Charging system and information processing device
The present invention reduces the possibility that a connector for charging cannot be appropriately inserted into a power feeding port of an electric automobile. The information processing device identifies a position of a power feeding port provided in an electric automobile and controls an arm portion, on the basis of a result of identification, so as to move a connector to a position facing the power feeding port. The information processing device controls the arm portion so as to insert the connector into the power feeding port. At this time, the information processing device controls the arm portion, on the basis of a value detected by a force sensor, so that a force along a direction other than an insertion direction in which the connector is inserted and/or a torque have/has a magnitude not greater than a threshold.
1. A charging system, comprising:
an arm portion;
a force sensor;
a connector for charging to be inserted into a power feeding port of an electric automobile, the connector being fixed to the arm portion with the force sensor interposed between the connector and arm portion; and
one or more processors,
the one or more processors being configured to carry out:
a position identification step of identifying a position of a power feeding port provided in an electric automobile;
a moving control step of controlling the arm portion, on the basis of a result of identification in the position identification step, so as to move the connector to a position facing the power feeding port; and
an insertion control step of controlling the arm portion so as to insert the connector into the power feeding port, wherein in the insertion control step,
the one or more processors controlling, on the basis of a value detected by the force sensor, the arm portion so that a force along a direction other than an insertion direction in which the connector is inserted and/or a torque have/has a magnitude not greater than a threshold, and
the one or more processors detecting, on the basis of a value detected by the force sensor, a failure of the connector or a foreign matter caught in the connector.
2. The charging system as set forth in claim 1 , wherein the force sensor is a six-axis force-torque sensor.
3. The charging system as set forth in claim 1 , wherein, in the position identification step, the one or more processors (i) determine a vehicle type of the electric automobile on the basis of an image captured by a sensor configured to capture the image of the electric automobile and (ii) identify the position of the power feeding port on the basis of the vehicle type which has been determined.
4. The charging system as set forth in claim 1 , wherein, in the position identification step, the one or more processors identify the position of the power feeding port on the basis of an image captured by a sensor configured to capture the image of the power feeding port.
5. The charging system as set forth in claim 1 , further comprising a conveying mechanism configured to convey the arm portion,
in the moving control step, the one or more processors causing the conveying mechanism to convey the arm portion to the vicinity of the power feeding port and causing the arm portion to move the connector to the position facing the power feeding port.
6. The charging system as set forth in claim 1 , wherein, in the insertion control step, the one or more processors determine, in a case where the force sensor has detected an external force greater than a threshold in the insertion direction, that insertion of the connector has been completed.
7. The charging system as set forth in claim 1 , wherein the failure of the connector or the foreign matter caught in the connector is detected on the basis of (i) a result of comparison between (a) track information stored in a memory and indicating a moving track of a connector and (b) a moving track of the connector fixed to the arm portion and (ii) a value detected by the force sensor.
8. An information processing device, comprising one or more processors which are configured to carry out:
a position identification step of identifying a position of a power feeding port provided in an electric automobile;
a moving control step of controlling an arm portion, to which a connector for charging to be inserted into the power feeding port is fixed with a force sensor interposed between the connector and the arm portion, on the basis of a result of identification in the position identification step so as to move the connector to a position facing the power feeding port; and
an insertion control step of controlling the arm portion so as to insert the connector into the power feeding port, wherein in the insertion control step,
the one or more processors controlling, on the basis of a value detected by the force sensor, the arm portion so that a force along a direction other than an insertion direction in which the connector is inserted and/or a torque have/has a magnitude not greater than a threshold, and
the one or more processors detecting, on the basis of a value detected by the force sensor, a failure of the connector or a foreign matter caught in the connector.
9. The information processing device as set forth in claim 7 , wherein the one or more processors are further configured to detect the failure of the connector or the foreign matter caught in the connector is detected on the basis of (i) a result of comparison between (a) track information stored in a memory and indicating a moving track of a connector and (b) a moving track of the connector fixed to the arm portion and (ii) a value detected by the force sensor.