JP2018035901A - Hydrogen charging system and hydrogen charging apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a hydrogen charging system capable of reducing labor for charging hydrogen to a fuel battery vehicle which uses hydrogen as fuel.SOLUTION: A hydrogen charging system includes: a driving part 34 capable of moving a position of an ejection port which ejects hydrogen; a first camera 35 which images a prescribed range of the side opposite to the ejection port; a first position specification part 303 which specifies a position of a charging port for charging hydrogen of the fuel battery vehicle on the basis of an imaged image provided by imaging the fuel battery vehicle with the first camera 35; an instruction part 309 which sends an opening instruction for causing the fuel battery vehicle to open the charging port from a communication part 31; a driving control part 305 which controls the driving part 34 and automatically positions the ejection port to the position of the charging port specified by the first position specification part 303; and a charging processing part 310 which ejects hydrogen from the ejection port to the charging port and automatically charges hydrogen to the fuel battery vehicle after sending the opening instruction by means of the instruction part 309 and after the positioning on the driving control part 305.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a hydrogen filling system and a hydrogen filling apparatus for filling a fuel cell vehicle using hydrogen as a fuel with hydrogen.

  Conventionally, a fuel cell vehicle using hydrogen as a fuel, and a stationary hydrogen filling facility for supplying hydrogen to the fuel cell vehicle are known. For example, Patent Document 1 discloses a technique of searching for a stationary hydrogen station by car navigation or the like, and guiding the selected hydrogen station by car navigation or the like when the hydrogen station is selected by the driver. Has been.

Japanese Patent Laying-Open No. 2015-179037

  At present, when filling a fuel cell vehicle with hydrogen, there is a trouble that a qualified person must fill with hydrogen. Although the technique disclosed in Patent Document 1 guides a fuel cell vehicle using hydrogen as a fuel to the hydrogen station, the effort itself for filling the hydrogen in the hydrogen station cannot be reduced.

  The present invention has been made in view of the above-described conventional problems, and an object of the present invention is to provide a hydrogen filling system and hydrogen filling that can reduce the trouble of filling hydrogen into a fuel cell vehicle using hydrogen as a fuel. To provide an apparatus.

  The above object is achieved by a combination of the features described in the independent claims, and the subclaims define further advantageous embodiments of the invention. Reference numerals in parentheses described in the claims indicate a correspondence relationship with specific means described in the embodiments described later as one aspect, and do not limit the technical scope of the present invention. .

  In order to achieve the above object, a hydrogen filling system of the present invention is installed in a vehicle side unit (1) used in a fuel cell vehicle using hydrogen as a fuel, and a hydrogen filling facility for filling the fuel cell vehicle with hydrogen. The hydrogen filling device includes a facility-side communication unit (31) that communicates with the vehicle-side unit, a jet port (33a) that jets hydrogen, and a position of the jet port. A vehicle-side communication unit that communicates with the hydrogen filling device. The vehicle-side unit includes a drive unit (34) that can be operated and an imaging unit (35, 36) that captures a predetermined range on the side facing the ejection port. (11) and an open / close control unit (16) for controlling the opening and closing of the filling port of the fuel cell vehicle for filling hydrogen, and the hydrogen filling device also has a captured image obtained by imaging the fuel cell vehicle by the imaging unit. And the filling port of the fuel cell vehicle A position specifying unit (303, 307) for specifying the position, an instruction unit (309) for sending an opening instruction for opening the filling port to the opening / closing control unit via the equipment side communication unit and the vehicle side communication unit, and driving A drive control unit (305) that automatically positions the injection port at the position of the filling port specified by the position specifying unit, and an opening instruction sent by the instruction unit, and at the drive control unit After the alignment, the fuel cell vehicle further includes a filling processing unit (310) for automatically filling the fuel cell vehicle with hydrogen by ejecting hydrogen from the ejection port to the filling port.

  In order to achieve the above object, a hydrogen filling apparatus according to the present invention is a hydrogen filling apparatus installed in a hydrogen filling facility for supplying hydrogen to a fuel cell vehicle using hydrogen as a fuel. Equipment side communication part (31) which communicates with, the ejection port (33a) which ejects hydrogen, the drive part (34) which can move the position of an ejection port, and the predetermined range on the side facing an ejection port And a position specifying unit for specifying the position of a filling port for filling hydrogen of the fuel cell vehicle based on a captured image obtained by imaging the fuel cell vehicle by the imaging unit (35, 36) 303, 307), an instruction unit (309) for sending an opening instruction for opening the filling port from the equipment side communication unit to the fuel cell vehicle, and a control unit for controlling the driving unit to identify the filling port specified by the position specifying unit. Drive system that automatically aligns the spout to the position After the opening instruction is sent from the part (305) and the instruction part, and after the alignment by the drive control part, hydrogen is injected from the injection port to the filling port to automatically fill the fuel cell vehicle with hydrogen. And a processing unit (310).

  According to these, the drive control unit automatically aligns the jet port of the hydrogen filling device to the position of the filling port specified by the position specifying unit based on the captured image obtained by imaging the fuel cell vehicle by the imaging unit. Is possible. Further, the charging port of the fuel cell vehicle can be opened by an opening instruction from the instruction unit. Further, after the filling processing section sends an opening instruction by the instruction section and after alignment by the drive control section, hydrogen is injected from the injection port to the filling port to automatically fill the fuel cell vehicle with hydrogen. Therefore, it becomes possible to automatically fill the fuel cell vehicle with hydrogen from the hydrogen filling device. As a result, it is possible to reduce the trouble of filling the fuel cell vehicle using hydrogen as fuel.

It is a figure which shows an example of a schematic structure of the hydrogen filling system. It is a figure for demonstrating arrangement | positioning of the hydrogen filling apparatus 3 in this embodiment. 2 is a diagram illustrating an example of a schematic configuration of a vehicle-side unit 1. FIG. It is a figure which shows an example of a schematic structure of assistance ECU10. It is a figure which shows an example of a schematic structure of the filling management apparatus. It is a figure for demonstrating an example of a map for a movement, and a recommendation route | root. 2 is a diagram illustrating an example of a schematic configuration of a hydrogen filling device 3. FIG. It is a figure for demonstrating about the ejection part 33, the ejection port 33a, and the drive part. It is a figure for demonstrating an example of the map for 1st filling. It is a figure for demonstrating an example of an XZ plane map. FIG. 6 is a sequence diagram illustrating an example of a process flow until the vehicle FCV reaches a hydrogen station in the hydrogen filling system 5. FIG. 6 is a sequence diagram showing an example of a process flow in the hydrogen filling system 5 from when the vehicle FCV reaches the entrance of the hydrogen station until the vehicle FCV moves to the filling place of the hydrogen filling device 3. FIG. 6 is a sequence diagram showing an example of a process flow in the hydrogen filling system 5 from when a vehicle FCV reaches a filling position of a hydrogen station to filling with hydrogen.

  A plurality of embodiments for disclosure will be described with reference to the drawings. For convenience of explanation, among the embodiments, parts having the same functions as those shown in the drawings used in the explanation so far may be given the same reference numerals and explanation thereof may be omitted. is there. For the parts denoted by the same reference numerals, the description in other embodiments can be referred to.

(Embodiment 1)
<Schematic configuration of hydrogen filling system 5>
Embodiment 1 of the present invention will be described below with reference to the drawings. As shown in FIG. 1, the hydrogen filling system 5 includes a vehicle side unit 1, a filling management device 2, a hydrogen filling device 3, and a center 4.

  The vehicle-side unit 1 is used in a fuel cell vehicle FCV (hereinafter simply referred to as a vehicle FCV) that performs an automatic operation that uses hydrogen as fuel and automatically controls acceleration, braking, and steering to automatically travel. The vehicle FCV is provided with a filling port for filling hydrogen, and the filling port is opened and closed by opening and closing the fuel lid. The vehicle-side unit 1 can communicate with the filling management device 2, the hydrogen filling device 3, and the center 4.

  The filling management device 2 and the hydrogen filling device 3 are installed in a hydrogen station for filling the vehicle FCV with hydrogen. This hydrogen station corresponds to the hydrogen filling equipment in the claims. The hydrogen filling device 3 is a device that fills the vehicle FCV with hydrogen. Although one hydrogen filling apparatus 3 may be installed in the hydrogen station, in the present embodiment, a case where a plurality of hydrogen filling apparatuses 3 are installed in the hydrogen station will be described as an example. The filling management device 2 performs allocation of the hydrogen filling device 3 in which the vehicle FCV fills hydrogen.

  Here, arrangement | positioning of the hydrogen filling apparatus 3 in this embodiment is demonstrated using FIG. In FIG. 2, Ar indicates the area of the hydrogen station, IN indicates the inlet of the hydrogen station, and OUT indicates the outlet of the hydrogen station. As shown in FIG. 2, in this embodiment, it is assumed that four hydrogen filling devices 3a to 3d are installed in the hydrogen station. Hereinafter, as shown in FIG. 2, when the four hydrogen filling devices 3 are distinguished, they are represented as hydrogen filling devices 3 a to 3 d.

  As shown in FIG. 2, it is assumed that the hydrogen filling device 3a is installed on the left front side when viewed from the entrance of the hydrogen station. It is assumed that the hydrogen filling device 3b is installed on the left back side when viewed from the entrance of the hydrogen station. It is assumed that the hydrogen filling device 3c is installed on the right front side when viewed from the entrance of the hydrogen station. It is assumed that the hydrogen filling device 3d is installed on the far right side when viewed from the entrance of the hydrogen station.

  The center 4 is a server device of a dealer or manufacturer of the vehicle FCV, and communicates with the vehicle-side unit 1 via a public communication network such as a mobile phone network or the Internet and a base station. The center 4 may be composed of a single server device or may be composed of a plurality of server devices.

<Schematic configuration of vehicle-side unit 1>
Next, a schematic configuration of the vehicle side unit 1 will be described with reference to FIG. As shown in FIG. 3, the vehicle-side unit 1 includes a support ECU 10, a communication device 11, a locator 12, a periphery monitoring sensor 15, a body ECU 16, a lid actuator 17, and a vehicle control ECU 18. The support ECU 10, the communication device 11, the locator 12, the body ECU 16, and the vehicle control ECU 18 are connected to, for example, an in-vehicle LAN, and can exchange information with each other by communication.

  The communication device 11 is used to communicate with the outside of the vehicle. The communication device 11 communicates with the filling management device 2. The communication between the communicator 11 and the filling management device 2 may be communication via a public communication network and a base station, or a narrow area communication (Dedicated Short Range Communications, DSRC) based on wireless LAN technology. ) Or Bluetooth (registered trademark) or other communication standards. The communication device 11 performs wireless communication with the hydrogen filling device 3. Communication between the communication device 11 and the hydrogen filling device 3 is performed so that a plurality of hydrogen filling devices 3 among the plurality of hydrogen filling devices 3 installed in the hydrogen station do not enter the communication range of the communication device 11 at the same time. It is preferable that the wireless communication be narrowed in distance. The communicator 11 corresponds to a vehicle side communication unit in the claims.

  In addition, the communication device 11 communicates with the center 4 via the public communication network and the base station. The communication device 11 may be configured to communicate with the center 4 via the filling management device 2, the public communication network, and the base station. A communication module that communicates with the filling management device 2, a communication module that communicates with the hydrogen filling device 3, and a communication module that communicates with the center 4 are provided separately. It is good also as a structure, and it is good also as a structure provided integrally.

  The locator 12 includes a GNSS (Global Navigation Satellite System) receiver 13 and an inertial sensor 14. The GNSS receiver 13 receives positioning signals from a plurality of artificial satellites. The inertial sensor 14 includes, for example, a triaxial gyro sensor and a triaxial acceleration sensor. The locator 12 sequentially measures the position of the vehicle on which the locator 12 is mounted by combining the positioning signal received by the GNSS receiver 13 and the measurement result of the inertial sensor 14. For example, the vehicle position is represented by latitude and longitude coordinates. In addition, it is good also as a structure which uses the travel distance calculated | required from the pulse signal sequentially output from the wheel speed sensor mounted in the own vehicle for positioning of a vehicle position. And the measured vehicle position is output to in-vehicle LAN.

  The surrounding monitoring sensor 15 detects an obstacle around the vehicle. The surrounding monitoring sensor 15 is, for example, a surrounding monitoring camera that captures a predetermined range around the vehicle, a millimeter wave radar that transmits a search wave to the predetermined range around the vehicle, sonar, LIDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging). The peripheral monitoring camera sequentially outputs captured images that are sequentially captured to the support ECU 10 as sensing information. A sensor that transmits an exploration wave such as sonar, millimeter wave radar, or LIDAR sequentially outputs a scanning result based on a received signal obtained when a reflected wave reflected by an obstacle is received as sensing information to the support ECU 10.

  The body ECU 16 is an ECU that controls various actuators mounted on the host vehicle, and is connected to be communicable with various actuators and sensors. The body ECU 16 can drive the lid actuator 17 by outputting a control signal to the lid actuator 17 to automatically open and close the fuel lid. The body ECU 16 corresponds to an opening / closing control unit in claims.

  The vehicle control ECU 18 is an electronic control device that performs acceleration / deceleration control and steering control of the host vehicle. The vehicle control ECU 18 includes a steering ECU that performs steering control, a power unit control ECU that performs acceleration / deceleration control, a brake ECU, and the like. The vehicle control ECU 18 acquires detection signals output from sensors such as an accelerator position sensor, a brake pedal force sensor, a rudder angle sensor, and a wheel speed sensor mounted on the host vehicle, and performs electronic control throttle, brake actuator, EPS (Electric Power Steering) Outputs a control signal to each driving control device such as a motor. Further, the vehicle control ECU 18 can output detection signals of the above-described sensors to the in-vehicle LAN.

  The support ECU 10 includes a processor, a volatile memory, a non-volatile memory, an I / O, and a bus for connecting them, and executes a control program stored in the non-volatile memory to perform processing related to automatic driving and support for hydrogen filling. Various processes such as processes are executed.

<Schematic configuration of support ECU 10>
Here, a schematic configuration of the support ECU 10 will be described with reference to FIG. As shown in FIG. 4, the support ECU 10 includes a travel environment recognition unit 100, a travel plan generation unit 101, an automatic driving function unit 102, a filling monitor unit 103, a request processing unit 104, an information acquisition unit 105, a success / failure determination unit 106, and A notification processing unit 107 is provided. Note that some or all of the functions executed by the driving support ECU 10 may be configured in hardware by one or a plurality of ICs.

  The travel environment recognition unit 100 recognizes the travel environment of the host vehicle from the vehicle position of the host vehicle acquired from the locator 12, sensing information acquired from the surrounding monitoring sensor 15, map data, and the like. As an example, the traveling environment recognition unit 100 recognizes the shape and moving state of an object around the vehicle position of the host vehicle, and generates a virtual space that reproduces the actual traveling environment.

  The travel plan generation unit 101 generates a travel plan for causing the vehicle to travel by automatic driving, using the recognition result in the travel environment recognition unit 100 and the like. The travel plan generated by the travel plan generation unit 101 is output to the automatic driving function unit 102. As a specific example, the travel plan generation unit 101 determines execution of steering for changing course, acceleration / deceleration for speed adjustment, steering and braking for obstacle avoidance, and the like.

  The automatic driving function unit 102 causes the vehicle control ECU 18 to automatically perform acceleration, braking, and / or steering of the host vehicle in accordance with the driving plan output from the driving plan generation unit 101. The automatic driving function unit 102 corresponds to an automatic traveling unit in claims. The filling monitor unit 103 monitors the filling state of the hydrogen tank of the own vehicle. For example, the filling rate of hydrogen is monitored, and the temperature and pressure during filling from the filling port are monitored.

  The request processing unit 104 transmits a hydrogen filling request from the communication device 11 to the surrounding filling management device 2 when the hydrogen filling rate is equal to or less than the threshold value, for example, based on the monitoring result of the filling monitoring unit 103. The request processing unit 104 may be configured to transmit a hydrogen filling request to the driver after confirming whether or not the hydrogen filling request is necessary via an HMI (Human Machine Interface) of the host vehicle. Instead, it may be configured to automatically transmit.

  When there is a response to the hydrogen filling request from the filling management device 2, the request processing unit 104 acquires this response via the communication device 11. In the present embodiment, for example, when the filling management device 2 transmits a reply permitting filling, the location information of the hydrogen station that the filling managing device 2 permits filling is also transmitted. As an example, when the response from the filling management device 2 permits filling, the automatic operation is performed toward the point indicated by the position information of the hydrogen station transmitted from the filling management device 2. That's fine. In addition, when the response from the filling management device 2 does not permit filling or when there is no response for a certain period, the request processing unit 104 may be configured to transmit a hydrogen filling request again. . In addition, when the reply from the filling management apparatus 2 does not permit filling, it is good also as a structure which notifies that to a driver via HMI of the own vehicle.

  The information acquisition unit 105 acquires position information, a recommended route, and a movement map, which will be described later, transmitted from the filling management device 2 at the entrance of the hydrogen station via the communication device 11. As will be described later, the travel plan generation unit 101 uses the information acquired by the information acquisition unit 105 to create a travel plan.

  In addition, the request processing unit 104 confirms whether or not the vehicle FCV satisfies a condition for filling hydrogen when the automatic driving function unit 102 travels automatically to the filling place of the hydrogen filling device 3 and stops. Is transmitted from the communication device 11 to the hydrogen filling device 3. When there is a response to the confirmation request from the hydrogen filling device 3, the request processing unit 104 acquires this response via the communication device 11. As an example, when the response from the filling management device 2 is a response that the host vehicle satisfies the condition, the vehicle may be stopped and wait for filling with hydrogen. If the response from the filling management device 2 is a response that the vehicle does not satisfy the conditions, the driver is notified via the HMI of the vehicle, or toward the exit of the hydrogen station. What is necessary is just to set it as the structure which performs an automatic driving | operation. The position information of the outlet of the hydrogen station may be acquired from the hydrogen filling device 3 or may be acquired from the filling management device 2.

  The success / failure determination unit 106 determines whether or not hydrogen filling from the hydrogen filling device 3 to the own vehicle has failed from the monitoring result during filling by the filling monitor unit 103. As an example, when the temperature during hydrogen filling is equal to or higher than the threshold value or the pressure is outside the threshold value range, it may be determined that the filling of hydrogen into the vehicle has failed.

  When the success / failure determination unit 106 determines that the hydrogen filling of the host vehicle has failed, the notification processing unit 107 notifies the center 4 that the hydrogen filling has failed through the communication device 11. When the center 4 is notified, identification information for identifying the own vehicle and position information indicating the current position may be transmitted to the center 4.

<Schematic configuration of filling management device 2>
Here, a schematic configuration of the filling management device 2 will be described with reference to FIG. As illustrated in FIG. 5, the filling management device 2 includes a control unit 20, a first communication unit 21, a second communication unit 22, a collection unit 23, and a distribution information storage unit 24.

  The first communication unit 21 performs wireless communication with the communication device 11 of the vehicle-side unit 1 such that the communication range such as narrow-area communication is narrowed. As an example, the 1st communication part 21 shall be provided in the entrance of a hydrogen station. This entrance corresponds to the starting position of the claims. The narrow-area communication referred to here may be a communication range in which only the communication device 11 of the vehicle FCV located at the entrance of the hydrogen station can communicate with the first communication unit 21. As an example, the communication range may be a radius of about several meters.

  The second communication unit 22 performs wireless communication with the communication device 11 by communication having a communication range wider than that of the first communication unit 21. The 2nd communication part 22 is good also as a structure which communicates with the communication apparatus 11 by communication via a public communication network and a base station. The collection unit 23 collects information about the operating status of each of the plurality of hydrogen filling devices 3 installed in the hydrogen station from each hydrogen filling device 3.

  The distribution information storage unit 24 stores, for each of the plurality of hydrogen filling devices 3 installed in the hydrogen station, position information, a recommended route from the entrance of the hydrogen station to the filling location of the hydrogen filling device 3, and a moving map. ing. The position information here may be, for example, position coordinates starting from the entrance of the hydrogen station. The recommended route may be a sequence of position coordinates starting from the entrance of the hydrogen station. The movement map is a map showing a preferable degree as a movement route for moving the vehicle FCV to the filling position of the hydrogen filling device 3 in a unit of division in which the area of the hydrogen station is divided into a plurality of divisions.

  Here, an example of the movement map and the recommended route will be described with reference to FIG. FIG. 6 shows an example of a movement map and a recommended route for the hydrogen filling device 3a. In FIG. 6, the numbers indicating the numbers correspond to the divisions of the hydrogen station area into a plurality of sections. Moreover, the arrow shown with a dotted line in FIG. 6 represents the recommended route. The moving map may be composed of sections obtained by dividing all areas of the hydrogen station, or may be composed of sections obtained by dividing some areas as shown in FIG.

  As shown in FIG. 6, the numbers from 0 to 4 shown for each section correspond to the movement map. The numbers from 0 to 4 represent the preferable degree as a movement route for moving the vehicle FCV to the filling position of the hydrogen filling device 3, and the larger the preferable degree, the smaller the number. Specifically, “0” represents a filling place, “1” is a correct moving route, “2” is a slightly moving route, “3” is a moving route, and “4” is an entry prohibited place. Represents. As an example, a recommended route is a moving route that passes through the section “1” from the entrance of the hydrogen station to the filling place “0”.

  The control unit 20 includes a processor, a volatile memory, a non-volatile memory, an I / O, and a bus connecting them, and executes various processes by executing a control program stored in the non-volatile memory. For example, when a hydrogen filling request from the vehicle FCV is acquired via the second communication unit 22 via the second communication unit 22, a response is made by determining whether or not the hydrogen station can be used. Further, the hydrogen filling device 3 that is not in use is identified from the information on the operating status of each of the plurality of hydrogen filling devices 3 collected by the collecting unit 23, and the hydrogen filling device 3 that is not in use is next transferred to the vehicle FCV. The hydrogen filling device 3 for filling hydrogen is determined. Next, after determining the hydrogen filling device 3 for filling the vehicle FCV with hydrogen, the position information, the recommended route, and the movement map for the determined hydrogen filling device 3 are read from the distribution information storage unit 24, and the first communication unit 21 is transmitted toward the communication device 11 of the vehicle FCV that has reached the entrance of the hydrogen station.

<Schematic configuration of hydrogen filling apparatus 3>
Next, a schematic configuration of the hydrogen filling apparatus 3 will be described with reference to FIG. As shown in FIG. 7, the hydrogen filling device 3 includes a control unit 30, a communication unit 31, a transmission unit 32, an ejection unit 33, a drive unit 34, a first camera 35, and a second camera 36.

  The communication unit 31 performs wireless communication with the communication device 11 of the vehicle-side unit 1 such that the communication range such as narrow-area communication is narrowed. This communication part 31 is equivalent to the equipment side communication part of a claim. It is preferable that the communication range of the communication unit 31 is narrowed to such an extent that it does not overlap with the communication range of the communication unit 31 of another hydrogen filling apparatus 3 installed in the hydrogen station. The transmission unit 32 transmits information about the operating status of the hydrogen filling device 3 obtained from the control unit 20 to the filling management device 2.

  The ejection part 33 is provided with an ejection port 33a for ejecting hydrogen, and the position of the ejection part 33 can be moved in the height direction, the width direction, and the depth direction of the hydrogen filling apparatus 3 by the driving unit 34. Here, the ejection part 33, the ejection port 33a, and the drive part 34 are demonstrated using FIG. As the drive unit 34, an actuator that can move the ejection unit 33 and the ejection port 33a in any of the three axial directions orthogonal to each other such as the X axis, the Y axis, and the Z axis in FIG. 8 is used. The X-axis direction in FIG. 8 corresponds to the width direction of the hydrogen filling device 3, the Y-axis direction corresponds to the depth direction, and the Z-axis direction corresponds to the height direction. Hereinafter, the direction in the three-dimensional space is represented by the XYZ axis directions.

  In the present embodiment, the ejection port 33a is also moved by the movement of the ejection unit 33 by the drive unit 34 without changing the inclination of the ejection port 33a. In addition, the inclination of the ejection port 33a is provided so that the ejection port 33a can be aligned with the filling port of the vehicle FCV by the movement of the ejection unit 33 by the drive unit 34. The vehicle FCV stops on the side facing the jet outlet 33a of the hydrogen filling device 3 and fills with hydrogen.

  The 1st camera 35 images the predetermined range of the side facing the jet nozzle 33a. In other words, when the vehicle FCV is stopped at the filling place of the hydrogen filling device 3, the first camera 35 images the vehicle FCV. The first camera 35 corresponds to an imaging unit in claims. Note that the predetermined range mentioned here may be a range that is estimated to be at least that at which the filling port of the vehicle FCV stopped at the filling place of the hydrogen filling device 3 is reflected.

  The 2nd camera 36 is provided in the ejection part 33, and images the predetermined range of the side facing the ejection port 33a. The second camera 36 moves in accordance with the movement of the ejection unit 33 by the drive unit 34, and images a predetermined range on the side facing the ejection port 33a at the movement destination. The second camera 36 also corresponds to the imaging unit in the claims. Note that the predetermined range referred to here may be narrower than the imaging range of the first camera 35.

  The control unit 30 includes a processor, a volatile memory, a non-volatile memory, an I / O, and a bus for connecting them, and executes various control programs stored in the non-volatile memory to perform various types related to filling of hydrogen into the vehicle FCV. Execute the process.

<Schematic structure of the control part 30 of the hydrogen filling apparatus 3>
Here, a schematic configuration of the control unit 30 of the hydrogen filling apparatus 3 will be described with reference to FIG. As shown in FIG. 7, the control unit 30 includes a usage determination unit 301, a first image acquisition unit 302, a first position specifying unit 303, a first map creation unit 304, a drive control unit 305, a second image acquisition unit 306, A second position specifying unit 307, a second map creating unit 308, an instruction unit 309, and a filling processing unit 310 are provided.

  The usage determination unit 301 responds to a confirmation request transmitted from the vehicle FCV via the communication unit 31 to confirm whether or not the vehicle FCV satisfies a condition for filling with hydrogen. As an example, based on vehicle information acquired from the vehicle FCV via the communication unit 31, when the size of the vehicle FCV does not correspond to a size that can be filled with hydrogen by the hydrogen filling device 3, it is determined that the condition is not satisfied. It is sufficient to make a reply that the condition is not satisfied. In addition, from the result of pattern matching performed on the image captured by the first camera 35, for example, when the filling port of the vehicle FCV is not included in the captured image, or the vehicle type of the vehicle FCV uses the hydrogen filling device 3 to supply hydrogen. It may be determined that the condition is not satisfied when the vehicle does not correspond to a vehicle size that can be filled.

  The first image acquisition unit 302 acquires a captured image captured by the first camera 35. The first position specifying unit 303 captures an image based on the captured image acquired by the first image acquisition unit 302 when the use determination unit 301 makes a reply that the vehicle FCV can be charged with hydrogen. The position of the filling port of the vehicle FCV in the image is specified. As an example, the position of the filling port of the vehicle FCV in the captured image may be specified by pattern matching. The first position specifying unit 303 corresponds to a position specifying unit in claims.

  The first map creating unit 304 creates a first filling map from the captured image acquired by the first image acquiring unit 302 and the position of the filling port specified by the first position specifying unit 303. The first filling map is a map representing a preferable degree as a guide route for moving the ejection port 33a to the filling port of the vehicle FCV in a unit of division in which the image captured by the first camera 35 is divided into a plurality of divisions. As an example, the first map creation unit 304 stores in advance a distribution pattern centered on the filling port, and the captured image acquired by the first image acquisition unit 302 and the filling specified by the first position specifying unit 303. The first filling map may be created according to this pattern from the position of the mouth. The first map creation unit 304 corresponds to the filling map creation unit in the claims.

  Here, an example of the first filling map will be described with reference to FIG. In FIG. 9, the squares indicating numbers correspond to the sections obtained by dividing the captured image by the first camera 35 into a plurality of sections. The first filling map may be composed of, for example, a section obtained by dividing the entire range of the image captured by the first camera 35.

  As shown in FIG. 9, numbers from 0 to 4 shown for each section correspond to the first filling map. The numbers from 0 to 4 represent the preferable degree as the guide path for moving the jet port 33a to the filling port of the vehicle FCV, and the larger the preferable degree, the smaller the number. Specifically, “0” represents the position of the filling port, “1” is the correct guide route, “2” is a slightly different guide route, “3” is the guide route, and “4” is the jet route. The position where the outlet 33a is not moved is shown.

  When the first filling map is created by the first map creating unit 304, the drive control unit 305 controls the driving unit 34 so that the ejection port 33a moves according to the first filling map. As a specific example, from the correspondence relationship between the position in the captured image stored in the control unit 30 in advance and the actual coordinates for moving the ejection port 33a, the first filling is performed corresponding to the current position of the ejection port 33a. Determine the division in the map. And by controlling the drive so that the position of the jet port 33a moves to a section with a small number in the first filling map, the filling port in the X-axis direction and the Z-axis direction of the hydrogen filling device 3 and the jet port 33a Automatic alignment.

  The second image acquisition unit 306 acquires a captured image captured by the second camera 36. When the control of the drive unit 34 according to the first filling map in the drive control unit 305 is completed, the second position specifying unit 307 performs the first position determination based on the captured image acquired by the second image acquisition unit 306. The position of the filling port of the vehicle FCV in the captured image is specified in the same manner as the 1-position specifying unit 303. The second position specifying unit 307 also corresponds to the position specifying unit in the claims.

  The second map creating unit 308 creates the first filling map by the first map creating unit 304 from the captured image acquired by the second image acquiring unit 306 and the position of the filling port specified by the second position specifying unit 307. A second filling map is created in the same manner as described above. The second filling map is a map representing a preferable degree as a guide route for moving the ejection port 33a to the filling port of the vehicle FCV in a unit of division obtained by dividing the image captured by the second camera 36 into a plurality of divisions. The second map creation unit 308 also corresponds to the filling map creation unit in the claims.

  When the control of the drive unit 34 according to the first filling map in the drive control unit 305 is completed, the filling port and the ejection port 33a in the X-axis direction and the Z-axis direction of the hydrogen filling device 3 are approximately aligned. It is a trap. Therefore, the captured image acquired by the second image acquisition unit 306 is a captured image that is narrower in the vicinity of the filling port of the vehicle FCV than the captured image by the first camera 35. Therefore, the second filling map created by the second map creating unit 308 is a more detailed map around the filling port than the first filling map.

  When the second filling map is created by the second map creating unit 308, the drive control unit 305 moves the ejection port 33a according to the second filling map in the same manner as when following the first filling map. Thus, the drive unit 34 is controlled. When the control of the drive unit 34 according to the second filling map in the drive control unit 305 is completed, the filling port and the ejection port 33a in the X-axis direction and the Z-axis direction of the hydrogen filling device 3 are described in more detail. Aligned.

  When the control of the drive unit 34 according to the second filling map in the drive control unit 305 is completed, the instruction unit 309 sends the filling port to the body ECU 16 via the communication unit 31 to the communication device 11 of the vehicle FCV. Send opening instructions to open. In response to the opening instruction, the body ECU 16 drives the lid actuator 17 as described above to automatically open the fuel lid. As an example, when the fuel lid is opened, the body ECU 16 may return an opening notification indicating that the fuel lid has been opened to the communication unit 31 of the hydrogen filling apparatus 3 via the communication device 11. Upon receiving this reply, the drive control unit 305 controls the drive unit 34 to move the ejection port 33a in the Y-axis direction of the hydrogen filling device 3, and the position of the filling port and the ejection port 33a in the Y-axis direction. Align.

  When the positioning of the hydrogen filling device 3 between the filling port and the jet port 33a in the Y-axis direction is completed by the drive control unit 305, the filling processing unit 310 jets hydrogen from the jet port 33a to the vehicle FCV. Fill with hydrogen.

  The second map creation unit 308 is further preferable as a guide route for moving the jet outlet 33a to the filling port of the vehicle FCV in a plurality of divided units in the Y-axis direction and the Z-axis direction of the hydrogen filling device 3. It is good also as a structure which produces the map (henceforth XZ plane map) showing a degree as a 2nd map for filling.

  As an example, the XZ plane map may be created as follows. First, by using a stereo camera as the second camera 36, the distance in the Y-axis direction (hereinafter referred to as the Y-axis direction distance) between the filling port and the ejection port 33a is specified from the captured image acquired by the second image acquisition unit 306. To do. Subsequently, among the captured images acquired by the second image acquisition unit 306, the captured image in the Z-axis direction and the distance in the Y-axis direction are divided into a plurality of sections to be classified into XZ plane maps. Then, an XZ plane map may be created according to a distribution pattern centered on the filling port stored in advance. When a monocular camera is used as the second camera 36, a range sensor that measures the distance to the object by transmitting and receiving an exploration wave such as an infrared sensor is provided in the ejection unit 33, and the measurement result of the range sensor is used. Thus, the Y-axis direction distance may be specified.

  Here, an example of the XZ plane map will be described with reference to FIG. In FIG. 10, the squares indicating numbers correspond to the sections of the XZ plane map. As shown in FIG. 10, the numbers from 0 to 4 shown for each category correspond to the XZ plane map. The numbers from 0 to 4 represent the preferable degree as the guide path for moving the jet port 33a to the filling port of the vehicle FCV, and the larger the preferable degree, the smaller the number. Specifically, “0” represents the position of the filling port, “1” is the correct guide route, “2” is a slightly different guide route, “3” is the guide route, and “4” is the jet route. The position where the outlet 33a is not moved is shown.

  When adopting a configuration in which the XZ plane map is created as the second filling map, the drive control unit 305 controls the drive unit 34 so that the jet port 33a moves according to the XZ plane map, and the Y axis of the hydrogen filling device 3 The position of the filling port and the jet port 33a in the direction and the Z-axis direction may be automatically adjusted.

<Processing to reach the hydrogen station>
Next, an example of a processing flow until the vehicle FCV reaches the hydrogen station in the hydrogen filling system 5 will be described with reference to the sequence diagram of FIG. In FIG. 11, the case where the vehicle FCV is allowed to be charged at the hydrogen station will be described as an example.

  First, at t <b> 1, in the vehicle-side unit 1, the request processing unit 104 transmits a hydrogen filling request to the surrounding filling management device 2 via the communication device 11 of the vehicle-side unit 1. At t2, in the filling management device 2, the second communication unit 22 receives the hydrogen filling request transmitted from the communication device 11, and the control unit 20 determines whether or not the hydrogen station can be used. For example, the control unit 20 determines from the information on the operating status of each of the plurality of hydrogen filling devices 3 collected by the collecting unit 23 that there is a hydrogen filling device 3 that is not in use, and a reply that permits filling. May be configured to be transmitted from the second communication unit 22. On the other hand, when there is no hydrogen filling device 3 that is not being used, it is determined that the hydrogen filling device 3 is not usable, and a reply that does not permit filling is transmitted from the second communication unit 22 or a reply is not made.

  At t <b> 3, in the filling management device 2, the control unit 20 causes the second communication unit 22 to transmit a reply that permits filling, including position information of the entrance of the hydrogen station. At t <b> 4, the communication device 11 receives the response transmitted from the second communication unit 22 in the vehicle-side unit 1. Then, the travel plan generation unit 101 creates a travel plan with the point indicated by the position information included in the received response as the destination, and the automatic operation function unit 102 causes the hydrogen station to perform automatic operation according to the created travel plan.

<Processing from the hydrogen station entrance to the filling site>
Subsequently, an example of a processing flow in the hydrogen filling system 5 from when the vehicle FCV reaches the entrance of the hydrogen station until it moves to the filling place of the hydrogen filling device 3 will be described with reference to the sequence diagram of FIG. Do.

  First, at t11, at the entrance of the hydrogen station, the first communication unit 21 of the filling management device 2 transmits position information, a recommended route, and a travel map for the hydrogen filling device 3 that next fills the vehicle FCV with hydrogen. To do. At t12, at the entrance of the hydrogen station, the communication device 11 of the vehicle-side unit 1 receives the position information, the recommended route, and the travel map transmitted from the first communication unit 21, and the received information is received from the vehicle-side unit 1 Acquired by the information acquisition unit 105.

  At t <b> 13, in the vehicle-side unit 1, the automatic driving function unit 102 automatically travels to the filling place of the hydrogen filling device 3 using the information acquired by the information acquisition unit 105. As an example, the travel plan generation unit 101 creates a travel plan that automatically travels from the position information and the recommended route acquired by the information acquisition unit 105 to the point indicated by the position information along the recommended route, and an automatic driving function. The unit 102 automatically travels along this travel plan. In addition, the travel plan generation unit 101 sequentially reviews the travel plan using the recognition result in the travel environment recognition unit 100 and the travel acquired by the information acquisition unit 105 when the recommended route is deviated due to obstacle avoidance or the like. Create a new travel plan that takes into account the operational map. As a specific example, a travel plan that preferentially selects a route that passes through a segment having a high degree of preference as a moving route to be moved to the filling location in the moving map may be created. If it is possible to return to the recommended route, a travel plan to return to the recommended route may be created.

  According to the above configuration, even when the travel map acquired from the filling management device 2 is also used for the automatic operation of the vehicle FCV, even if the vehicle FCV cannot be smoothly traveled only by the sensing result of the periphery monitoring sensor 15. The vehicle FCV can be smoothly traveled to the filling place.

<Processing from hydrogen station filling to hydrogen filling>
Subsequently, an example of a flow of processing from when the vehicle FCV reaches the filling position of the hydrogen station to filling with hydrogen in the hydrogen filling system 5 will be described with reference to the sequence diagram of FIG. In FIG. 13, description will be given by taking as an example a case where the vehicle FCV satisfies a condition in which hydrogen can be charged by the hydrogen filling device 3.

  First, at t21, in the vehicle-side unit 1, the automatic driving function unit 102 stops the vehicle FCV when it reaches the filling place of the hydrogen filling device 3. For example, after the vehicle FCV stops, the support ECU 10 may automatically turn off the ignition power of the vehicle FCV. In addition, what is necessary is just to set it as the structure performed using the backup power supply about the process in the vehicle side unit 1 after t21 in the sequence diagram of FIG.

  At t <b> 22, in the vehicle-side unit 1, the request processing unit 104 transmits a confirmation request for confirming whether or not the condition that the vehicle FCV can be filled with hydrogen is satisfied from the communication device 11 to the hydrogen filling device 3. At t23, in the hydrogen filling device 3, the communication unit 31 receives the confirmation request, and the usage determining unit 301 determines whether or not the condition that the vehicle FCV can be charged with hydrogen is satisfied. At t <b> 24, the hydrogen filling device 3 transmits a response to the effect that the vehicle FCV can be filled with hydrogen from the communication unit 31 to the communication device 11.

  At t <b> 25, in the hydrogen filling device 3, the first image acquisition unit 302 acquires a captured image captured by the first camera 35. At t <b> 26, in the hydrogen filling device 3, the first position specifying unit 303 specifies the position of the filling port of the vehicle FCV in the captured image based on the captured image acquired by the first image acquisition unit 302. At t <b> 27, in the hydrogen filling device 3, the first map creation unit 304 uses the captured image acquired by the first image acquisition unit 302 and the position of the filling port specified by the first position specifying unit 303 to map the first filling. Create

  At t28, in the hydrogen filling device 3, the drive control unit 305 controls the drive unit 34 so that the ejection port 33a moves according to the first filling map, and the hydrogen filling device 3 fills in the X-axis direction and the Z-axis direction. The position of the mouth and the jet outlet 33a is automatically adjusted.

  At t <b> 29, in the hydrogen filling device 3, the second image acquisition unit 306 acquires a captured image captured by the second camera 36. At t30, in the hydrogen filling device 3, the second position identifying unit 307 identifies the position of the filling port of the vehicle FCV in the captured image based on the captured image acquired by the second image acquiring unit 306. At t31, in the hydrogen filling apparatus 3, the second map creation unit 308 uses the captured image acquired by the second image acquisition unit 306 and the position of the filling port specified by the second position specifying unit 307 to generate the second filling map. Create

  At t32, in the hydrogen filling device 3, the drive control unit 305 controls the drive unit 34 so that the ejection port 33a moves according to the second filling map, and the filling in the X-axis direction and the Z-axis direction of the hydrogen filling device 3 is performed. The position of the mouth and the jet outlet 33a is automatically adjusted. At t33, in the hydrogen filling device 3, the instruction unit 309 sends an opening instruction for causing the body ECU 16 to open the filling port to the communication device 11 of the vehicle FCV via the communication unit 31.

  At t <b> 34, the body ECU 16 acquires an opening instruction via the communication device 11 in the vehicle-side unit 1. The body ECU 16 outputs a control signal to the lid actuator 17 according to the opening instruction to drive the lid actuator 17 to automatically open the fuel lid.

  Note that the processing at t33 may be performed before the processing at t32 as long as it is after the processing at t24. At t32, as described above, the XZ plane map may also be used to perform alignment between the filling port and the ejection port 33a in the Y-axis direction and the Z-axis direction of the hydrogen filling device 3. When this configuration is adopted, the processing at t33 is performed after the processing at t24 and before the processing at t32.

  At t35, in the vehicle side unit 1, the filling processing unit 310 completes alignment of the filling port and the jet port 33a in the Y-axis direction of the hydrogen filling device 3 by the drive control unit 305, and then supplies hydrogen from the jet port 33a. The hydrogen is injected into the vehicle FCV.

  At t <b> 36, in the vehicle-side unit 1, the filling monitor unit 103 monitors the filling state of the hydrogen tank while filling the vehicle FCV with hydrogen. The success / failure determination unit 106 determines whether or not hydrogen filling from the hydrogen filling device 3 to the own vehicle has failed from the monitoring result. If the notification processing unit 107 determines that the hydrogen charging has failed, the notification processing unit 107 notifies the center 4 that the hydrogen filling has failed.

  The center 4 that has received this notification may be configured such that an operator or the like recognizes the hydrogen filling abnormality of the vehicle FCV and performs measures such as investigation and repair. According to this, during the hydrogen filling of the vehicle FCV, it is possible to determine an abnormality in the hydrogen filling on the vehicle side and to quickly take a measure for the abnormality. In addition, when the success / failure determination unit 106 determines that the hydrogen filling of the host vehicle has failed, the driver may be notified of the abnormality of the host vehicle via the HMI of the host vehicle.

  According to the configuration of the first embodiment, the vehicle FCV can be automatically moved from the entrance of the hydrogen station to the filling location of the hydrogen filling device 3. Therefore, it is possible to reduce the trouble of moving the vehicle FCV from the entrance of the hydrogen station to the filling place of the hydrogen filling device 3. Further, according to the configuration of the first embodiment, it is possible to automatically fill the vehicle FCV that has reached the filling place of the hydrogen filling device 3 from the hydrogen filling device 3 with hydrogen. Therefore, even if a person qualified to fill hydrogen is not at the hydrogen station, the vehicle FCV can be easily filled with hydrogen.

(Embodiment 2)
In the first embodiment, the configuration in which the location information, the recommended route, and the movement map for the hydrogen filling device 3 are transmitted from the filling management device 2 is shown, but the configuration is not necessarily limited thereto. For example, it is good also as a structure which does not transmit the map for a movement from the filling management apparatus 2. FIG. In this case, the support ECU 10 may be configured to automatically drive the vehicle FCV to the filling location of the hydrogen filling device 3 without using the movement map.

  In addition, the configuration may be such that the recommended route is not transmitted from the filling management device 2. In this case, the support ECU 10 may create a route that passes through a section having a higher degree of preference as a travel route in the travel map as a recommended route. Moreover, it is good also as a structure which does not transmit a recommendation route and the map for a movement from the filling management apparatus 2. FIG. In this case, the support ECU 10 is configured to automatically drive the vehicle FCV to the filling position of the hydrogen filling device 3 from the position information about the hydrogen filling device 3 and the recognition result in the traveling environment recognition unit 100. Good.

(Embodiment 3)
In the first embodiment, the configuration in which the support ECU 10 automatically causes the vehicle FCV to travel from the entrance of the hydrogen station to the filling location of the hydrogen filling device 3 is not necessarily limited thereto. For example, it is good also as a structure made to drive | work from the entrance of a hydrogen station to the filling place of the hydrogen filling apparatus 3 by the manual drive of the driver of vehicle FCV.

(Embodiment 4)
In the first embodiment, the configuration in which the body ECU 16 performs control of the lid actuator 17 is shown, but the configuration is not necessarily limited thereto. For example, the support ECU 10 may be configured to control the lid actuator 17. In this case, the support ECU 10 may acquire the opening instruction from the hydrogen filling device 3 via the communication device 11.

(Embodiment 5)
In the first embodiment, a configuration is shown in which when the vehicle-side unit 1 determines that hydrogen filling from the hydrogen filling device 3 to the own vehicle has failed, the center 4 is notified of the hydrogen filling failure. However, this is not necessarily the case. For example, the configuration may be such that the center 4 is not notified of the hydrogen filling failure but the driver is informed of the abnormality of the own vehicle via the HMI of the own vehicle. Moreover, it is good also as a structure which does not determine with the vehicle side unit 1 but the hydrogen filling apparatus 3 side that the hydrogen filling from the hydrogen filling apparatus 3 to the own vehicle has failed. In this case, the configuration may be such that the center 4 is notified from the hydrogen filling device 3 via the filling management device 2.

(Embodiment 6)
In the first embodiment, the configuration in which the filling port and the ejection port 33a are aligned using the first filling map and the second filling map is shown, but the configuration is not necessarily limited thereto. For example, by subdividing the division of the first filling map, without using the second filling map, the details of the filling port and the outlet 33a in the X-axis direction and the Z-axis direction of the hydrogen filling device 3 can be described. It is good also as a structure which enables alignment. Even when this configuration is adopted, the XZ plane map may be used to align the filling port and the ejection port 33a in the Y-axis direction and the Z-axis direction of the hydrogen filling device 3.

(Embodiment 7)
Moreover, it is good also as a structure which aligns with the filling port and the jet nozzle 33a, without using either the map for 1st filling, and the map for 2nd filling. In this case, the following may be performed as an example. First, the position of the filling port in the captured image specified by the first position specifying unit 303 or the second position specifying unit 307, and the position in the captured image stored in the control unit 30 and the ejection port 33a are moved. The positional relationship between the filling port and the ejection port 33a in the captured image or in the actual three-dimensional space is obtained from the corresponding relationship with the actual coordinates to be performed. Subsequently, the driving amount of the driving unit 34 for aligning the filling port and the ejection port 33a is calculated from the obtained positional relationship. And the drive control part 305 drives the drive part 34 according to the calculated drive amount, and just aligns with the filling port and the jet nozzle 33a.

(Embodiment 8)
In Embodiment 1, although the structure which can move the jet nozzle 33a to any of the XYZ axial directions orthogonal to each other was shown, it is not necessarily limited to this. For example, in the case of a configuration in which the target is focused on a vehicle type with a constant filling port height, the jet port 33a may be configured not to move in the Z-axis direction (that is, the height direction of the hydrogen filling device 3).

(Embodiment 9)
Moreover, it is good also as a structure by which the filling management apparatus 2 bears the function of the communication part 31 of the hydrogen filling apparatus 3. FIG. In this case, the filling management device 2 manages the vehicle-side unit 1 of the vehicle FCV and the hydrogen filling device 3 in which the vehicle FCV is filled with hydrogen by using the identification information of the two, and the corresponding vehicle side Information exchange between the unit 1 and the hydrogen filling device 3 may be mediated. In this case, the hydrogen filling device and the hydrogen filling management device correspond to the hydrogen filling device recited in the claims. When only one hydrogen filling device 3 is installed in the hydrogen station, the hydrogen filling device 3 may have a function of the filling management device 2.

  Note that the present invention is not limited to the above-described embodiments, and various modifications are possible within the scope shown in the claims, and can be obtained by appropriately combining technical means disclosed in different embodiments. Embodiments are also included in the technical scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Vehicle side unit, 2 Filling management apparatus, 3 Hydrogen filling apparatus, 4 center, 5 Hydrogen filling system, 10 Support ECU, 11 Communication apparatus (vehicle side communication part), 16 Body ECU (opening / closing control part), 31 Communication part ( Equipment side communication unit), 33 ejection unit, 33a ejection port, 34 drive unit, 35 first camera (imaging unit), 36 second camera (imaging unit), 102 automatic operation function unit (automatic traveling unit), 104 information acquisition Unit, 106 success / failure determination unit, 107 notification processing unit, 303 first position specifying unit (position specifying unit), 304 first map generating unit (filling map generating unit), 305 drive control unit, 307 second position specifying unit ( Position specifying unit), 308 second map creating unit (filling map creating unit), 309 indicating unit, 310 filling processing unit

Claims (8)

A vehicle side unit (1) used in a fuel cell vehicle using hydrogen as fuel;
A hydrogen filling device (3) installed in a hydrogen filling facility for filling the fuel cell vehicle with hydrogen,
The hydrogen filling device includes:
A facility-side communication unit (31) for communicating with the vehicle-side unit;
An ejection port (33a) for ejecting hydrogen;
A drive unit (34) capable of moving the position of the jet port;
An imaging unit (35, 36) for imaging a predetermined range on the side facing the jet port;
The vehicle side unit is:
A vehicle side communication unit (11) for communicating with the hydrogen filling device;
An opening / closing control unit (16) for controlling opening / closing of a filling port of the fuel cell vehicle for filling hydrogen,
The hydrogen filling device includes:
A position specifying unit (303, 307) for specifying the position of the filling port of the fuel cell vehicle based on a captured image obtained by imaging the fuel cell vehicle by the imaging unit;
An instruction unit (309) for sending an opening instruction for opening the filling port to the opening / closing control unit via the facility side communication unit and the vehicle side communication unit;
A drive control unit (305) for controlling the drive unit and automatically aligning the jet port with the position of the filling port specified by the position specifying unit;
After sending the opening instruction by the instructing unit and after the alignment by the drive control unit, hydrogen is automatically ejected from the ejection port to the filling port to automatically fill the fuel cell vehicle with hydrogen. A hydrogen filling system further comprising a filling processing unit (310). In claim 1,
The drive unit is a hydrogen filling system capable of moving the position of the jet port in any of three axial directions orthogonal to each other. In claim 1 or 2,
The vehicle side unit is:
A success / failure determination unit (106) for determining success / failure of hydrogen filling the fuel cell vehicle;
A hydrogen filling system comprising: a notification processing unit (107) for notifying the center (4) outside the fuel cell vehicle when the success / failure determination unit determines that the fuel cell vehicle has failed to be charged with hydrogen. In any one of Claims 1-3,
The hydrogen filling device includes:
The injection port is defined as a plurality of sections obtained by dividing the captured image into a plurality of sections based on a captured image obtained by capturing the fuel cell vehicle by the imaging section and the position of the filling opening specified by the position specifying section. A filling map creating unit (304, 308) for creating a filling map that is a map representing a preferable degree as a guide route to be moved to the position of
The drive control unit controls the drive unit so that the jet port moves in a section having a higher degree of preference as the guide path in the filling map, thereby specifying the filling port specified by the position specifying unit. A hydrogen filling system for automatically aligning the jet outlet at the position of In any one of Claims 1-4,
The vehicle side unit is:
An information acquisition unit (104) for acquiring position information of a filling place where the hydrogen filling device fills the fuel cell vehicle with hydrogen at a predetermined starting position of the hydrogen filling facility;
A hydrogen filling system comprising: an automatic travel unit (102) for automatically traveling the fuel cell vehicle from the starting position to the filling location. In claim 5,
A plurality of the hydrogen filling devices are installed in the hydrogen filling facility,
The said information acquisition part is a hydrogen filling system which acquires the positional information on the said filling place about one hydrogen filling apparatus which is not in use among the said hydrogen filling apparatuses installed in the said hydrogen filling equipment. In claim 5 or 6,
In addition to the location information of the filling location, the information acquisition unit represents a preferable degree as a moving route for moving the fuel cell vehicle to the filling location in a unit of division into which the area of the hydrogen filling facility is divided into a plurality of divisions. To get a map for movement that is
The automatic travel unit is configured to move the fuel cell vehicle so that the fuel cell vehicle moves in a section having a higher degree of preference as the movement route in the movement map in an area in which the fuel cell vehicle can move. A hydrogen filling system that automatically travels from the starting position to the filling location. A hydrogen filling device installed in a hydrogen filling facility for supplying hydrogen to a fuel cell vehicle using hydrogen as a fuel,
A facility side communication unit (31) for communicating with the fuel cell vehicle;
An ejection port (33a) for ejecting hydrogen;
A drive unit (34) capable of moving the position of the jet port;
An imaging unit (35, 36) for imaging a predetermined range on the side facing the jet port;
A position specifying unit (303, 307) for specifying a position of a filling port for filling hydrogen of the fuel cell vehicle based on a captured image obtained by imaging the fuel cell vehicle by the imaging unit;
An instruction unit (309) for sending an opening instruction for opening the filling port from the facility side communication unit to the fuel cell vehicle;
A drive control unit (305) for controlling the drive unit and automatically aligning the jet port with the position of the filling port specified by the position specifying unit;
After sending the opening instruction by the instructing unit and after the alignment by the drive control unit, hydrogen is automatically ejected from the ejection port to the filling port to automatically fill the fuel cell vehicle with hydrogen. A hydrogen filling apparatus comprising a filling processing unit (310).