KR20240109022A - Charging gun for electric vehicle, robot charging apparatus for electric vehicle and charging of electric vehicle using the same - Google Patents

Abstract

The present invention relates to a robot charging device for electric vehicles and a method of charging an electric vehicle using the same. When retrieving the charging key from a fully charged electric vehicle, the position of the charging key can be accurately confirmed using a marker, allowing multiple electric vehicles to be connected to a single robot. By preventing malfunctions when charging, it is possible to reliably charge multiple electric vehicles and maximize the efficiency of the electric vehicle charging system.

Description

Robot charging device for electric vehicles and method of charging electric vehicles using the same {CHARGING GUN FOR ELECTRIC VEHICLE, ROBOT CHARGING APPARATUS FOR ELECTRIC VEHICLE AND CHARGING OF ELECTRIC VEHICLE USING THE SAME}

The present invention relates to a robot charging device for electric vehicles and a charging method for electric vehicles using the same. More specifically, the present invention relates to a robot charging device for electric vehicles that can charge multiple electric vehicles with one robot and a charging method for electric vehicles using the same.

The importance of using alternative energy is emerging due to environmental pollution problems caused by excessive use of fossil fuels, increase in automobiles and population, and expansion of industrial facilities.

In addition, automobiles, which are a means of transportation, are driven by internal combustion engines using fossil fuel, petroleum, so in recent years, the development and demand for electric vehicles to replace existing internal combustion engine vehicles has been gradually increasing.

Since electric vehicles are configured to drive the power system using electricity stored in the battery, they are equipped with a battery that can supply the electricity necessary for vehicle operation, and are driven by frequently charging the battery mounted on the vehicle.

Instead of gas stations for internal combustion engine vehicles, electric vehicles park at electric vehicle charging stations and then use wired chargers to charge their batteries.

However, the conventional electric vehicle charging device includes a wired charger equipped with a charging body and a charging terminal connected to the charging body with a charging cable, so that the user holds the wired charger with his or her hand, connects the wired charger to the charging terminal of the electric vehicle, and disconnects it after charging. There was a hassle that had to be done.

In addition, wired chargers equipped with charging terminals are used by the elderly and female drivers due to the increase in volume and weight of the charging device (e.g. charging gun and cable, etc.) as the charging capacity increases (e.g., 50kW class → 100kW class). There is an inconvenient problem.

In addition, charging an electric vehicle has the disadvantage that it takes significantly longer to charge compared to the time it takes to refuel at a gas station, and it takes a lot of additional time for the user to hold the charger of the wired charger, connect it to the charging terminal of the electric vehicle, and disconnect it after charging. , it was inconvenient for users to constantly check the charging status.

Accordingly, an unmanned electric vehicle charging device that uses an electric vehicle charging robot to charge a vehicle unmanned has been proposed, such as Korean Patent Registration No. 1410272, “Electric Vehicle Charging Robot.”

Korean Patent Registration No. 1410272, “Electric Vehicle Charging Robot,” moves along an unmanned driving path to charge electric vehicles parked in a parking lot and automatically checks the battery status.

However, Korean Patent Registration No. 1410272, “Electric Vehicle Charging Robot,” can only charge one vehicle parked in a parking lot, so when multiple electric vehicles are parked in a parking lot, one must be assigned to each electric vehicle.

Korean Patent Registration No. 1410272 “Electric vehicle charging robot” (registered on June 16, 2014)

The purpose of the present invention is to provide a robot charging device for electric vehicles that can charge multiple electric vehicles with one robot, thereby reducing the charging waiting time when charging an electric vehicle and improving charging efficiency, and a method of charging an electric vehicle using the same. .

Another object of the present invention is to provide a robot charging device for an electric vehicle that can accurately confirm the position of the charging key using a marker when retrieving the charging key from a fully charged electric car, and a method of charging an electric car using the same.

In order to achieve the object of the present invention described above, an embodiment of the robot charging device for an electric vehicle according to the present invention is connected to the charging control main body with a charging cable and is combined with the charging terminal of the electric vehicle to charge the battery of the electric vehicle. A plurality of charging keys provided with a marker unit, an electric vehicle charging robot capable of holding or placing the charging keys mounted on the charging control main body, and an electric vehicle charging robot capable of holding or placing the charging keys mounted on the charging control main body. , a terminal position detection unit provided in the electric vehicle charging robot and confirming the position of the charging terminal by photographing the charging terminal; provided in the electric vehicle charging robot so that the charging gun unit is coupled to the charging terminal. a force-torque (F/T) sensor unit that detects the force and torque transmitted to the electric vehicle charging robot; and a marker confirmation camera unit provided in the electric vehicle charging robot and recognizing the marker unit, wherein when the direction in which the charging gun unit is coupled to the charging terminal is the Y-axis direction, the optical axis of the terminal position detection unit is the Y-axis. direction, and the optical axis of the marker confirmation camera unit is characterized in that the Z-axis direction.

In addition, in order to achieve the object of the present invention described above, another embodiment of the robot charging device for an electric vehicle according to the present invention is connected to the charging control main body with a charging cable, and is combined with the charging terminal of the electric vehicle to charge the battery of the electric vehicle. It includes a plurality of charging key units for charging, an electric vehicle charging robot capable of holding or placing the charging key mounted on the charging control main body, and a robot control unit that controls the operation of the electric vehicle charging robot, wherein the charging key unit includes a marker unit. The electric vehicle charging robot is equipped with a marker confirmation camera unit that recognizes the marker unit, and the robot control unit detects the marker when the charging key coupled to the charging terminal is held again by the electric vehicle charging robot. It is characterized in that the location of the charging gun unit is confirmed by recognizing the marker unit with a confirmation camera unit.

In the present invention, the electric vehicle charging robot includes a robot body portion including a plurality of arm portions rotating around joints, a jig portion for combining a charger located at an end of the robot body portion and capable of holding or placing a charging gun, and the robot body. It includes a robot moving part that moves the unit, and the charging gun part is provided with a charging coupler held by the jig part for coupling the charger, and the marker part may be located on the upper surface of the charging coupler.

In the present invention, the electric vehicle charging robot includes a terminal position detection unit that checks the position of the charging terminal of the electric vehicle, and the robot control unit holds the charging gun mounted on the charging control main body as the electric vehicle charging robot and charges the charging target. When coupled to the charging terminal of an electric vehicle, the position of the charging terminal can be confirmed using the terminal position detection unit.

In the present invention, the terminal position detection unit may include a 3D sensor that detects the shape of the charging terminal and a terminal photographing camera unit that photographs the charging terminal.

In the present invention, the robot control unit holds the charging gun with the electric vehicle charging robot, couples it to the charging terminal of the electric vehicle, and then stores the position of the charging gun in the state of being coupled to the charging terminal when the held charging gun is released. , the robot control unit moves the electric vehicle charging robot to the marker recognition position set through the first or second position when holding the charging key placed by the electric vehicle charging robot again and returning it to its original position. The marker unit can be photographed using the marker confirmation camera unit.

In the present invention, the robot control unit repeatedly moves the electric vehicle charging robot so that the relative position from the marker confirmation camera unit to the center of the marker unit is within a preset distance range in the X-axis direction and within a preset distance range in the Y direction. , if all are satisfied within the preset distance range in the Z direction, within the preset angle range in the Rx rotation direction, within the preset angle range in the Ry rotation direction, and within the preset angle range in the Rz rotation direction, recognition of the marker unit is terminated. Then, the movement of the electric vehicle charging robot can be stopped and the electric vehicle charging robot can be positioned at the recovery position of the charging gun unit.

In the present invention, the robot control unit stores the motion path of the electric vehicle charging robot as a charging robot motion path when the electric vehicle charging robot holds the charging gun and couples it to the charging terminal of the electric vehicle, and the robot control unit stores the motion path of the electric vehicle charging robot as the charging robot motion path. By interpolating the amount of change in the pre-stored charging robot motion path based on the recovery position of the charging gun unit, a recovery motion path of the charging robot for recovering the charging gun unit is generated, and the electric vehicle charging robot is moved into a recovery motion. The charging unit can be recovered by operating it in a path.

In addition, in one embodiment of the electric vehicle charging method according to the present invention, an electric vehicle charging robot grabs one of the plurality of charging terminals on stand and couples it to the charging terminal of the electric vehicle, and places the held charging terminal to charge the other terminal. A charging gun combining step of charging a plurality of electric vehicles by holding the gun portion and coupling it to the charging terminal of another electric vehicle; And a charging gun recovery step of re-grabbing the charging gun placed by the electric vehicle charging robot, separating it from the charging terminal of the electric vehicle, and returning it to its original position, wherein the charging gun recovery step involves removing the charging gun in a state of being coupled to the charging terminal. When the electric vehicle charging robot grasps the key again, the marker provided on the charging key is photographed and recognized by a marker confirmation camera unit provided on the electric vehicle charging robot to confirm the position of the charging key.

In the present invention, the charging gun coupling step is a charging gun gripping process in which the electric vehicle charging robot grasps the charging gun mounted on the charging control main body, and after the charging gun gripping process, the electric vehicle charging robot is moved to the charging terminal of the electric vehicle for charging. It may include a terminal position confirmation process for confirming the position of the terminal, and a charging gun connection process for coupling the charging gun unit by moving the charging terminal with an electric vehicle charging robot after the terminal position confirmation process.

In the present invention, the terminal location confirmation process involves moving the electric vehicle charging robot closer to the charging terminal, photographing the charging terminal with a terminal photographing camera unit provided on the electric vehicle charging robot, and moving the charging gun to a preset coupling preparation position. After the first charging terminal recognition process and the first charging port location confirmation step, the second charging terminal recognition is performed by simultaneously utilizing the 3D sensor and terminal photographing camera unit provided in the electric vehicle charging robot to move the charging gun unit to the preset final coupling position. Process may be included.

In the present invention, the charging gun recovery step is a marker recognition process of recognizing the marker unit by taking a picture with the marker confirmation camera unit, and the electric vehicle charging robot is selected through the relative position from the marker confirmation camera unit to the center of the marker unit. A robot position adjustment process for moving the part to the final retrieval position for re-capturing, a retrieval motion path creation process for generating a retrieval motion path for the electric vehicle charging robot after the robot position adjustment process, and a retrieval motion path creation process. It may include a charging gun retrieval process in which the motion of the electric vehicle charging robot is controlled using the retrieval motion path, and the charging gun unit is re-captured and returned to its original position.

In the present invention, the robot position adjustment process involves repeatedly moving the electric vehicle charging robot so that the relative position from the marker confirmation camera unit to the center of the marker unit is within a preset distance range in the X-axis direction and within a preset distance range in the Y direction. , if all are satisfied within the preset distance range in the Z direction, within the preset angle range in the Rx rotation direction, within the preset angle range in the Ry rotation direction, and within the preset angle range in the Rz rotation direction, recognition of the marker unit is terminated. can do.

In the present invention, the charging gun coupling step stores the motion path of the electric vehicle charging robot generated in the process of coupling the charging gun unit to the charging terminal as a charging robot motion path, and the recovery motion path generating process is The stored change in the motion path of the charging robot can be interpolated based on the final recovery position to generate a motion path for retrieving the charging robot for retrieving the electric vehicle.

In the present invention, the charging gun coupling step further includes a charging position storage process of storing the position of the charging gun coupled to the charging terminal in the robot control unit that controls the operation of the electric vehicle charging robot when releasing the held charging gun, The charging gun recovery step sets a marker recognition position that can recognize the marker unit as the marker confirmation camera unit using the position of the charging gun unit previously stored in the charging position storage process, and sets the electric vehicle charging robot to the marker A marker recognition position movement process may be further included to move the marker to the recognition position.

In the present invention, the charging gun recovery step may further include an initial position movement process of moving the electric vehicle charging robot to the initial position for recovering the charging gun for each type of electric vehicle before the marker recognition process.

The present invention can charge multiple electric vehicles with one robot, which has the effect of reducing charging waiting time and improving charging efficiency when charging electric vehicles.

In addition, the present invention allows the position of the charging key to be accurately confirmed through a marker when retrieving the charging key from a fully charged electric vehicle, preventing malfunctions when charging multiple electric vehicles using one robot, thereby stably charging multiple electric vehicles. It is possible to charge electric vehicles and has the effect of maximizing the efficiency of the electric vehicle charging system.

Figure 1 is a perspective view showing an embodiment of a robot charging device for an electric vehicle according to the present invention.
Figures 2 and 3 are enlarged perspective views showing an embodiment of an electric vehicle charging robot in the electric vehicle robot charging device according to the present invention.
Figure 4 is a flow chart showing an embodiment of the electric vehicle charging method according to the present invention.

The present invention will be described in more detail.

A preferred embodiment of the present invention will be described in detail with the accompanying drawings as follows. Prior to the detailed description of the present invention, the terms or words used in the specification and claims described below should not be construed as limited to their ordinary or dictionary meanings. Therefore, the embodiments described in this specification and the configurations shown in the drawings are only the most preferred embodiments of the present invention and do not represent the entire technical idea of the present invention, so various equivalents that can replace them at the time of filing the present application It should be understood that variations and variations may exist.

Figure 1 is a perspective view showing an embodiment of a robot charging device for an electric vehicle according to the present invention, and Figures 2 and 3 are an embodiment of the electric vehicle charging robot 200 in the robot charging device for an electric vehicle according to the present invention. This is an enlarged perspective view.

In more detail, Figure 2 is a diagram showing an example in which the electric vehicle charging robot 200 and the charging gun unit 100 are separated, and Figure 3 shows an example in which the electric vehicle charging robot 200 holds the charging gun unit 100. It is a drawing.

An embodiment of a robot charging device for an electric vehicle according to the present invention will be described in detail below with reference to FIGS. 1 to 3.

One embodiment of the electric vehicle (1) charging device according to the present invention is connected to the charging control main body 10 with a charging cable (100a), and is combined with the charging terminal of the electric vehicle (1) to battery the electric vehicle (1). It includes a plurality of charging gun parts (110, 120) for charging.

The charging control main body 10 is a charging station that controls charging of the electric vehicle 1, and is equipped with a display unit that displays the charging time, charging amount, etc. and a charging gun holder on which the charging gun unit 100 can be mounted. It is a known device. A more detailed explanation will be omitted.

The charging control main body 10 is provided in plurality equal to the number of charging gun units 100, and is positioned at a plurality of parking positions in the charging station, and the plurality of charging gun units 110 and 120 are individually connected, as an example. do.

Although not shown, the charging control main body 10 includes a plurality of charging control units (not shown) capable of controlling the operation of the charging gun unit 100 and a plurality of charging gun units 110 and 120 capable of individually mounting them. It may have a structure in which a plurality of charging gun units (110, 120) are connected and mounted by providing a charging gun mounting unit (not shown).

That is, the plurality of charging gun units 110 and 120 may be configured to be individually connected to a plurality of charging control main units 11 and 12, or may be configured to be connected to one charging control main unit 10. .

The plurality of charging units 110 and 120 are coupled to the charging terminal of the electric vehicle 1 by the electric vehicle charging robot 200 to charge the electric vehicle 1.

The electric vehicle charging robot 200 grabs one of the plurality of charging gun parts 110 and 120 and couples it to the charging terminal of one electric vehicle 1a, and places one charging gun part 110 thereon. A plurality of electric vehicles 1a and 1b can be charged at the same time by holding another charging gun part 120 among the plurality of charging gun parts 110 and 120 and connecting it to the charging terminal of another electric car 1b.

Then, after the charging of the electric vehicle 1 is completed, the electric vehicle charging robot 200 re-holds the charging gun unit 100 coupled to the charging terminal, separates it from the charging terminal, and returns it to its original position, that is, the charging control main unit. Mount it again to the mounting part in (10).

The electric vehicle charging robot 200 includes a robot body 210 including a plurality of arm parts 211 that rotate around joints, and is located at the end of the robot body 210 to hold or place the charging gun 100. It includes a jig part 220 for combining a charger and a robot moving part 230 that moves the robot body part 210.

The robot moving unit 230 may be mounted and installed on the ceiling of the charging station. In addition, as an example, it may be mounted on a vertical support, etc., and although not shown, it may also be installed on the ground of the charging station.

The robot moving unit 230 includes a first robot linear moving unit 231 that moves the robot main body 210 in the X-axis direction, and a second robot linear moving unit that moves the robot main body 210 in the Y-axis direction ( 232) may be included.

As an example, the second robot linear moving unit 232 moves the first robot linear moving unit 231 in the Y-axis direction, and the robot main body 210 moves the first robot linear moving unit 231 in the It moves in the axial direction and can be moved in the Y-axis direction by the second robot linear moving unit 232, which moves the first robot linear moving unit 231 in the Y-axis direction.

The second robot linear moving unit 232 moves the robot main unit 210 holding the charging gun unit 100 forward and backward linearly toward the charging terminal of the electric vehicle 1b, thereby moving the charging gun unit 100 to the charging terminal. It can be coupled to or the charging gun unit 100 can be separated from the charging terminal.

The first robot linear movement unit 231 moves the robot main body 210 back and forth between the charging control main body 10 and the electric vehicle 1, that is, the robot main body 210 moves the electric vehicle 1. ) as an example, the second robot linear movement unit 232 moves the robot main body 210 in the longitudinal direction of the electric vehicle 1, and the first robot linear movement unit 231 ) is moved in the longitudinal direction of the electric vehicle 1 so that the robot main body 210 can be moved in the longitudinal direction of the electric vehicle 1.

The robot body unit 210 is moved forward and backward by the robot moving unit 230, and is moved left and right to connect the charging gun unit 100, which is mounted on the charging control main unit 10, to the jig unit 220 for combining the charger. It can be held, and the charging gun part 100 held by the charger coupling jig part 220 can be coupled to the charging terminal of the electric vehicle 1.

In addition, the robot moving unit 230 further includes a robot lifting and lowering unit 233 that moves the robot main body 210 up and down.

The robot lifting and lowering unit 233 moves the robot main body 210 in a straight line in the Z-axis direction to adjust the height of the charging gun unit 100 connected to the charging terminal of the electric vehicle 1, so that the height of the charging gun unit 100 increases. Match the height of the charging terminal of the electric vehicle (1) to be charged.

As an example, the robot lifting and lowering unit 233 is a hydraulic cylinder, and in addition, it includes a ball screw-type linear actuator, a rack gear, and a pinion gear engaged with the rack gear and rotated by a motor to convert the rotational force of the motor into linear movement. It should be noted that it can be implemented in various modifications using known lifting and lowering devices such as and pinion structures, and a more detailed description will be omitted.

The robot moving unit 230 is installed on the ceiling side, that is, on the upper side of the charging station, and moves the robot main unit 210 from the charging control main unit 10 to the electric vehicle 1 side and is held by the robot main unit 210. The charging gun unit 100 is coupled to the charging terminal of the electric vehicle (1).

The robot moving unit 230 may be mounted and installed on the ceiling of the charging station. In addition, as an example, it may be mounted on a vertical support, etc., and although not shown, it may also be installed on the ground of the charging station.

In addition, the robot body 210 is an articulated robot that includes a plurality of arm parts 211 and a plurality of joints connecting the plurality of arm parts 211, and has a structure in which the arm part 211 rotates around each joint. Take a known 6-axis robot as an example.

A 6-axis robot is known as a structure in which the robot arm can rotate in 6 axes and has joints that can perform movements similar to human shoulders, arms, elbows, and wrists, allowing it to move similarly to human movements. Please note that detailed explanations are omitted.

The charging gun unit 100 is provided with a charging coupler 100b held by the charger coupling jig part 220, and the charger coupling jig part 220 holds or places the charging coupler 100b to hold the charging gun unit 100. ) is held or released.

The charger coupling jig portion 220 includes a pair of jig members 221 that hold both sides of the charging coupler 100b, and the pair of jig members 221 move in directions facing each other to narrow the gap or As an example, hold or place both sides of the charging coupler (100b) while moving in opposite directions and widening the gap.

Although not shown, the charger coupling jig part 220 may include a jig moving part (not shown) that moves the pair of jig members 221 in a direction facing each other or moves them away from each other.

The jig moving part (not shown) is screwed through a pair of jig members 221 and includes screws that are screwed in opposite directions and rotated by a motor.

The pair of jig members 221 are screwed to the screw in opposite directions and move in directions facing each other or in opposite directions depending on the rotation direction of the screw, so that the gap between them can hold or place the charging coupler 100b.

The charging coupler 100b is provided with gripping grooves 100c on both sides, and the pair of jig members 221 have gripping grooves 100c formed on both sides of the charging coupler 100b on surfaces facing each other. The gripping protrusion 221a, which can be coupled to the gripping protrusion 221a, protrudes, and the gripping protrusion 221a is formed in a tapered outer surface so that it is smoothly coupled into the gripping groove 100c to stably form the charging coupler 100b. You can catch it.

In addition, the electric vehicle charging robot 200 is provided between the jig part 220 for coupling the charger and the robot body 210 and detects the force generated from the jig part 220 for coupling the charger. T) further includes a sensor unit 250.

The force torque (F/T) sensor unit 250 is connected to the robot when the charging gun unit 100 is coupled to the charging terminal of the electric vehicle 1 while the charger coupling jig unit 220 holds the charging gun unit 100. By detecting the torque and force transmitted to the main body 210, the charging gun 100 can be accurately coupled to the charging terminal with appropriate force.

The force/torque (F/T) sensor unit 250 is a known 6-axis force/torque sensor that can detect force and torque transmitted to the robot when the robot operates, and further detailed description will be omitted.

The electric vehicle charging robot 200 uses force control technology through the force measured through the force-torque (F/T) sensor unit 250 to connect the charging gun unit 100 to the charging terminal of the electric vehicle 1 with appropriate force. Ensure that it can be accurately combined with .

Meanwhile, the electric vehicle charging robot 200 includes a terminal position detection unit 260 that checks the position of the charging terminal of the electric vehicle 1 and accurately couples the charging gun unit 100 to the charging terminal of the electric vehicle 1. Make it possible to do it.

The terminal position detection unit 260 confirms the position of the charging terminal of the electric vehicle 1, which is the object of charging, so that the charging gun unit 100 can be accurately coupled to the charging terminal of the electric vehicle 1.

The terminal position detection unit 260 includes a 3D sensor 261 that detects the shape of the charging terminal and a terminal photographing camera unit 262 that photographs the charging terminal.

The terminal utilization camera unit 262 has an optical axis in the Y-axis direction and can accurately photograph the shape of the charging terminal in the moving direction of the charging gun unit 100, which is moved to the second robot linear moving unit 232.

That is, the terminal utilization camera unit 262 has an optical axis in the Y-axis direction and can accurately photograph the shape of the charging terminal in the Y-axis direction where the charging gun unit 100 is coupled to the charging terminal.

In addition, the terminal position detection unit 260 further includes an illumination lamp unit 263 that generates light, and illuminates the charging terminal of the electric vehicle 1 with the lighting lamp unit 263, thereby providing a camera unit 262 for photographing the terminal even at night. ), you can take a picture of the charging terminal and check it.

It should be noted that the 3D sensor 261 is a known 3D sensor capable of detecting the shape of a sensing object, and further detailed description will be omitted.

In addition, the camera unit 262 for photographing a terminal is an industrial vision camera as an example, and may be implemented in various modifications to known cameras capable of photographing a charging terminal provided in an electric vehicle.

The location of the charging terminal of the electric vehicle 1 to be charged is confirmed by the 3D sensor and the camera unit 262 for photographing the terminal.

In addition, the charging gun unit 100 is provided with a marker unit 101, and the electric vehicle charging robot 200 recognizes the marker unit 101 and uses a marker confirmation camera unit 240 to confirm the location of the charging gun unit 100. ) is provided.

The marker unit 101 may be a two-dimensional marker or a three-dimensional marker, and in the present invention, an example is a two-dimensional marker located on a plane.

The marker confirmation camera unit 240 checks the marker unit 101 to confirm the location of the charging terminal coupled to the charging terminal of the electric vehicle 1.

The marker unit 101 is located on the upper surface of the charging coupler 100b, and the position of the charging coupler 100b held by the charger coupling jig unit 220 can be accurately confirmed using the marker confirmation camera unit 240.

The charger coupling jig part 220 holds the charging coupler 100b or places the charging coupler 100b as the robot main body 210 moves linearly in the Z-axis direction by the robot lifting and lowering part 233.

The marker unit 101 is positioned in a plane on the upper surface of the charging coupler 100b, and the marker confirmation camera unit 240 has an optical axis different from the position detection unit 260, for example, an optical axis in the Z-axis direction. As the robot main body 210 moves linearly in the Z-axis direction by (233), the marker part 101 can be accurately photographed and recognized when the charger coupling jig part 220 catches the charging coupler 100b. .

The terminal position detection unit 260 holds the charging gun unit 100 mounted on the charging control main body 10 by the electric vehicle charging robot 200 and connects it to the charging terminal of the electric vehicle 1 to be charged. ) Check the location of the charging terminal.

Then, the electric vehicle charging robot 200 couples the charging gun unit 100 to the charging terminal of one electric vehicle 1a, places the charging gun unit 100, grabs the other charging gun unit 100 that is being held, and connects the charging gun unit 100 to the charging terminal of one electric vehicle 1a. It can be coupled to the charging terminal of (1b), and by repeating this, multiple electric vehicles (1a, 1b) can be charged simultaneously.

That is, the electric vehicle charging robot 200 couples the charging gun unit 100 to the charging terminal of the electric vehicle 1 and then places the charging gun unit 100 held to charge the other electric vehicle 1b, and places the charging gun 100 on the charging terminal. When charging of the electric vehicle 1 is completed, the charging gun unit 100 that was placed is held again, separated from the charging terminal, and returned to the charging control main unit 10.

The position of the charging terminal 100 coupled to the charging terminal of the electric vehicle 1 is determined by the location of the electric vehicle 1 parked for charging, the vehicle model of the electric vehicle 1, and the charging terminal of the electric vehicle charging robot 200. It varies for reasons such as the direction of the force generated when placing (100), the tension of the charging cable (100a), and the movement of the charging cable (100a) due to the force generated when placing the charging case.

The marker unit 101 and the camera unit 240 for checking the marker are connected to the charging terminal when the charging gun unit 100 placed by the electric vehicle charging robot 200 is held again by the charger coupling jig unit 220. It allows you to accurately check the location of (100).

In addition, although not shown, the robot charging device for an electric vehicle according to the present invention further includes an electric vehicle recognition unit (not shown) that confirms that the electric vehicle 1 to be charged is stopped at the charging position within the charging station.

The electric vehicle recognition unit (not shown) is a license plate recognition camera that recognizes the license plate of the electric vehicle (1) when the electric vehicle (1) enters the charging station, and an electric vehicle position detection that confirms that the electric vehicle (1) is parked at the parking position in the charging station. Includes wealth.

The license plate recognition camera is a known structure that recognizes the license plate of a car using a camera in a parking facility, and can be implemented in various modifications, and the electric vehicle position detection unit is a known detection structure that recognizes cars parked within a designated parking line. It can be implemented in various modifications.

The robot charging device for an electric vehicle according to the present invention includes a robot control unit 300 that controls the operation of the electric vehicle charging robot 200.

The terminal position detection unit 260 and the marker confirmation camera unit 240 are located in the charger coupling jig unit 220 that substantially holds the charging gun unit 100, and are connected to the charger coupling jig unit 220 and the charger coupling jig. The relative positions between the charging couplers held by the unit 220 can be confirmed.

The robot control unit 300 uses the information received from the electric vehicle recognition unit, force torque (F/T) sensor unit 250, terminal position detection unit 260, and marker confirmation camera unit 240 to form an electric vehicle charging robot (200). ), that is, controls the operation of the robot main body 210, the jig part 220 for combining the charger, and the robot moving part 230.

When the electric vehicle recognition unit detects that the electric vehicle 1 is parked in a parking position within the charging station, the robot control unit 300 operates the electric vehicle charging robot 200 to place the charging gun unit 100 on the charging terminal of the electric vehicle 1. is combined to charge the electric vehicle (1), which is the object of charging, and when another electric vehicle (1b) is parked in the charging station while the electric vehicle (1) is being charged, the charging gun unit (100) that is being held is placed and the other charging gun unit (100) that is being held is held and the other electric vehicle (1b) is parked in the charging station. By connecting to the charging terminal of one electric vehicle (1b), a plurality of electric vehicles (1a, 1b) can be charged simultaneously.

In more detail, within the robot control unit 300, the positions of the plurality of charging units 110 and 120 in the mounted state, the shape of the charging terminal according to the vehicle type of the electric vehicle 1, and the shape of the charging port according to the position of the electric vehicle 1 Each of these is pre-stored.

In addition, the robot control unit 300 holds the charging gun unit 100 with the electric vehicle charging robot 200 and couples it to the charging terminal of the electric vehicle 1. When releasing the held charging gun unit 100, the robot control unit 300 holds the charging gun unit 100 and couples it to the charging terminal. The position of the charging gun unit 100 is stored.

And, the shape of the corresponding charging terminal according to the position of the electric vehicle 1 is learned through deep learning and stored in the robot control unit 300.

When the first electric vehicle 1a is parked at the first parking position in the charging station, the robot control unit 300 moves the first charging unit 110, which is mounted at the position closest to the first electric vehicle 1a, to the electric vehicle charging robot 200. ) and connect it to the charging terminal of the first electric vehicle (1a).

The robot control unit 300 pre-stores the positions of the plurality of charging gun units 110 and 120 mounted on the charging control main body 10 and stores the first charging gun unit 110 mounted on the first charging control main body 11. ) can be caught by the electric vehicle charging robot 200, and the position of the charging terminal of the first electric vehicle 1a is detected using the 3D sensor 261 and the terminal photographing camera unit 262 to detect the first charging gun unit ( 110) can be accurately coupled to the charging terminal of the first electric vehicle 1a.

Here, the charging robot 200 according to the present invention can grip the charging key parts 110 and 120 through marker recognition. For example, marker recognition is a first method using the distance range in the At least one of the second methods using area can be used. Accordingly, the charging robot 200 according to the present invention can grip the charging key parts 110 and 120 with improved accuracy and speed. The first and second methods will be described later.

In addition, when the second electric vehicle (1b) is parked at the second parking position in the charging station while the first electric vehicle (1a) is charging, the robot control unit 300 controls the operation of the electric vehicle charging robot (200) to control the electric vehicle charging robot (200). 200) moves away from the first charging gun unit 110 and holds the second charging gun unit 120, which is mounted at the position closest to the second electric vehicle 1b, and couples it to the charging terminal of the second electric vehicle 1b. The first electric vehicle (1a) and the second electric vehicle (1b) are charged simultaneously.

The robot control unit 300 pre-stores the positions of the plurality of charging gun units 110 and 120 in the mounted state and controls the second charging gun unit 120 mounted on the second charging control main body 12 to the electric vehicle charging robot 200. ), and the position of the charging terminal of the second electric vehicle (1b) is detected using the 3D sensor 261 and the terminal photographing camera unit 262, and the second charging gun unit 120 is connected to the second electric vehicle (1b). ) can be accurately connected to the charging terminal.

The robot control unit 300 controls the motion path of the electric vehicle charging robot 200, which operates when the electric vehicle charging robot 200 holds the charging gun unit 100 and couples it to the charging terminal of the electric vehicle 1, to the charging robot motion. Save as path.

When the charging of the first electric vehicle (1a) is completed while the second electric vehicle (1b) is charging, the robot control unit 300 controls the operation of the electric vehicle charging robot 200 so that the electric vehicle charging robot 200 is connected to the second charging gun unit. (120) is placed and moved to hold the first charging gun unit (110) again and recover it from the charging terminal to the mounting portion of the first charging control body unit (11).

In addition, when the second electric vehicle (1b) is fully charged, the robot control unit 300 controls the operation of the electric vehicle charging robot 200 so that the electric vehicle charging robot 200 moves the first charging gun unit 110 that has been recovered. It is placed and moved, and the second charging gun unit 120 is held again and recovered from the charging terminal to the mounting part of the second charging control body unit 12.

That is, when the electric vehicle charging robot 200 places the first charging gun unit 110 or the second charging gun unit 120, the robot control unit 300 controls the first charging gun unit 110 coupled to the charging terminal. The location or the second position of the second charging gun unit 120 is stored.

And, when the robot control unit 300 re-holds the first charging gun unit 110 or the second charging gun unit 120 with the electric vehicle charging robot 200 and returns it to its original position, the robot control unit 300 sets the first position or the second position. After moving the electric vehicle charging robot 200 to the marker recognition position, the marker unit 101 is photographed with the marker confirmation camera unit 240, and the first charger coupled to the charging terminal is determined through the position of the marker unit 101. The position of the key unit 110 or the second charging key unit 120 can be accurately confirmed, and the first charging key unit 110 and the second charging key unit 120 can be accurately held again by the electric vehicle charging robot 200.

The marker recognition position is a position that can be recognized by photographing the marker unit 101 with the marker confirmation camera unit 240 and is preset based on the first or second position.

The robot control unit 300 repeatedly moves the electric vehicle charging robot 200 so that the relative position from the marker confirmation camera unit 240 to the center of the marker unit 101 is within a preset distance range in the X-axis direction and in the Y-direction. Within the preset distance range in the Z direction, within the preset angle range in the Rx rotation direction, within the preset angle range in the Ry rotation direction, and within the preset angle range in the Rz rotation direction are all satisfied. Recognition of the marker unit 101 is terminated, and the electric vehicle charging robot 200 is stopped at the recovery position of the charging key unit 100, that is, the recovery position of the first charging key unit 110 and the second charging key unit 120. .

Alternatively, the robot control unit 300 may repeatedly move the electric vehicle charging robot 200 to detect the marker unit 101 within the field of view (FOV) of the marker confirmation camera unit 240. At this time, the robot control unit 300 can determine the relative position and degree of inclination of the charging gun unit 100 using the shape and area information of the marker unit 101 obtained from the marker confirmation camera unit 240, and the obtained When the area and shape of the marker unit 101 satisfy the set range, recognition of the marker unit 101 is terminated, and the recovery location of the charged gun unit 100, that is, the first charged gun unit 110 and the second charged gun unit ( The electric vehicle charging robot 200 is stopped at the recovery position of 120).

Here, marker recognition according to the present invention involves at least one of a first method using the distance range in the X, Y, and Z directions and the angle range in the rotation direction Rx, Ry, and Rz, and a second method using the shape and area. can be used.

Then, the robot control unit 300 interpolates the amount of change in the pre-stored charging robot motion path based on the recovery positions of the first charging gun unit 110 and the second charging gun unit 120 to retrieve the charging gun unit 100. An optimal retrieval motion path for the electric vehicle charging robot 200 is created, and the first charging key unit 110 or the second charging key unit 120 is retrieved using the retrieval motion path of the electric car charging robot 200. .

Meanwhile, Figure 4 is a flowchart showing an embodiment of the electric vehicle charging method according to the present invention. Referring to Figures 1, 2, and 4, an embodiment of the electric vehicle charging method according to the present invention is a plurality of charging methods on stand. The electric vehicle charging robot 200 grabs one of the charging terminals 110 and 120 and connects it to the charging terminal of the electric vehicle 1. The charging terminal is placed and the other charging terminal 120 is connected to the electric vehicle charging robot 200. In the charging gun combining step (S200) of charging a plurality of electric vehicles (1a, 1b) by connecting it to the charging terminal of another electric vehicle (1b), the charging gun unit (100) that was placed by the electric vehicle charging robot (200) is held again. It includes a charging gun recovery step (S300) of disconnecting from the charging terminal of the electric vehicle 1 and returning it to its original position.

And, in the charging gun recovery step (S300), when the electric vehicle charging robot 200 re-holds the charging gun unit 100 in a state of being coupled to the charging terminal, the position of the charging gun unit 100 is provided in the charging gun unit 100. The marker unit 101 is photographed and confirmed with the marker confirmation camera unit 240 provided in the electric vehicle charging robot 200.

One embodiment of the electric vehicle charging method according to the present invention further includes a parking confirmation step (S100) to detect entering the charging station and parking at the parking position before the charging gun coupling step (S200), and the charging gun coupling step (S200) Couples the charging case 100 to the charging terminal in the order of the electric vehicle 1 entering the charging station in the parking confirmation step.

In the parking confirmation step (S100), the license plate of the electric vehicle 1 entered into the charging station is recognized and stored, and the location of the electric vehicle 1 parked at the preset parking location is confirmed.

And, in the charging gun coupling step (S200), among the plurality of charging gun parts 110 and 120, the charging gun part 100 located closest to the parked electric car 1 is grabbed and coupled to the charging terminal of the electric car 1. do.

The charging gun coupling step (S200) is a charging gun holding process (S210) in which the electric vehicle charging robot 200 holds the charging gun unit 100 mounted on the charging control main body 10, and after the charging gun holding process (S210), the electric vehicle is The terminal position confirmation process (S220) is to check the position of the charging terminal by moving the charging robot 200 to the charging terminal of the electric vehicle 1. After the terminal position confirmation process (S220), the electric vehicle charging robot 200 is moved to the charging terminal of the electric vehicle 1. It includes a charging gun connection process (S230) of moving the charging terminal to couple the charging gun unit 100.

The robot control unit 300, which controls the operation of the electric vehicle charging robot 200, pre-stores the mounting position for each charging gun unit 100, and the charging gun holding process (S210) is performed on each charging gun unit 100 pre-stored in the control unit. ) Move the electric vehicle charging robot 200 to the mounting position and grasp the charging key unit 100.

In addition, the terminal location confirmation process (S220) involves moving the electric vehicle charging robot 200 closer to the charging terminal and photographing the charging terminal with the terminal photographing camera unit 262 provided in the electric vehicle charging robot 200 for charging. After the first charging terminal recognition process (S221), which moves the key unit 100 to the preset coupling preparation position, and the first charging port location confirmation step, the 3D sensor 261 and the terminal photographing camera provided on the electric vehicle charging robot 200 It includes a second charging terminal recognition process (S222) in which the charging unit 100 is moved to the preset final coupling position by simultaneously utilizing the unit 262.

In the robot control unit 300, the ready shape of the charging terminal for the mating ready position captured by the terminal photographing camera unit 262 according to the vehicle type of the electric vehicle 1 and the parking position of the electric vehicle 1 is learned through deep learning. It is pre-stored, and the first charging terminal recognition process (S221) compares and analyzes the pre-stored preparation shape and the shape of the charging terminal photographed by the terminal photographing camera unit 262 while moving the electric vehicle charging robot 200. The charging gun unit 100 is positioned at a point where the stored prepared shape matches the shape of the charging terminal photographed by the terminal photographing camera unit 262.

In addition, in the robot control unit 300, the final shape of the charging terminal for the final coupling position is learned through deep learning and stored in advance according to the vehicle type of the electric vehicle 1 and the parking position of the electric vehicle 1, and the second charging terminal The recognition process (S222) compares and analyzes the final shape of the pre-stored charging terminal and the shape of the charging terminal captured by the 3D sensor and the terminal photographing camera unit 262 while moving the electric vehicle charging robot 200, and compares and analyzes the pre-stored final shape of the charging terminal. The charging gun unit 100 is placed in a ready connection position where the shape of the charging terminal captured by the terminal photographing camera unit 262 matches.

The charging gun connection process (S230) moves the charging gun unit 100 located at the final coupling position in a straight line toward the charging terminal to couple the charging gun unit 100 to the charging terminal. At this time, the electric vehicle charging robot 200 Charging is performed by pressing the charging gun unit 100 with an appropriate force using the force and torque values in the 6-axis directions of the electric vehicle charging robot 200 detected by the force-torque (F/T) sensor unit 250 provided in the charger. Connect it to the terminal.

The charging gun connection process (S230) converts the force value and torque value transmitted to the force-torque (F/T) sensor unit 250 based on the charging coupler of the charging gun unit 100 held by the electric vehicle charging robot 200. When a repulsive force exceeding a preset force value or a preset torque value occurs, the posture of the electric vehicle charging robot 200 is changed to lower the repulsive force.

In addition, the charging gun connection process (S230) includes the movement path and operating path of the electric vehicle charging robot 200 that occur in the process of coupling the charging gun unit 100 to the charging terminal. The sensor values detected by the charging robot motion path and force torque (F/T) sensor unit 250 are stored in the robot control unit 300, and the moving distance of the charging gun unit 100 is based on the point in time when the repulsive force is generated. And the connection of the charging gun unit 100 is completed by final confirmation of the repulsive force generated in the charging gun unit 100 when coupled to the charging terminal.

In the charging gun coupling step (S200), the charging gun unit 100 is held by the electric vehicle charging robot 200 and coupled to the charging terminal of the electric vehicle 1, and when the held charging gun unit 100 is released, the charging gun unit 100 is held and coupled to the charging terminal. It further includes a charging position storage process (S240) in which the position of the charging gun unit 100 is stored in the robot control unit 300 that controls the operation of the electric vehicle charging robot 200.

The charging position storage process (S240) recognizes the marker unit 101 provided in the charging gun unit 100 as the marker confirmation camera unit 240 provided in the electric vehicle charging robot 200 and connects the charging terminal to the charging terminal. Confirm and save the location of the dry part 100.

In addition, the charging gun recovery step (S300) is a marker recognition process (S310) in which the marker unit 101 is recognized by taking pictures with the marker confirmation camera unit 240, and the marker unit 101 is captured from the marker confirmation camera unit 240. Robot position adjustment process (S320) of moving the electric vehicle charging robot 200 to the final recovery position for re-capturing the charging gun 100 through the relative position to the center of the robot, and after the robot position adjustment process (S320), electric vehicle charging The motion of the electric vehicle charging robot 200 is generated using the recovery motion path creation process (S330), which generates the recovery motion path of the robot 200, and the recovery motion path creation process (S330). It includes a charging gun recovery process (S340) in which the charging gun unit 100 is controlled and returned to its original position.

In addition, the charging gun recovery step (S300) uses the position of the charging gun unit 100 previously stored in the charging position storage process (S240) to recognize the marker unit 101 as the marker confirmation camera unit 240. It further includes a marker recognition position movement process (S302) of setting the recognition position and moving the electric vehicle charging robot 200 to the set marker recognition position.

In the charging gun recovery step (S300), the charging gun unit 100 is re-captured by the electric vehicle charging robot 200 using the position of the charging gun unit 100 previously stored in the charging position storage process (S240). impossible.

That is, the position of the charging key unit 100 coupled to the charging terminal is determined by the direction of the force generated when the electric vehicle charging robot 200 places the charging key unit, the tension of the charging cable 100a, and the direction of the force generated when the charging key unit is placed. Due to the movement of the charging cable 100a due to force, the position of the charging key unit 100 is different from the previously stored position in the charging position storage process (S240).

Therefore, in the charging gun recovery step (S300), it is impossible to recover the position of the charging gun unit 100 coupled to the charging terminal by confirming it with the previously stored position of the charging gun unit 100 in the charging position storage process (S240). Therefore, the charging gun unit 100 is moved to a preset marker recognition position so that the marker unit 101 can be recognized as the marker confirmation camera unit 240 through the marker recognition position movement process (S302), and the marker confirmation camera is By checking the change in position of the charging gun unit 100 through the relative position from the unit 240 to the center of the marker unit 101, the charging gun unit 100 to be recovered can be accurately grasped by the electric vehicle charging robot 200. .

In addition, the charging gun recovery step (S300) involves moving the electric vehicle charging robot 200 to the initial position for recovering the charging gun unit 100 for each model of the electric vehicle 1 before the marker recognition process (S310). It further includes an initial position movement process (S301).

The control unit includes the position of the electric vehicle charging robot 200 for recovering the charging gun unit 100 coupled to the charging terminal for each model of the electric vehicle 1, that is, the jig unit 220 for combining the charger that holds the charging gun unit 100. The initial position for retrieving the charging gun is pre-stored, and in the initial position movement process (S301), the operation of the electric vehicle charging robot 200 is controlled by the control unit to change the position of the charger coupling jig part 220 to that of the electric vehicle 1. Move to the initial position for retrieving the pre-stored charging gun for each vehicle type.

The charging gun retrieval step (S300) is optimal for recognizing the dimensional marker part for each model of the electric vehicle (1) as the marker confirmation camera part (240) through the initial position movement process (S301) and the marker recognition position movement process (S302). By positioning the electric vehicle charging robot 200 at the position, the time required to retrieve the charging gun unit 100 that charged the electric vehicle 1 after the charging of the electric vehicle 1 is completed can be shortened.

In the robot position adjustment process (S320), the relative position from the marker confirmation camera unit 240 to the center of the marker unit 101 is within a preset distance range in the X-axis direction, within a preset distance range in the Y direction, and in the Z direction. Repeat the electric vehicle charging robot 200 until all are satisfied within a preset distance range, within a preset angle range in the Rx rotation direction, within a preset angle range in the Ry rotation direction, and within a preset angle range in the Rz rotation direction. Move it, and the relative position from the marker confirmation camera unit 240 to the center of the marker unit 101 is within a preset distance range in the X-axis direction, within a preset distance range in the Y direction, and a preset distance range in the Z direction. Within the preset angle range in the Rx rotation direction, within the preset angle range in the Ry rotation direction, and within the preset angle range in the Rz rotation direction, recognition of the marker unit 101 is terminated.

In the robot position adjustment process (S320), the preset distance range of the Take °±0.1° as an example.

That is, the robot position adjustment process (S320) moves the electric vehicle charging robot 200 repeatedly so that the relative position from the marker confirmation camera unit 240 to the center of the marker unit 101 is 0 mm ± 0.3 mm in the X-axis direction. Within 0mm±0.3mm in Y direction, within 200mm±0.3mm in Z direction, within 0°±0.1° in Rx rotation direction, within 0°±0.1° in Ry rotation direction, 0° in Rz rotation direction. If all within ±0.1° are satisfied, recognition of the marker unit 101 ends, the movement of the electric vehicle charging robot 200 is stopped, and the electric vehicle charging robot 200 is located at the final recovery position.

Since the location of the charging terminal is different depending on the model of the electric vehicle (1), the recovery motion of the electric vehicle charging robot (200) that grabs the charging gun unit (100) again may be different, but the flat marker unit (101) attached to the upper surface of the charging coupler ) The relative position from the center to the marker confirmation camera unit 240 is guaranteed within a preset range.

Even if the model of the electric vehicle 1 is different, the relative position from the center of the marker unit 101 to the marker confirmation camera unit 240 is always the same, and thus the electric vehicle charging robot 200 is used to check the marker at the center of the dimensional marker unit. The electric vehicle charging robot 200 is positioned at the final recovery position where the relative position to the camera unit 240 is within a preset range.

In addition, the recovery motion path creation process (S330) is performed on the charging robot motion path of the electric vehicle charging robot 200 stored in the charging gun combining step (S200) after the electric vehicle charging robot 200 is moved to the final recovery position. The amount of change is interpolated based on the final recovery position to generate an optimal recovery motion path for the electric vehicle charging robot 200 to recover the charging unit 100.

Therefore, in the electric vehicle charging method according to the present invention, the electric vehicle charging robot 200 is coupled to the charging terminal of the electric vehicle 1 in order to charge a plurality of electric vehicles 1a and 1b with one electric vehicle charging robot 200. When the charging unit 100, which was placed after charging, is held again to be retrieved after the charging of the electric vehicle 1 is completed, it can be held again accurately in the shortest possible time.

The present invention can charge a plurality of electric vehicles (1a, 1b) with one robot, thereby reducing the charging waiting time when charging the electric vehicle (1) and improving charging efficiency.

In addition, the present invention can significantly reduce the recovery time by performing recovery based on the position of the charging gun unit 100 stored during charging when retrieving the charging gun unit 100 from the fully charged electric vehicle 1. there is. In addition, when the above recovery is performed, the position of the charged gun unit 100 can be accurately confirmed through the marker unit 101. As a result, it is possible to stably charge multiple electric vehicles (1a, 1b) by preventing malfunctions when charging multiple electric vehicles (1a, 1b) using one robot, and improves the charging system for the electric vehicle (1). Maximize efficiency.

In addition, the present invention includes the terminal position detection unit 260, so that the charging gun unit 100 can be connected to and recovered from the charging terminal of the electric vehicle 1 disposed in various locations regardless of the vehicle type of the electric vehicle 1. there is.

In addition, the present invention provides a 3D sensor 262 that measures the distance between the electric vehicle 1 and the charging gun 200 when connecting and recovering the charging gun unit 100 to the electric vehicle 1 and a force torque that detects the applied force. The charging gun unit 100 can provide optimal power to the electric vehicle 1 by the (F/T) sensor unit 250. Accordingly, the present invention can prevent the outside of the electric vehicle 1, such as the charging terminal and the charging gun unit 100, from being damaged when the charging gun unit 100 is connected and recovered.

The present invention is not limited to the above-described embodiments, and may be implemented with various changes without departing from the gist of the present invention, and these are included in the scope of the present invention.

1: Electric vehicle 1a: First electric vehicle
1b: Second electric vehicle 10: Charging control main body
11: first charging control main body 12: second charging control main body
100: Charging unit 100a: Charging cable
100b: Coupler for charging 100c: Groove for gripping
101: Marker unit 110: First charging unit
120: Second charging unit 200: Electric vehicle charging robot
210: Robot main body 211: Arm part
220: Jig part for combining charger 221: Jig member
221a: Protrusion for gripping 230: Robot moving part
231: First robot linear moving part 232: Second robot linear moving part
233: Robot ascending and descending unit 240: Camera unit for checking marker
250: Force torque (F/T) sensor unit 260: Terminal position detection unit
261: 3D sensor 262: Camera unit for terminal photography
263: lighting lamp unit 300: robot control unit
S100: Parking confirmation step S200: Charging gun coupling step
S210: Charging gun holding process S220: Terminal location confirmation process
S221: First charging terminal recognition process S222: Second charging terminal recognition process
S230: Charging gun connection process S240: Charging location storage process
S300: Charging gun recovery step S301: Initial position movement process
S302: Marker recognition position movement process S310: Marker recognition process
S320: Robot position control process S330: Retrieval motion path creation process
S340: Charged gun recovery process

Claims (16)

A plurality of charging keys connected to the charging control main body with a charging cable, coupled with a charging terminal of the electric vehicle to charge the battery of the electric vehicle, and having a marker portion;
An electric vehicle charging robot capable of holding or placing the charging gun mounted on the charging control main body;
a terminal position detection unit provided in the electric vehicle charging robot and confirming the position of the charging terminal by photographing the charging terminal;
A force-torque (F/T) sensor unit provided in the electric vehicle charging robot and detecting force and torque transmitted to the electric vehicle charging robot when the charging gun unit is coupled to the charging terminal; and
It is provided in the electric vehicle charging robot and includes a marker confirmation camera unit that recognizes the marker unit,
When the direction in which the charging gun unit is coupled to the charging terminal is the Y-axis direction, the optical axis of the terminal position detection unit is in the Y-axis direction, and the optical axis of the marker confirmation camera unit is different from the optical axis of the position detection unit. Robotic charging device for cars.
A plurality of charging gun units connected to the charging control main body with a charging cable and coupled with a charging terminal of the electric vehicle to charge the battery of the electric vehicle;
An electric vehicle charging robot capable of holding or placing the charging gun mounted on the charging control main body; and
It includes a robot control unit that controls the operation of the electric vehicle charging robot,
The charging gun unit is provided with a marker unit,
The electric vehicle charging robot is equipped with a marker confirmation camera unit that recognizes the marker unit,
The robot control unit recognizes the marker unit with the marker confirmation camera unit when the charging gun coupled to the charging terminal is held again by the electric vehicle charging robot, and confirms the position of the charging gun unit. Robotic charging device for cars.
In claim 2,
The electric vehicle charging robot,
A robot main body including a plurality of arm parts rotating around the joints;
A jig part for combining a charger located at the end of the robot body and capable of holding or placing the charging gun; and
It includes a robot moving part that moves the robot main body,
The charging gun part is provided with a charging coupler held by the jig part for combining the charger,
A robot charging device for an electric vehicle, wherein the marker portion is located on the upper surface of the charging coupler.
In claim 2,
The electric vehicle charging robot includes a terminal position detection unit that checks the position of the charging terminal of the electric vehicle,
The robot control unit is characterized in that it checks the position of the charging terminal with the terminal position detection unit when the charging gun mounted on the charging control main body is held by an electric vehicle charging robot and coupled to the charging terminal of the electric vehicle to be charged. A robot charging device for electric vehicles.
In claim 4,
The terminal position detection unit,
A 3D sensor that detects the shape of the charging terminal; and
A robot charging device for an electric vehicle, comprising a terminal photographing camera unit for photographing the charging terminal.
In claim 2,
The robot control unit,
After holding the charging key with the electric vehicle charging robot and coupling it to the charging terminal of the electric vehicle, the position of the charging key coupled to the charging terminal is stored when the held charging key is released,
The robot control unit moves the electric vehicle charging robot to the marker recognition position set through the first position or the second position when the charging key placed by the electric vehicle charging robot is held again by the electric vehicle charging robot and returned to its original position. A robot charging device for an electric vehicle, characterized in that the marker part is photographed with a marker confirmation camera unit.
In claim 2,
The robot control unit,
By repeatedly moving the electric vehicle charging robot, the relative position from the marker confirmation camera unit to the center of the marker unit is within a preset distance range in the X-axis direction, within a preset distance range in the Y direction, and a preset distance in the Z direction. If within the range, within the preset angle range in the Rx rotation direction, within the preset angle range in the Ry rotation direction, and within the preset angle range in the Rz rotation direction, recognition of the marker unit is terminated, and the electric vehicle charging robot A robot charging device for an electric vehicle, characterized in that the movement of the electric vehicle is stopped and the electric vehicle charging robot is positioned at the recovery position of the charging gun unit.
In claim 7,
The robot control unit stores the motion path of the electric vehicle charging robot as a charging robot motion path when the electric vehicle charging robot holds the charging gun and couples it to the charging terminal of the electric vehicle,
The robot control unit generates a recovery motion path of the charging robot for recovering the charging gun unit by interpolating the amount of change in the pre-stored charging robot motion path based on the recovery position of the charging gun unit, and for charging the electric vehicle. A robot charging device for electric vehicles, characterized in that the charging unit is recovered by operating the robot in a recovery motion path.
The electric vehicle charging robot grabs one of the plurality of charging terminals on stand and connects it to the charging terminal of the electric vehicle. Then, it releases the charging terminal that it held and grabs the other charging terminal and connects it to the charging terminal of the other electric vehicle. A charging gun combining step for charging an electric vehicle; and
It includes a charging gun retrieval step of re-grabbing the charging gun placed by the electric vehicle charging robot, separating it from the charging terminal of the electric vehicle, and returning it to its original position,
In the charging gun retrieval step, when the electric vehicle charging robot grasps the charging gun coupled to the charging terminal again, the marker provided on the charging gun portion is photographed with a marker confirmation camera unit provided on the electric vehicle charging robot. An electric vehicle charging method characterized by recognizing and confirming the location of the charging unit.
In claim 9,
The charging gun combining step is,
A charging gun gripping process in which an electric vehicle charging robot grabs the charging gun mounted on the charging control main body;
A terminal location confirmation process of moving the electric vehicle charging robot to the charging terminal of the electric vehicle to check the position of the charging terminal after the charging gun holding process; and
An electric vehicle charging method comprising a charging gun connection process of moving the charging terminal with an electric vehicle charging robot to couple the charging gun unit after the terminal location confirmation process.
In claim 10,
The terminal location confirmation process is,
A first charging terminal recognition process of moving the electric vehicle charging robot closer to the charging terminal, photographing the charging terminal with a terminal photographing camera unit provided in the electric vehicle charging robot, and moving the charging gun to a preset engagement preparation position; and
After the first charging port location confirmation step, a second charging terminal recognition process is performed to move the charging gun unit to the preset final coupling position by simultaneously utilizing a 3D sensor provided in the electric vehicle charging robot and a terminal photographing camera unit. How to charge an electric vehicle.
In claim 9,
The charging gun recovery step is,
A marker recognition process of recognizing the marker unit by taking pictures with the marker confirmation camera unit;
A robot position adjustment process of moving the electric vehicle charging robot to a final recovery position for holding the charging key again through the relative position from the marker confirmation camera unit to the center of the marker unit;
A recovery motion path creation process of generating a recovery motion path of the electric vehicle charging robot after the robot position adjustment process; and
An electric vehicle charging method comprising a charging gun retrieval process of controlling the motion of an electric vehicle charging robot using a retrieval motion path generated through the retrieval motion path creation process to re-grab the charging gun unit and return it to its original position.
In claim 12,
The robot position adjustment process involves repeatedly moving the electric vehicle charging robot so that the relative position from the marker confirmation camera unit to the center of the marker unit is within a preset distance range in the X-axis direction, within a preset distance range in the Y direction, and in the Z direction. Recognition of the marker unit is terminated when all are satisfied within a preset distance range, within a preset angle range in the Rx rotation direction, within a preset angle range in the Ry rotation direction, and within a preset angle range in the Rz rotation direction. How to charge an electric vehicle.
In claim 12,
The charging gun combining step is,
Saving the motion path of the electric vehicle charging robot that occurs in the process of coupling the charging gun to the charging terminal as a charging robot motion path,
The retrieval motion path generation process is characterized by generating a retrieval motion path of the electric vehicle charging robot for retrieving the charging key unit by interpolating the amount of change in the pre-stored charging robot motion path based on the final retrieval position. How to charge an electric vehicle.
In claim 12,
The charging gun combining step is,
It further includes a charging position storage process of storing the position of the charging key coupled to the charging terminal in a robot control unit that controls the operation of the electric vehicle charging robot when releasing the held charging key,
The charging gun recovery step is
In the charging position storage process, a marker recognition position is set that can recognize the marker unit as the marker confirmation camera unit using the pre-stored position of the charging key unit, and the marker moves the electric vehicle charging robot to the marker recognition position. An electric vehicle charging method further comprising a recognition location movement process.
In claim 12,
The charging gun recovery step is,
The electric vehicle charging method further includes an initial position movement process of moving the electric vehicle charging robot to the initial position for recovering the charging gun for each type of electric vehicle before the marker recognition process.

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