehicle type storage device 312 stores the location of the charging socket 1a for each vehicle type.

The socket position analyzer calculates the position of the charging socket (1a) based on the parking line of the charging parking surface (110a) and generates docking information.

The autonomous charging system according to this embodiment not only saves time by simplifying the analysis operation in which the driving docking analysis unit 310 calculates the position of the charging socket 1a, but also improves precision.

In other words, when infrared light is irradiated to the vehicle from an infrared irradiator, the socket target (1d) naturally responds to infrared light and reflects it as visible light, so in order to recognize the charging socket (1a), the charging target vehicle (1) is used with a shape recognition algorithm. There is no need to analyze.

Of course, the parking lines on the charging parking surface (110a) must also be analyzed using a shape recognition algorithm, but since the parking lines are the same regardless of the location of the charging parking surface (110a) and the model of the charging target vehicle (1), they are not required for analysis. The required resources are significantly reduced compared to the resources required to analyze the posture of the charging vehicle 1.

At this time, the socket target (1d) is preferably formed in the same target shape regardless of the vehicle model of all charging target vehicles (1), and the target shape is in the vertical and forward directions of the vehicle so that the reference point and the alignment posture of the vehicle can be determined. It has a reference line parallel to the direction.

Figure 7 is a diagram explaining the operation of the fourth embodiment of the autonomous charging system according to the present invention.

Referring to FIG. 7, the driving docking control unit 240 of the autonomous charging system according to this embodiment includes a map storage 241, a driving analyzer 242, a reference detector 243, a docking analyzer 244, and a driving positioning device. It includes a unit 245, a docking positioning unit 246, a travel controller 247, and a docking controller 248.

The map storage 241 stores the location information of a plurality of parking surfaces 110, so that the position of the charging parking surface 110a can be derived using the parking surface identification information generated by the sensing equipment 120.

The driving analyzer 242 calculates a driving path to the charging parking surface 110a based on the location information of the plurality of parking surfaces 110 and the position of the charging parking surface 110a included in the control information 310a.

The reference sensor 243 detects and recognizes the parking line of the charging parking surface (110a).

The docking analyzer 244 calculates the docking path of the charging unit 420 to the charging socket 1a based on the parking line of the charging parking surface 110a and the location of the charging socket 1a included in the control information 310a.

The driving positioning unit 245 measures the position of the docking robot 200 on the driving path.

The docking positioning unit 246 measures the position of the charging unit 420 on the docking path.

The travel controller 247 controls the operation of the travel unit 220 based on the docking robot 200's own position on the travel path to drive autonomously.

The docking controller 248 controls the operation of the docking unit 230 based on the docking path and docks the charging unit 420 to the charging socket 1a.

Accordingly, the autonomous charging system according to this embodiment receives the location of the charging target vehicle 1 and the charging socket 1a from the control server 300, thereby saving the destination detection time for autonomous movement and autonomous docking. there is.

That is, when the autonomous charging system according to this embodiment detects the location of the charging socket (1a) using various detection sensors provided in the docking robot 200, such as LiDAR, the detection occurs due to the detection angle. It can solve the problem of excessive time consumption.

In the autonomous charging system according to this embodiment, all components except the driving docking control unit 240 are the same as the autonomous docking system of FIGS. 1 and 2, so detailed description is omitted.

Figure 8 is a diagram explaining the operation of the fifth embodiment of the autonomous charging system according to the present invention.

In the autonomous driving system according to this embodiment, the driving docking control unit 310 includes a map storage 314, a driving analyzer 315, and a docking analyzer 316.

Additionally, the driving docking control unit 240 includes a driving positioning unit 245, a docking positioning unit 246, a driving controller 247, and a docking controller 248.

The map storage 314 stores location information of a plurality of parking surfaces 110.

The driving analyzer 315 calculates the driving path to the charging parking surface 110a based on the position information of the charging parking surface 110a and the position information of the plurality of parking surfaces 110 and generates driving information including this. do.

The docking analyzer 315 calculates the docking path of the charging unit 420 to the charging socket 1a based on the parking line on the charging parking surface 110a and the position of the charging socket 1a, and generates docking information including this. do.

Additionally, the driving positioning unit 245 measures the position of the docking robot 200 on the driving path.

The docking positioning unit 246 recognizes the parking line of the charging parking surface 110a and measures the position of the charging unit 420 on the docking path.

The travel controller 247 controls the operation of the travel unit 220 based on the location of the docking robot 200 on the travel path to drive autonomously.

The docking controller 248 controls the operation of the docking unit 230 based on the docking path and docks the charging unit 420 to the charging socket.

The autonomous driving system according to this embodiment calculates the driving route and docking route with the destination of the charging target vehicle 1 and the charging socket 1a in the driving docking control unit 310 of the control server 300, and controls them. By including it in the information and providing it to the docking robot 200, the autonomous driving and autonomous docking operations of the docking robot 200 can be simplified.

At this time, the control information 310a can be generated as digital information, and the information providing unit 320 and the information collection unit 210 remotely provide the control information 310a through short-range wireless communication including Bluetooth and Wi-Fi. You can do it or collect it.

Figure 9 is a diagram explaining the operation of the fifth embodiment of the autonomous charging system according to the present invention, and Figures 10 and 11 are diagrams explaining the operation of the driving docking analysis unit in the autonomous charging system of Figure 9.

9 to 10, in the autonomous charging system according to this embodiment, the driving docking control unit 310 includes a map storage 314, a driving analyzer 315, and a docking analyzer 316.

In addition, in the autonomous charging system according to this embodiment, the information providing unit 320 has a guidance means 321 including an image irradiator and a laser irradiator, and a guidance means controller 322.

Additionally, in the autonomous charging system according to this embodiment, the information collection unit 210 includes an image detector and a laser detector, and the driving docking control unit 240 includes a driving controller 247 and a docking controller 248.

In the autonomous charging system according to this embodiment, the map storage 241 stores location information of a plurality of parking surfaces 110, and the driving analyzer 315 stores location information of the charging parking surface 110a and a plurality of parking surfaces. Based on the location information of the surface 110, the driving path to the charging parking surface 110a is calculated and driving information including this is generated. In addition, the docking analyzer 316 calculates the docking path of the charging unit 420 to the charging socket 1a based on the position of the charging socket 1a and generates docking information including this.

In addition, in the autonomous charging system according to this embodiment, the guidance means projects a guidance image 321a that guides the docking robot 200 to the charging parking surface 110a on the floor of the parking lot 100 based on the driving path. It includes a laser irradiator that irradiates a guidance laser (Laser) to the charging socket (1a) based on the image projector and the docking path, and the guidance means controller 322 controls the vector of the guidance image (321a) and the guidance laser. generates and controls the operation of the guidance means 321 accordingly.

Additionally, in the autonomous charging system according to this embodiment, the image detector 221 detects the guided image 321a of the floor of the parking lot 100 generated by the image detector.

In addition, the laser detector 222 is located in the docking unit 230 and detects the guided laser 321e irradiated by the laser irradiator.

Additionally, in the autonomous charging system according to this embodiment, the driving controller 315 controls the operation of the driving unit 220 to follow the guided image 321a detected by the image detector 221 to drive autonomously.

In addition, the docking control unit 316 controls the operation of the docking unit to follow the guidance laser 321e detected by the laser detector 222, so that the charging socket 1a docks the charging unit 420.

At this time, the docking controller 316 automatically detects the charging unit 420 by adopting a laser guide method in which the laser detector 222 provided in the docking unit 230 follows the guidance laser 321e emitted from the laser projector 321d. can be docked in the charging socket (1a).

The autonomous charging system according to this embodiment provides an imaged driving path to the docking robot 200 and a laser-guiding docking path with straightness, thereby performing autonomous driving and autonomous docking of the docking robot 200. Hardware and software can be minimized or lightweight.

In addition, when the guidance image projected by the image projector is generated and irradiated with visible light, people moving within the parking lot 100 or drivers of other vehicles can check it, so it is possible to predict the movement of the docking robot 200 or By preparing in advance, you can have the effect of preventing safety accidents.

Referring to FIG. 10, in the autonomous charging system according to this embodiment, the image projector and the laser irradiator are moved by the guiding rail 323, so that a small number of image projectors and laser irradiators are used to cover a large number of parking surfaces. We can respond.

Also, referring to FIG. 10, in the autonomous charging system according to this embodiment, the guidance image 321a may further include a stop display image 321b.

The stop display image 321f displays the location where the docking robot 200 will stop for charging, and calculates and displays the location where the autonomous docking operation of the docking unit 230 can be most easily performed, thereby enabling autonomous driving. Autonomous docking operation can continue smoothly.

The location where the autonomous docking operation can be easily performed can only be derived by considering the docking path and the driving path simultaneously.

Additionally, the location where the autonomous docking operation can be easily performed varies depending on the parking position and posture of the charging target vehicle 1 and the area and shape of the space between other vehicles parked adjacent to each other.

Therefore, it must be possible to simultaneously consider the docking path and the driving path and form a predetermined stop sign image 321f at a location that varies depending on the situation.

The autonomous driving system according to the present invention can be formed by calculating the docking path and driving path in the driving docking control unit 310 and using this to project a stop display image 321b at the optimal position for docking operation, which changes each time.

Additionally, the guidance means according to this embodiment may further include a path obstacle detection camera aligned in the direction of travel of the docking robot.

The path obstacle detection camera can check obstacles in front of the docking robot's path. At this time, the path situation image acquired by the path obstacle detection camera can be transmitted to the obstacle determination unit provided in the control server and analyzed in real time.

Accordingly, if an obstacle that is judged to impede the progress of the docking robot occurs, an avoidance route that changes the driving path can be provided.

Figure 12 is a diagram explaining the operation of the sixth embodiment of the autonomous charging system according to the present invention.

Referring to FIG. 12, in the autonomous charging system according to this embodiment, at least one of the charging target vehicle 1 or the driver's portable terminal of the charging target vehicle 1 displays the vehicle number and charging request of the charging target vehicle 1. It includes a charging request generator 12 that transmits a signal.

In addition, in the autonomous charging system according to this embodiment, the detection facility 120 responds to a parking identifier and a docking start signal that generate parked vehicle information including images of license plates of parked vehicles parked on a plurality of parking surfaces 110. It includes a vehicle identifier that generates charging target vehicle information 120a.

In addition, in the autonomous charging system according to this embodiment, the control server 300 classifies the parking surface where the charging target vehicle 1 is parked as the charging parking surface 110a based on the charging request signal and parked vehicle information. When the parking of the control unit and the charging target vehicle 1 and the classification of the charging parking surface 110a of the parking control unit are completed, it further includes a charging control unit that generates a docking start signal.

Additionally, in the autonomous charging system according to this embodiment, the driving docking control unit 240 performs a docking operation according to a docking start signal.

The autonomous charging system according to this embodiment identifies the charging target vehicle that sent a charging request signal from the control server 300, detects whether the charging target vehicle 1 has been parked, and then charges the docking robot 200 accordingly. Autonomous docking operation can be commanded.

Accordingly, the docking robot 200 can only be equipped with hardware and software for autonomous driving and autonomous docking or autonomous undocking.

In addition, in the autonomous charging system according to this embodiment, the charging device 400 includes a charging operation unit ( 430), the charging control unit generates a charging start signal when the docking operation is completed.

At this time, the charging unit 420 and the charging socket 1a each have a docking detection unit that detects a state in which docking is completed and mutual power transmission is possible, so that it is possible to check whether the docking operation has been completed.

Accordingly, the autonomous charging system according to this embodiment allows the control server 300 to control everything from docking of the charging unit 420 and the charging socket 1a to power transmission after parking of the charging vehicle 1.

That is, the autonomous charging system according to this embodiment includes a detection facility 120 to check whether the charging target vehicle 1 is parked, a docking robot 200 that performs mechanical fastening for power transmission, that is, docking of the charging unit, and By controlling the operation of each charging device 400 in which electrical energy is stored, it is possible to ensure stable and safe operation of the docking robot 200, and to realize lightweight hardware and software of the docking robot 200, as well as a light, thin, and compact design. By providing one function, the manufacturing cost of the device can be significantly reduced.

In addition, by lowering the entry barrier in the design and manufacturing of the docking robot 200, it is possible to provide an autonomous charging service that can be implemented even in currently operating parking lots.

Claims (8)

A plurality of parking surfaces having different parking surface identification information; And a detection facility for generating charging target vehicle information including the parking surface identification information of the charging parking surface where the charging target vehicle requesting charging is parked among the plurality of parking surfaces and an image of the charging target vehicle; a parking lot equipped with;
energy storage unit; and a charging unit that transmits power from the energy storage unit to the outside.
A driving unit; and a docking unit; and an information collection unit that collects control information; And autonomous docking that performs autonomous driving by controlling the driving unit based on the control information, and controls the docking unit to connect the charging unit to a charging socket provided in the charging target vehicle, or the charging unit connected to the charging socket. A driving docking control unit that performs autonomous undocking to separate the charging unit; installed in the parking lot, towing or loading the charging device, docking operation including the autonomous driving and the autonomous docking, and the autonomous driving and the autonomy. A docking robot that performs undocking operations, including undocking; and
Based on the charging target vehicle information, a driving docking control unit that generates driving information including the location of the charging parking surface and docking information including the location of the charging socket, and generates control information including these; And an information provider that remotely provides the control information to the information collection unit. A control server that controls charging and discharging of the charging target vehicle using the docking robot,
The driving docking control unit,
A shape analyzer that identifies the vehicle type of the charging target vehicle and the parking line of the charging parking surface according to an object shape recognition algorithm based on the charging target vehicle information; and a vehicle type storage device that stores the location of the charging socket for each vehicle type; And a socket position analyzer that generates the docking information by calculating the position of the charging socket based on the parking line on the charging parking surface,
The vehicle subject to charging is
A socket target is formed on the surface of the charging vehicle adjacent to the charging socket by painting it in a predetermined target shape using an infrared-sensitive paint that is sensitive to infrared,
The detection equipment is,
Including an infrared irradiator that irradiates infrared rays to the charging vehicle,
The driving docking control unit
A shape analyzer that identifies the parking line of the charging parking surface according to an object shape recognition algorithm based on the charging target vehicle information; and a target recognizer that recognizes the socket target in response to infrared rays; And a socket position analyzer that generates docking information including the position of the charging socket by calculating the relative position of the socket target based on the parking line of the charging parking surface,
The driving docking control unit,
A map storage device that stores location information of the plurality of parking surfaces;
A driving analyzer that calculates a driving path to the charging parking surface based on the location information of the plurality of parking surfaces and the location of the charging parking surface included in the control information;
A reference sensor that detects the parking line on the charging parking surface;
A docking analyzer that calculates a docking path of the charging unit to the charging socket based on the parking line of the charging parking surface and the location of the charging socket included in the control information;
A driving positioning unit that measures the position of the docking robot itself on the driving path;
a docking positioning unit that measures the position of the charging unit on the docking path;
A driving controller that controls the operation of the driving unit to drive autonomously based on the docking robot's own position on the driving path; and
A docking controller controls the operation of the docking unit based on the docking path to dock the charging unit to the charging socket,
The driving docking control unit,
A map storage device that stores location information of the plurality of parking surfaces; And a driving analyzer that calculates a driving path to the charging parking surface based on the position information of the charging parking surface and the position information of the plurality of parking surfaces and generates the driving information including this; And a docking analyzer that calculates a docking path of the charging unit to the charging socket based on the parking line on the charging parking surface and the location of the charging socket and generates the docking information further including this.
The driving docking control unit,
A driving positioning unit that measures the position of the docking robot itself on the driving path; And a docking positioning unit that recognizes a parking line on the charging parking surface and measures the position of the charging unit on the docking path; And The docking on the driving path A driving controller that controls the operation of the driving unit based on the robot's own position to drive autonomously; and a docking controller that controls the operation of the docking unit based on the docking path to dock the charging unit with the charging socket,
The driving docking control unit,
A map storage device for storing location information of the plurality of parking surfaces; and calculating a driving route to the charging parking surface based on the location information of the charging parking surface and the position information of the plurality of parking surfaces, and driving including this. Driving analyzer that generates information; And a docking analyzer that calculates the docking path of the charging unit to the charging socket based on the location of the charging socket, generates docking information including this, and a docking analyzer;
The information provider said,
An image projector that projects a guidance image guiding the docking robot to the charging parking surface based on the driving path on the floor of the parking lot; And guidance means including a laser irradiator that irradiates a guidance laser (Laser) to the charging socket based on the docking path; and a guidance means controller that controls the operation of the guidance means,
The information collection department said,
an image detector that detects the guided image; And a laser detector located in the docking unit and detecting the guidance laser.
The driving docking control unit,
A driving controller for autonomous driving by controlling the operation of the driving unit according to the guidance image detected by the image detector; And controlling the operation of the docking unit to follow the guidance laser detected by the laser detector to connect the charging unit to the charging socket. It includes a docking controller for docking,
At least one of the charging target vehicle or the driver's portable terminal of the charging target vehicle,
It includes; a charging request generator that transmits the vehicle number of the charging target vehicle and a charging request signal;
The detection equipment is,
a parking identifier that generates parked vehicle information including images of license plates of parked vehicles parked on the plurality of parking surfaces; And a vehicle identifier that generates the charging target vehicle information according to the docking start signal,
The control server is,
A parking control unit that classifies the parking surface where the charging target vehicle is parked as the charging parking surface based on the charging request signal and the parked vehicle information; And a charging control unit that generates the docking start signal when parking of the charging target vehicle and classification of the charging parking surface are completed,
The driving docking control unit,
Performing the docking operation according to the docking start signal,
The charging device is,
A charging operation unit that initiates a charging operation to transmit power from the energy storage unit to the charging target vehicle in response to a charging start signal,
The charging control unit,
When the docking operation is completed, the charging start signal is generated,
An autonomous charging system that can reduce the weight of the docking robot by separating the docking robot that performs the docking operation and the undocking operation from the control server that detects the charging socket and calculates information about its location.




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