JP2000092615A - Method and apparatus for detecting position of charging coupler in charging system for electric vehicle - Google Patents

Abstract

(57) [Summary] [PROBLEMS] While using inexpensive parts, each coil C for filling is used.
Even in _1, C ₂ are some distance position, to be able to detect the relative position accurately. SOLUTION: A primary coil C ₁ (feeding coupler 2) is connected to 2
A manipulator 1 that moves to the secondary coil C ₂ (charging coupler 3) side is provided, and the photoelectric sensor 5 is mounted on the primary coil C ₁ side.
Moreover, with the secondary coil C ₂ side providing the reflecting plate 4 that reflects light from the photoelectric sensor 5, provided with a measuring device 6 for measuring a distance to the primary coil side and the vehicle body B, and the measured distance The relative distance from the primary coil to the secondary coil is calculated based on the primary coil.
Move to the next coil side, detect the coordinates of the primary coil side when the photoelectric sensor 5 receives the light beam from the reflection plate 4,
The position of the secondary coil is calculated from the detected value.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for detecting a relative position between a power supply coupler and a charging coupler in a charging system for an electric vehicle.

[0002]

2. Description of the Related Art An electric vehicle charging system of this kind includes:
In general, a power supply coupler from a charging device is connected to a charging coupler of an electric vehicle guided to a predetermined position (charging position). At the time of the connection, it is very difficult for the electric vehicle to stop accurately at a predetermined position, and the charging coupler is shifted from the charging position to the front, rear, left and right, and is shifted up and down due to the mounting weight, tire pressure, and the like.

For this reason, the relative position between the power supply coupler and the charging coupler is detected, and based on the detected value, the power supply coupler is moved and connected to the charging coupler. As a detection method, a photoelectric sensor (switch) described in JP-A-6-14908 or the like or a magnetic sensor is mainly used.

[0004]

The above-mentioned conventional detection method using a photoelectric switch involves transmitting and receiving light from both sides of a vehicle body and a charging device, and the device becomes complicated. There is a limit and there is a problem in accuracy.
In addition, since the magnetic sensor is expensive and has a relatively short detection distance, it is difficult to accurately detect the relative position of the two couplers when the vehicle body, that is, the charging coupler is separated from the power supply coupler.

The present invention has been made in view of the above, and an object of the present invention is to make it possible to accurately detect the relative position of both couplers even if they are located at some distance from each other while using inexpensive components.

[0006]

In order to achieve the above object, the present invention relates to a method for charging a vehicle at the time of connecting a power supply coupler of a charging device from a predetermined position to a charging coupler of an electric vehicle at a predetermined position. A method for detecting the position of a coupler, comprising measuring a distance from a reference position on the charging device side to a vehicle body in a direction toward the charging coupler, and based on the measured value, a detection sensor provided on the charging device side and the detection sensor. Calculate the relative distance of the charging coupler, and then, based on the relative distance, after moving the detection sensor to face the charging coupler at a predetermined distance, in the connection direction of the power supply coupler to the charging coupler. On a vertical surface, the detection sensor is moved within a predetermined scanning range to detect the connection axis of the charging coupler, and based on the relative distance and the detected value of the connection axis, It was to detect the position of the electric coupler.

As a specific example of the detection method, the detection sensor is moved forward by a predetermined distance in a specific main scanning direction on a plane perpendicular to the connection direction, and then fixed in a direction perpendicular to the main scanning direction. After shifting by the distance, the two-dimensional scanning of moving backward by the predetermined distance in the direction opposite to the initial direction is repeatedly performed to obtain the center coordinates of the charging coupler in the main scanning direction, and further, orthogonal to the main scanning direction. In the sub-scanning direction
The detection sensor is moved forward by the predetermined distance and shifted in the perpendicular direction to repeat the two-dimensional scanning, and the center coordinates of the charging coupler in the sub-scanning direction are obtained.
The connection axis may be detected from the center coordinates in both directions.

At this time, the center coordinates in the sub-scanning direction are:
The detection sensor can be obtained by moving the detection sensor on its central coordinate axis orthogonal to the main scanning direction obtained earlier, and in this case, the scanning time can be reduced. Further, the detection sensor is moved at a high speed in the predetermined scanning range to obtain the approximate center coordinates of the charging coupler, and thereafter, in the limited range smaller than the predetermined scanning range including the general center coordinates. If the accurate center coordinates are detected by moving at a low speed, the relative position between the power supply coupler and the charging coupler is quickly detected, and the working efficiency is improved.

For the distance to the vehicle body, an ultrasonic sensor, a laser displacement sensor, or the like can be used, and a photoelectric sensor or the like can be used as the detection sensor. In the case of the photoelectric sensor, the photoelectric sensor is provided on the power supply coupler side, and a reflection plate for reflecting light from the photoelectric sensor is provided on the charge coupler side, and the power supply coupler is provided within a predetermined range on a plane orthogonal to the connection direction with the charge coupler. By moving, the coordinates of the power supply coupler when the photoelectric sensor receives the light beam from the reflection plate are detected, and the position of the charging coupler is calculated from the detected value.

As described in the above-mentioned publication, the power supply by coupling of the two couplers may be performed by fitting contacts of terminals. However, the power supply coupler has a primary coil connected to an external power supply, and the charging coupler is an electric vehicle. It is preferable to employ a method in which a secondary coil connected to a power storage device mounted on a vehicle is provided, and power is supplied in a non-contact manner by fitting and connecting the two couplers. This is because the non-contact type may have a rough connection degree, and it is easy to ensure waterproofness and the like.

[0011]

1 to 6 show an embodiment. As shown in FIG. 1, a manipulator 1 having a plurality of arms 11 as a moving means is attached to an external power supply 10, and a distal end of the manipulator 1 is provided. A power supply coupler 2 having a primary coil C ₁ is provided on the arm 11, and a secondary coil C ₂ connected to a power storage device (not shown) such as a battery is provided on the rear side surface of the vehicle body B of the electric vehicle E. Is provided. The manipulator 1 can move the feed coupler 2 in a three-dimensional XYZ direction by a known structure.

Then, the relative positions of the primary and secondary coils C ₁ and C ₂ are detected, and the manipulator 1 is driven based on the detection results to perform electromagnetic coupling of the coils C ₁ and C ₂ . That is, FIG. 2, as shown in FIG. 3, fitted with a polarizing reflective plate 4 and displaced relative to the secondary center of the coil C ₂ charge coupler 3 position, the center position of the primary coil C ₁ (feeding coupler 2) Is mounted with a photoelectric sensor 5 having a light emitting portion and a light receiving portion and reacting only to the light reflected from the reflection plate 4. Further, the external power supply 10, to place the ultrasonic sensor 6 as a measuring instrument for measuring the relative distance to the direction of the vehicle body B toward the secondary coil C _2. The measuring device 6 is not limited to the external power supply device 10 and may be provided on the manipulator 1 side. Output signals from the photoelectric sensor 5 and the ultrasonic sensor 6 are input to a control unit 7, and the output of the control unit 7 controls the drive of the manipulator 1.

Next, a control mode when the relative positions of the coils C ₁ and C ₂ are detected by the photoelectric sensor 5 and the reflection plate 4 will be described with reference to the operation diagrams of FIGS. 3 to 5 and the flowchart of FIG. explain.

First, at the time of start, the primary coil C ₁ is set at the standby position (reference position) A ₀ of the external power supply 10 together with the manipulator 1 (step 1, S = 1). Then, when the vehicle body B approaches the predetermined position of the external power supply device 10, a connection preparation OK signal is output (step 2). At this time, the vehicle body B manually or automatically approaches a predetermined position of the charging port P and stops. The connection preparation OK signal may be output not only based on the measurement result by the ultrasonic sensor 6 but also based on an ON operation of a rubber switch laid on the wheel tire guide. Thereafter, it is determined whether an OK signal has been output (step 3).
Then, in the case of Yes, the relative distance L to the vehicle body B detected by the ultrasonic sensor 6 is read into the control unit 7 (Step 4).

Thereafter, the primary coil C ₁ is moved by the manipulator 1 on the same plane from the standby position A ₀ (step 5), and the electromagnetic coupling start initial position A (X _A , Y _A ,
Z _A ). At this time, the position of X _A, Z _A is taught in advance to the control unit 7, also, the position of Y _A is a total out from the relative distance L. That is, if the distance L ₀ between the primary coil C ₁ and the vehicle body B at the initial position A is set to, for example, 100 mm, and the distance between the primary coil C ₁ and the tip of the ultrasonic sensor 6 is I,
Y _A = L ₀ = L + I−100 In this case, it performed from the waiting position A ₀ of the primary coil C ₁ and the photoelectric sensor 5 due to the manipulator 1 of the movement of the electromagnetic coupling starting initial position A at a high speed, the manipulator 1 from the position A
It is preferable to detect the relative position of each of the coils C ₁ and C ₂ while moving at a predetermined speed at which scanning is possible. By doing so, each coil C ₁ , C ₁
The relative position of ₂ is quickly detected, and work efficiency is improved.

The initial position A (X _A , Y _A , Z
From _A) 1 primary coil C ₁ is moved in the X direction by the manipulator 1 accompanied by photoelectric sensors 5, the secondary coil C ₂ Research (step 6) is carried out. Research the secondary coil C ₂ is, X, (in parallel to the side surface of the vehicle body B, a plane perpendicular to the connecting direction of the two couplers 2,3) Z plane following scan in a predetermined main scanning range on I do. That is,
As shown in FIG. 5, while outputting light beams from the photoelectric sensor 5,
The photoelectric sensor 5 is moved from the initial position A by a predetermined distance Δ in the X direction.
X (a distance corresponding to the main scanning range in the X direction)
At the end, it is shifted by a certain distance ΔZ in the Z direction perpendicular to the X direction, and when it reaches the end, ΔX is again moved in the X direction.
In this case, the research is performed up to the maximum position B while repeating the two-dimensional scanning indicated by the arrow, such as moving back only at the end and shifting again by ΔZ in the Z direction at the end. Thus, X-direction of the center position of the corresponding primary coil C ₁ is detected accurately and secondary coil C ₂ to be described later. The scanning range is determined by the secondary coil C ₂ due to the error of the vehicle stop position.
Is set in advance in consideration of the variation in the position.

Then, the reflected light from the reflecting plate 4 is input to the photoelectric sensor 5, and it is determined whether or not the photoelectric sensor 5 is turned on (step 7). That is, as shown in FIG. 5, the reflected light is input to the photoelectric sensor 5 and the ON operation is continued until the photoelectric sensor 5 is opposed to the end of the reflector 4 and reaches the other end. center position in the X direction of the reflector 4 on the basis of the operation (X _AB), i.e. the central position of the secondary coil C ₂ and X direction of the corresponding primary coil C ₁ is detected. If the determination in step 7 is YES, the X coordinate (X _E = X _E) of the secondary coil C ₂ is
_AB + epsilon _X) a calculation (step 8) to be stored. Here, ε _X is the amount of deviation in the X direction between the center positions of the secondary coil C ₂ and the reflector 4, as is apparent from FIG.

Further, the Z-direction research of the secondary coil C ₂ is performed (step 9). This research is performed by moving the photoelectric sensor 5 in a straight line direction from C to D while following the center line of the center position (X _AB ) of the reflector 4. The signal is input to the photoelectric sensor 5 at a predetermined Z position. Then, in step 10, it is determined whether or not the photoelectric sensor 5 is turned on. That is, until the photoelectric sensor 5 faces the end of the reflector 4 at the predetermined Z position and reaches the other end, the reflected light beam is
Is input to the by continuing the on-operation, the central position in the Z direction of the reflector 4 on the basis of the ON operation (Z _CD), i.e. the secondary coil _{C 2} and Z direction of the center of the corresponding primary coil C ₁ The position is detected. In the case of YES at step 10, the control unit 7 by calculation secondary coil C ₂ Z coordinate _{(Z E = Z CD + ε} Z) ( step 11) to be stored. Here, ε _Z is the amount of deviation in the Z direction between the secondary coil C ₂ and each center position of the reflector 4.

[0019] By the above action, the central axis of the secondary coil C _2, namely coupling axis of the two couplers 2, 3 is detected based on the detected value, the manipulator 1 is driven and controlled by the control unit 7, 1 The secondary coil C ₁ is moved to the coupling start position (connection axis) E (X _E , Y _A , Z _E ), that is, the position immediately before the secondary coil C ₂ (step 12), and the primary coil C ₁ is moved to E position from the to F position the secondary coil C ₂ is positioned to move forward causing electromagnetic coupling (step 13). Thereafter, it is determined whether or not the charging completion signal has been output (step 14), and if yes, the process returns to step 1 to end the operation.

The center coordinates of the research in the Z direction can be obtained by performing the same scanning in steps 6 to 8 as in the X direction. Further, when the research of the secondary coil, by first performing at a relatively high speed scanning as shown in FIG. 5 examines the schematic position of the secondary coil C _2, including its position above An accurate position may be detected by scanning at a low speed in a limited range smaller than the scanning range, so that the position can be detected efficiently and accurately.

In this embodiment, the secondary coil C ₂ (charging coupler 3) is provided on the side surface of the vehicle body B, and both coils C ₁ and C ₂ are connected by moving the power feeding coupler 2 in the horizontal direction. As shown in FIG. 7, the charging coupler 3 is
The present invention can also be applied to a case where the coupling is performed by raising and lowering the power supply coupler 2 located on the lower surface. In this case, after measuring the relative distance from the vehicle body B, the power supply coupler 2 is positioned below or above the charging coupler 3 based on the measured value, and the main and sub scanning in the X and Y directions is performed at that position. obtaining the center coordinates of the next coil C _2.

Further, the reflecting plate 4 can be provided at the center of the secondary coil C ₂ , so that the deviations ε _X , ε _Z
Need not be corrected. On the other hand, the detection sensor 5 also may also be offset from the center of the primary coil C _1, in this case, it is needless to say that the correction of the deviation, while the reflector 4
And the charging sensor 5 is displaced to the same facing position,
The correction becomes unnecessary.

[0023]

As described above, according to the present invention, it is possible to accurately detect the relative position of both couplers even if the couplers are located at some distance from each other while using inexpensive components.

[Brief description of the drawings]

FIG. 1 is a perspective view showing one embodiment of a method for detecting a charging coupler according to the present invention.

FIG. 2 is a perspective view of the coupler of the embodiment.

FIG. 3 is an explanatory view of the operation.

FIG. 4 is an explanatory view of the operation.

FIG. 5 is an explanatory view of the operation.

FIG. 6 is a flowchart of the control.

FIG. 7 is a perspective view of another embodiment.

[Explanation of symbols]

1 manipulator 2 feeding coupler 3 charging coupler 4 reflector 5 photoelectric sensor 6 meter (ultrasonic sensor) C ₁ 1 primary coil C ₂ 2 coil B body E electric vehicle

 ──────────────────────────────────────────────────続 き Continued from the front page (71) Applicant 000005326 Honda Motor Co., Ltd. 2-1-1 Minami-Aoyama, Minato-ku, Tokyo (72) Inventor Masaaki Fujii 1-7-10 Kikuzumi, Minami-ku, Nagoya Co., Ltd. Inside the Harness Research Institute (72) Inventor Kunihiko Watanabe 1-7-10 Kikuzumi, Minami-ku, Nagoya-shi Inside the Harness Research Institute (72) Inventor Kiyotaka Hayashi 1-4-1 Chuo Wako-shi F-term in Honda R & D Co., Ltd. (reference) 5H115 PC06 PG04 PI16 PI29 PO07 PO09 PO16 QN03 QN05 TD01 TD10 UI40

Claims (4)

[Claims] 1. A method for detecting the position of the charging coupler 3 when the power supply coupler 2 on the charging device side is moved from a predetermined position and connected to the charging coupler 3 of the electric vehicle E at a predetermined position. The distance from the reference position on the vehicle side to the vehicle body B in the direction toward the charging coupler 3 is measured, and based on the measured value, the relative distance between the detection sensor 5 provided on the charging device side and the charging coupler 3 is calculated. Next, based on the relative distance, the detection sensor 5 is moved so as to face the charging coupler 3 at a predetermined distance, and then on the plane perpendicular to the connection direction of the power supply coupler 2 to the charging coupler 3. The detection sensor 5 is moved within a predetermined scanning range to detect the connection axis of the charging coupler 2, and the position of the charging coupler 3 is detected based on the detected value of the relative distance and the connection axis. A method for detecting the position of a charging coupler in a charging system for an electric vehicle, wherein the position is detected. 2. After the detection sensor 5 is moved forward by a predetermined distance in a specific main scanning direction on a plane perpendicular to the connection direction, the detection sensor 5 is shifted by a certain distance in a direction perpendicular to the main scanning direction. By repeatedly performing two-dimensional scanning for moving backward by the predetermined distance in the direction opposite to the initial direction, the center coordinates of the charging coupler 3 in the main scanning direction are obtained, and further, on the center coordinate axis orthogonal to the main scanning direction. The charging sensor for an electric vehicle is characterized in that the detection sensor 5 is moved in the sub-scanning direction, the center coordinates of the charging coupler 3 in the sub-scanning direction are obtained, and the connection axis is detected from the center coordinates in both directions. A method for detecting the position of the charging coupler in the system. 3. The charging coupler position detecting method according to claim 2, wherein the detection sensor 5 is moved at a high speed in the predetermined scanning range to obtain the approximate center coordinates of the charging coupler 3, and thereafter, The position of the charging coupler in the charging system for an electric vehicle, wherein the position of the charging coupler is detected by moving at a low speed in a limited range smaller than the predetermined scanning range including the rough center coordinates and detecting the accurate center coordinates. Detection method. 4. A device for forming any one of the position detecting method according to claim 1 to 3, have the feeding coupler 2 is a primary coil C ₁ which is connected to an external power source, is the charging coupler 3 a is connected to the power for a power storage device mounted in the electric vehicle E 2 coil C _2, by both couplers 2 and 3 are joined, it is intended to feed in a non-contact, the primary coil C ₁ The photoelectric sensor 5 on the side
With the next coil C ₂ side providing the reflecting plate 4 that reflects light from the photoelectric sensor 5, provided with a measuring device 6 for measuring a distance to the primary coil C ₁ side and the vehicle body B, by the measuring instrument 6 From the primary coil C ₁ to the secondary coil C ₂ based on the measured value
, The relative distance L is adjusted to a predetermined distance L ₀ , and the power supply coupler 2 is moved within a predetermined range on a plane orthogonal to the connection direction with the charging coupler 3, Photoelectric sensor 5
Receives the light beam from the reflection plate 4 when the primary coil C ₁
Detecting a side of the coordinate position detecting device of the charging coil in the electrical charging system for a motor vehicle, characterized in that so as to output the position from the detected value secondary coil C ₂ meter.