Power feeding control apparatus, power feeding system, and power feeding method

Abstract

The power feeding control apparatus according to the embodiment is a power feeding control apparatus configured to perform control of power feeding to a plurality of moving bodies including different types of power feeding ports using a power feeding robot, the power feeding control apparatus including: an information acquisition unit configured to acquire type information related to a type of a power feeding port of a first moving body; and a control value creation unit configured to create a control value for feeding power to the first moving body in accordance with the type information.

Description

Technical Field

[0001] The present disclosure relates to a feeding control device, a feeding system, and a feeding method. Background Art

[0002] Patent Document 1 discloses a charging system for charging an electric vehicle. In Patent Document 1, a power feeding robot charges the electric vehicle.

[0003] [Patent Document 1] Japanese Unexamined Patent Application Publication No. 2022-56840 Summary of the invention

[0004] In a vehicle manufacturing plant, vehicles are manufactured to be shipped to various destinations. The standards of each feed port differ depending on the destination. This leads to the following problem: while a vehicle shipped to one destination can be charged, other vehicles shipped to another destination cannot be charged.

[0005] An object of the present disclosure is to provide a power feeding control device, a power feeding system, and a power feeding method capable of appropriately feeding power to a moving body.

[0006] A feeding control device according to the present disclosure is a feeding control device configured to use a feeding robot to control feeding to multiple mobile bodies including different types of feeding ports, and the feeding control device includes: an information acquisition unit, configured to acquire type information related to the type of the feeding port of a first mobile body; and a control value creation unit, configured to create a control value for feeding to the first mobile body according to the type information.

[0007] In the feeding control device according to the present disclosure, the control value creating unit may specify a connector according to the type of the feeding port, and create a control value for causing the feeding robot to feed power by inserting the specified specific connector into the feeding port.

[0008] In the feeding control device according to the present disclosure, it is possible to generate a control value related to control for causing the feeding robot to select a specific connector from a plurality of connectors and attach the selected connector to the moving body.

[0009] In the feeding control device according to the present disclosure, a sending unit configured to send the control value to the feeding robot may be further included.

[0010] According to the present disclosure, the feeding system may include: the aforementioned feeding control device and a feeding robot, wherein the feeding robot includes: an arm mechanism configured to hold a connector according to the type of the feeding port; a receiving unit configured to receive a control value sent from a sending unit; and an arm control unit configured to control the arm mechanism based on the control value so that the connector is inserted into the arm mechanism.

[0011] In the feed control device according to the present disclosure, the feed control device may be mounted on a feeding robot.

[0012] In the feed control device according to the present disclosure, the information acquiring unit may receive the type information from the first moving body.

[0013] In the feed control device according to the present disclosure, the information acquisition unit may acquire the type information by referring to production management information in which the destination of the first moving body is registered.

[0014] In the feeding control device according to the present disclosure, type information related to the type of the feeding port of the second moving body to be fed after the first moving body is fed can be obtained, and when the type of the first moving body is the same as the type of the second moving body, the feeding robot can feed the first moving body while continuing to maintain the connector.

[0015] In the power feeding control device according to the present disclosure, the information acquiring unit may acquire the power feeding information regarding the target SOC according to the destination of the first moving body, and the first moving body may be fed to meet the target SOC.

[0016] In the feed control device according to the present disclosure, a facility where the feed control device is installed may be a manufacturing plant that manufactures a moving body or a port that ships a moving body.

[0017] A feeding method according to the present disclosure is a feeding method for controlling feeding of multiple moving bodies including different types of feeding ports using a feeding robot, the feeding method comprising: acquiring type information related to the type of the feeding port of a first moving body; and creating a control value for feeding the first moving body according to the type information.

[0018] According to the present disclosure, it is possible to provide a power feeding control device, a power feeding system, and a power feeding method capable of appropriately feeding power to a moving body. The above and other objects, features and advantages of the present disclosure will be more fully understood from the detailed description and accompanying drawings given below. BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a schematic diagram showing the overall configuration of a feeding system according to a first embodiment; Figure 2 is a block diagram showing a control system of a feed system; Figure 3 is a flow chart showing the processing of an external sensor; Figure 4 is a flow chart showing a process for sending a control instruction in a server; Figure 5 is a flow chart showing a process related to movement control in a vehicle; Figure 6 is a flowchart showing a power feeding process in a server; Figure 7 is a flowchart showing processing in a feeding robot; Figure 8 is a flowchart for describing the operation of the feeding robot; Fig. 9 is a schematic diagram showing the overall configuration of a feeding system according to a second embodiment; Fig.10 is a block diagram showing a control system of a feed system; Fig.11 is a schematic diagram showing the overall configuration of a feeding system according to a third embodiment; Fig.12 is a block diagram showing a control system of a feed system; Fig.13 is a diagram used to describe the driving control of a vehicle; Fig.14 is a control block diagram for describing traveling control example 1; Fig.15 is a flowchart for describing travel control example 1; Fig.16 is a control block diagram for describing traveling control example 2; and Fig.17 is a flowchart for describing traveling control example 2. DETAILED DESCRIPTION

[0020] Embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, the disclosure claimed for protection is not limited to the following embodiments. In addition, not all configurations described in the embodiments are necessary for the means to solve the problem. For the sake of clarity, the following description and drawings have been appropriately omitted and simplified. In each of the accompanying drawings, the same elements have the same reference numerals, and repeated descriptions are appropriately omitted.

[0021] First embodiment (Feeding system) refer to Figure 1 , the configuration of the feeding system 50 (the system may also be referred to as the system 50) according to this embodiment will be described. For example, the feeding system 50 is used in a vehicle manufacturing plant. When manufacturing a vehicle, the feeding system 50 feeds power to the vehicle 100. The feeding system 50 includes a server 200, an external sensor 300, a vehicle 100, a feeding robot 600, and a feeding device 700.

[0022] The vehicle 100 includes a feed port 140. The vehicle 100 is, for example, a battery electric vehicle or a plug-in hybrid electric vehicle. The shape and size of the feed port 140 vary depending on the destination to which the vehicle 100 is to be transported. For example, the type of feed port 140 for the vehicle 100 in Japan, the type of feed port 140 for the vehicle 100 in North America, the type of feed port 140 for the vehicle 100 in Europe, and the type of feed port 140 for the vehicle 100 in China are different from each other. That is, vehicles 100 that are transported to multiple destinations are produced in a factory. The vehicle 100 may be an autonomous driving vehicle that moves within a vehicle manufacturing plant by automatic control or may be a non-autonomous driving vehicle driven by a driver (which may also be referred to as a normal vehicle). In this example, it is assumed that the vehicle 100 is an autonomous driving vehicle that can travel by itself.

[0023] The target to be fed is not limited to the vehicle 100 and may be a moving body other than the vehicle. In the present embodiment, the moving body is the vehicle 100, and more specifically, a pure electric vehicle (BEV: Battery Electric Vehicle). Note that the moving body is not limited to electric vehicles, and may be, for example, an electric motorcycle, an electric bicycle, an electric kickboard, a hybrid vehicle, or a fuel cell vehicle. In addition, the moving body may be a vehicle including wheels or a vehicle having an endless track, and may be, for example, a desired vehicle such as a passenger car, a truck, a bus, a two-wheeled vehicle, a four-wheeled vehicle, a tank, or a construction vehicle. In addition, the moving body is not limited to the vehicle 100 and may be an electric vertical take-off and landing aircraft (a so-called flying car).

[0024] The feeding device 700 feeds power to the vehicle 100. The vehicle 100 has a feeding port 140 according to the specifications of its destination. The feeding device 700 includes a main body 701, a flexible wire 702, and connectors 711 to 713. The types of connectors 711 to 713 provided vary according to the specifications of the feeding port 140. The connectors 711 to 713 have different shapes according to different shapes of the feeding port 140. Therefore, the connectors 711 to 713 have different shapes, sizes, etc. The number of connectors is not limited to three, and can be any number as long as it is two or more.

[0025] For example, connector 711, which is a Japanese standard CHAdeMO connector, is used for Japanese vehicles 100, and connector 712, which is a North American standard type 1EV connector, is used for North American vehicles 100. Connector 713, which is a European standard IEC62196-2 type 2EV connector, is used for European vehicles 100. That is, connectors 711-713 have shapes that match the connected feed ports 140. In addition, connectors 711 to 713 may not have to comply with the above standards, but may comply with other standards, such as Tesla super charger EV connectors or Chinese GB / TEV charging connectors. Of course, some connectors may have the same shape. That is, two or more connectors for one destination may be provided in the feed device 700.

[0026] The main body 701 generates a feeding voltage for feeding power to the vehicle 100. The feeding voltage generated in the main body 701 is supplied to the connectors 711 to 713 via the flexible wire 702. Note that the plurality of connectors 711 to 713 conform to the respective types of the feeding ports 140. Therefore, the feeding device 700 supplies a feeding voltage and a feeding current conforming to a specific standard of each feeding port 140.

[0027] The feeding robot 600 connects the connectors 711 to 713 to the feeding port 140. For example, the feeding robot 600 includes an arm mechanism 612 for connecting the connectors 711 to 713 to the feeding port 140. The arm mechanism 612 includes a plurality of joint motors and an end effector for holding the connectors 711 to 713. The arm mechanism 612 selects a connector 711 that is compatible with the feeding port 140 from the plurality of connectors 711 to 713, and inserts the selected connector 711 into the feeding port 140. Therefore, the feeding device 700 can supply a feeding voltage to the feeding port 140. Therefore, the feeding device 700 can charge the battery of the vehicle 100.

[0028] The external sensor 300 includes various sensors installed in facilities such as factories, such as infrastructure cameras or LiDAR. Of course, two or more external sensors 300 may be installed or two or more types of sensors may be used in combination with each other. The external sensor 300 is a camera that captures an image of the moving or stopped vehicle 100. The external sensor 300 may be a LiDAR. The external sensor 300 sends the detection result to the server 200. The detection result sent from the external sensor 300 may be a captured image or may be information extracted from the image. For example, when the external sensor 300 includes an image processing function, the external sensor 300 sends the information extracted by the image processing to the server 200.

[0029] The server 200, which is an information processing device including a memory or a processor, functions as a feed control device that controls the feed system 50. The server 200 receives, for example, a detection result in the external sensor 300. The server 200 performs feed control according to the detection result and the like.

[0030] The server 200 acquires type information about the type of the power feeding port from the external sensor 300 or the vehicle 100. Then, the server 200 creates a control value for feeding power to the vehicle 100 according to the type information. The type information is, for example, information for specifying a connector corresponding to the power feeding port 140 from among the plurality of connectors 711 to 713.

[0031] The following description will be made based on the assumption that the specific connector specified by the type information is the connector 711. The server 200 creates a control value for feeding using the connector 711 according to the type information, and sends the created control value to the feeding robot 600. Then, the feeding robot 600 opens the cover of the feeding port 140. The feeding robot 600 selects the connector 711 according to the type information and grasps the selected connector 711. The feeding robot 600 inserts the connector 711 into the feeding port 140. Accordingly, a connector 711 that meets the specific standards of each of the multiple feeding ports 140 can be connected to the feeding robot 600.

[0032] (Control Block) refer to Figure 2 , the control of the feeding system will be described in detail. Figure 2 is a block diagram showing a control system of the feeding system 50 .

[0033] The server 200 includes a calculation unit 231, a control instruction creation unit 232, a detection unit 233, an information acquisition unit 234, a database 235, and a control value creation unit 236. In addition, the server 200 includes a communication device 205 for sending data to and receiving data from the vehicle 100, the external sensor 300, the feeding robot 600, etc. Note that the server 200 is not limited to a single device physically, but a plurality of servers may be provided in a distributed manner. For example, the database, etc. may be a storage device, a cloud server, etc., which is provided separately from the processor.

[0034] The external sensor 300 includes a communication device 330 that transmits data to or receives data from the server 200. The communication device 330 transmits an image captured by the external sensor 300 to the server 200. The communication device 330 may transmit information obtained from the captured image to the server 200 in addition to transmitting the captured image. That is, the communication device 330 transmits a detection result detected in the external sensor 300. Note that the communication device 330 may be built in the external sensor 300 or may be separated from the external sensor 300. In addition, the communication device 330 may be shared between a plurality of external sensors 300. That is, when a plurality of external sensors 300 are installed, one communication device 330 may transmit data to the server 200.

[0035] The calculation unit 231 calculates position information indicating the position and orientation of the vehicle based on the captured image. For example, the calculation unit 231 may obtain XYZ global coordinates or orientation in a map of the factory. At least a part of the processing in the calculation unit 231 may be performed in the external sensor 300. For example, the external sensor 300 may include a processor that performs image processing, etc. In this case, the position information indicating the position of the vehicle 100, etc. is sent from the communication device 330 to the communication device 205.

[0036] The position of the vehicle 100 and the orientation of the vehicle 100 can be estimated using a captured image acquired by an external sensor 300 provided at a location other than the location where the vehicle 100 is located. The position of the vehicle 100 can be acquired by, for example, calculating the coordinates of a measurement point of the moving body in the image coordinate system using the outer shape of the vehicle 100 detected from the captured image, and transforming the calculated coordinates into coordinates in the global coordinate system. The orientation of the vehicle 100 can be estimated based on, for example, the direction of a moving vector of the moving body calculated from the change in the position of a feature point of the moving body between frames of the captured image using an optical flow method. For example, the orientation of the vehicle 100 can be calculated using the result of the output of a yaw rate sensor or the like mounted on the vehicle 100.

[0037] The outline of the vehicle 100 contained in the captured image can be detected by, for example, inputting the captured image into a detection model using artificial intelligence. The detection model can be, for example, a machine learning model learned so as to achieve one of semantic segmentation or instance segmentation. The machine learning model can be, for example, a convolutional neural network (Convolutional Neural Network, hereinafter it will be referred to as CNN) learned by supervised learning using a learning data set. The learning data set includes, for example, a plurality of training images including a moving body, and a ground-truth label indicating whether each area in the training image indicates an area of ​​the moving body or an area indicating a part other than the moving body. When learning the CNN, it is preferred that the parameters of the CNN are updated so as to reduce the error between the output result of the detection model and the ground-truth label by a back-propagation method.

[0038] The control instruction creation unit 232 creates a control instruction for controlling the vehicle 100. Specifically, the control instruction creation unit 232 creates a control instruction for moving the vehicle 100 to the feeding position. The control instruction may be information indicating the speed, acceleration, steering angle, etc. of the vehicle 100. In addition, when the vehicle 100 is capable of autonomous movement, the control instruction may be information indicating a route from the current position to the feeding position on a map. In this way, the control instruction creation unit 232 creates a control instruction related to the movement of the vehicle 100.

[0039] The communication device 205 sends the control instruction to the vehicle 100. When the communication device 130 of the vehicle 100 receives the control instruction, the vehicle 100 moves according to the control instruction. The vehicle 100 includes an actuator 120 and a vehicle control unit 115. The actuator 120 includes a wheel motor for driving a wheel, a steering motor for controlling a steering angle, a brake for stopping the vehicle, etc. The vehicle control unit 115 generates a control signal for controlling the actuator 120 according to the control instruction. The vehicle control unit 115 can be composed of an electronic control unit (ECU). Accordingly, the vehicle 100 can move to the feeding position where the feeding robot 600 and the feeding device 700 are located.

[0040] The detection unit 233 detects that the vehicle 100 has stopped at the feeding position. For example, when an external sensor 300 that captures an image of the feeding position is provided, the detection unit 233 detects that the vehicle 100 has stopped at the feeding position from the image of the external sensor 300. Otherwise, the detection unit 233 may send a signal indicating that the vehicle 100 has stopped at the feeding position. In addition, the vehicle 100 may send vehicle-specific identification information.

[0041] The information acquisition unit 234 acquires type information related to the type of the power feeding port of the vehicle 100. For example, the type information is information related to the destination of the vehicle 100. The information acquisition unit 234 may acquire the type information from the image of the external sensor 300. The information acquisition unit 234 may acquire the type information from the identification information of the vehicle 100 stopped at the power feeding position. For example, the information acquisition unit 234 accesses the database 235 for factory production management to acquire production management information. Since the destination is registered in the production management information for each vehicle, the information acquisition unit 234 may read the destination from the identification information of the vehicle 100 or the like.

[0042] In addition, when the feeding information related to the target state of charge (SOC) during transportation is set, the information acquisition unit 234 reads the feeding information from the database 235. For example, when the target SOC during transportation is set for each destination, the system 50 is fed in such a way that the target SOC is met. The set value may be only the lower limit value, or it may be a range of set upper and lower limits. In addition, the feeding device 700 is not limited to supplying power that meets the target SOC, but may consume power when the SOC is higher than the target SOC. If the SOC is too high during transportation to the destination, the battery may deteriorate. On the other hand, if the SOC is small, it may run out of power. Therefore, the SOC can be kept within a predetermined range for transportation.

[0043] The control value creation unit 236 creates a control value based on the type information. For example, the control value is data for specifying a connector according to a destination. When the destination information included in the type information is Japan, the control value is data for selecting a connector. Specifically, the control value may be data indicating the number of the connector, or may be data indicating the position of the connector, etc.

[0044] The communication device 205 sends the control value to the feeding robot 600. After the communication device 630 of the feeding robot 600 receives the control value, the feeding robot 600 performs the feeding operation. Specifically, the feeding robot 600 includes an arm control unit 615. The arm control unit 615 controls the arm mechanism 612 in such a way that the arm mechanism 612 holds the connector 711 specified by the control value. Then, the arm control unit 615 controls the arm mechanism 612 so that the arm mechanism 612 connects the connector 711 to the feeding port 140.

[0045] As described above, the control value creating unit 236 creates the control value in accordance with the type information indicating the type of the power feeding outlet 140 . Therefore, the power feeding robot 600 can feed power to the vehicle 100 using the connector 711 that fits the power feeding outlet 140 .

[0046] Note that the communication between the communication device 205, the communication device 330, the communication device 630, and the communication device 130 may be wireless communication or wired communication. Note that at least some functions of the module provided in the server 200 may be implemented in the vehicle 100, the external sensor 300, the feeding robot 600, or the feeding device 700. The communication device 205, the communication device 330, the communication device 630, and the communication device 130 may have only one of the transmission function and the reception function.

[0047] (Feeding operation) In the following, reference will be made to Figures 3 to 7 The operation of the feed system 50 is described. Figure 3 is a flowchart showing the processing of the external sensor 300 . Figure 4 is a flowchart showing a process for sending a control instruction in the server 200, and Figure 5 is a flowchart showing processing related to movement control in vehicle 100 . Figure 6 2 is a flowchart showing a process for performing power feeding control in the server 200 . Figure 7 : is a flowchart showing the processing in the feeding robot.

[0048] like Figure 3 As shown, after the external sensor 300 captures an image of the vehicle 100, the external sensor 300 transmits the image to the server 200 (S11). Figure 4 As shown, the server 200 determines whether it has received an image (S21). When the server 200 has not received an image (No in S21), the process ends. That is, the server 200 waits until it receives an image from the external sensor 300.

[0049] When the server 200 has received an image from the external sensor 300 (Yes in S21), the calculation unit 231 calculates the position and orientation of the vehicle 100 based on the image (S22). Then, the control instruction creation unit 232 creates a control instruction based on the position and orientation of the vehicle 100, and the communication device 205 sends the control instruction to the vehicle 100 (S23).

[0050] like Figure 5 As shown, it is determined whether the vehicle 100 has received a control instruction from the server 200 (S31). When the vehicle 100 has not received the control instruction (S31 is "No"), the process ends. That is, the vehicle 100 waits until the vehicle 100 receives the control instruction. When the vehicle 100 has received the control instruction (S31 is "Yes"), the vehicle control is performed based on the control instruction (S32). That is, the vehicle control unit 115 controls the actuator 120, such as a vehicle motor, a steering motor or a brake. Accordingly, the vehicle 100 moves to the feeding position.

[0051] Subsequently, the detection unit 233 determines whether the vehicle 100 is in the feeding position (S41). For example, the detection unit 233 determines whether the vehicle 100 is in the feeding position based on the image of the external sensor 300 located near the feeding position. When the vehicle 100 is not in the feeding position (S41 is "No"), the processing ends. That is, the server 200 waits until the vehicle 100 moves to the feeding position.

[0052] When the detection unit 233 determines that the vehicle 100 is in the feeding position (S41 is "Yes"), the information acquisition unit 234 acquires information about the vehicle 100 (S42). After the detection unit 233 detects the vehicle 100 in the feeding position, the information acquisition unit 234 acquires type information of the vehicle 100. For example, the vehicle 100 in the feeding position can send unique identification information to the server 200. The server 200 refers to the database 235 and specifies the destination from the identification information. Therefore, the information acquisition unit 234 is able to acquire type information according to the destination. Alternatively, the information acquisition unit 234 can acquire type information from an image of an external sensor 300, etc. In addition, the information acquisition unit 234 can acquire feeding information such as SOC.

[0053] In addition, the server 200 may acquire information about a subsequent vehicle following the vehicle 100 (S43). The subsequent vehicle is a vehicle that is fed after the vehicle 100 is fed. For example, the server 200 may specify the vehicle 100 that arrives at the feeding position next as the subsequent vehicle from the image of the external sensor 300, etc. Therefore, the feeding to the subsequent vehicle can be prepared in advance.

[0054] Then, the control value creation unit 236 creates a control value of the feeding robot based on the type information, and the communication device 205 sends the created control value to the feeding robot 600 (S44). The control value may be, for example, information indicating the connector 711. Alternatively, the control value may be, for example, a motor drive amount related to an operation of holding the connector 711 and inserting it into the feeding port 140. The control value may be, for example, information related to the position of the feeding port 140 or the connector 711. In addition, the control value may be a value related to the position where the connector 711 is inserted or the direction in which it is inserted.

[0055] The feeding robot 600 determines whether it has received the control value (S51). When the feeding robot 600 has not received the control value (No in S51), the processing ends. That is, the feeding robot 600 waits until it receives the control value. When the feeding robot 600 has received the control value (Yes in S51), the feeding robot 600 is controlled based on the control value (S52). For example, the arm control unit 615 drives the arm mechanism 612 in such a way that the arm mechanism 612 grasps the connector 711 of the adaptation type information.

[0056] Figure 8 is a flowchart showing an example of the feeding operation of the feeding robot 600. The feeding robot 600 pushes and opens the cover of the feeding port 140 (S61). Next, the feeding robot 600 completely opens the cover, including the inner cover (S62). The feeding robot 600 attaches the connector 711 of the matching type information to the end of the arm (S63). The feeding robot 600 inserts the connector into the feeding port 140 to start feeding (S64).

[0057] The feeding robot 600 and the connector 711 are separated from each other (S65). That is, when the vehicle 100 is fed, the feeding robot 600 can release the holding of the connector 711 so as to feed the following vehicle. For example, when one vehicle is fed, a part of the operation for feeding the following vehicle can be performed. Therefore, two vehicles can be fed at the same time. Alternatively, when feeding one vehicle, it is possible to prepare to feed the following vehicle. At this time, the feeding robot 600 can be controlled using the information about the following vehicle obtained in S43. That is, the connector 712 according to the type information of the following vehicle can be inserted into the feeding port of the following vehicle. When the type of the subsequent vehicle is the same as the type of the vehicle 100 currently being fed, the feeding robot and the connector 711 can be inseparable from each other. That is, the feeding robot 600 can feed while it continues to hold the connector 711. When continuously feeding vehicles with the same type of feeding port 140, the feeding robot 600 does not need to change the connector it holds. Therefore, the feeding robot 600 continues to hold the connector 711 without separating the connector 711 from it. Accordingly, after the feeding of the first vehicle 100 is completed, the connector 711 can be quickly connected to the feeding port of the subsequent vehicle. In this case, the feeding robot 600 can be configured to be able to open and close the cover of the feeding port 140 while holding the connector.

[0058] After the feeding is completed, the feeding robot 600 pulls out the connector 711 from the feeding port 140 (S66). Then, the feeding robot 600 removes the connector 711 from the end of the arm (S67). That is, the feeding robot 600 returns the connector 711 to the feeding device 700. The feeding robot 600 closes the cover, including the inner cover (S68). Accordingly, the feeding to the vehicle 100 is ended. Then, the vehicle 100 drives itself from the feeding position to a location for subsequent processing.

[0059] Notice, Figure 2 A portion of the configuration of the server 200 shown may be implemented in the external sensor 300 or the feeding robot 600. For example, the computing unit 231 may be provided in the external sensor 300. The control value creation unit 236 may be provided in the feeding robot 600. In addition, the server 200 and the feeding robot 600 may create control values ​​in a collaborative manner. For example, the server 200 creates information for specifying the position of the connector or the feeding port based on the type information. Then, the arm control unit 615 may create a control value for the joint motor in such a way that the arm mechanism 612 inserts the connector 711 into the feeding port 140. In other words, the feeding control device may not be composed solely of the server 200, and the server 200, the external sensor 300, and the feeding robot 600 may control the feeding in a collaborative manner.

[0060] Second embodiment refer to Fig. 9 and Fig.10 , the configuration of the embodiment will be described. Fig. 9 is a schematic diagram showing the overall configuration of a feeding system. Fig.10 is a block diagram showing a control system of the feeding system 50. In the present embodiment, the server 200 is not provided. Specifically, the feeding robot 600 performs processing in the server 200. Therefore, the feeding robot 600 includes a calculation unit 631, a control instruction creation unit 632, a detection unit 633, an information acquisition unit 634, a database 635, and a control value creation unit 636. Note that the description of the contents in the second embodiment that are similar to those in the first embodiment is appropriately omitted.

[0061] For example, the feeding robot 600 is connected to the external sensor 300. After the external sensor 300 captures an image of the vehicle 100, the communication device 330 transmits a detection result such as an image to the feeding robot. The communication device 630 of the feeding robot 600 receives a detection result such as an image captured by the external sensor 300. The calculation unit 631 calculates position information indicating the position and orientation of the vehicle 100.

[0062] Then, the control instruction creation unit 632 creates a control instruction for moving the vehicle 100 to the feeding position based on the position information. Then, the communication device 630 sends the control instruction to the vehicle 100. The communication device 130 of the vehicle 100 receives the control instruction. When the vehicle control unit 115 controls the actuator 120 according to the control instruction, the vehicle 100 moves to the feeding position.

[0063] The detection unit 633 detects that the vehicle 100 is in the feeding position based on the image. The information acquisition unit 634 acquires type information indicating the type of the feeding port 140 of the vehicle 100. For example, when the shape of the bumper is different for each destination of the vehicle 100, the external sensor 300 can take an image of the bumper. Alternatively, the external sensor 300 can take an image of the appearance of the feeding port 140 or an image of the feeding port 140 in a state where its cover is opened. Then, the information acquisition unit 634 acquires type information based on the image. When the feeding robot 600 has received the identification number of the vehicle 100, the information acquisition unit 634 can acquire the type information by referring to the database 635 for factory production management.

[0064] The control value creation unit 636 creates a control value based on the type information. The feeding robot 600 operates according to the control value. For example, the arm mechanism 612 selects the connector 711 according to the type and holds the selected connector 711. Then, the connector 711 is inserted into the feeding port 140 of the vehicle 100. Therefore, the feeding system 50 can use the appropriate connector 711 to feed the vehicle.

[0065] Third embodiment refer to Fig.11 and Fig.12 , a system according to a third embodiment will be described. Fig.11 is a schematic diagram showing the configuration of the feeding system 50 . Fig.12 is a block diagram showing a control system of the feeding system 50. In the present embodiment, the vehicle 100 transmits type information and the like to the feeding robot 600. Then, as in the second embodiment, the control value creation unit 636 of the feeding robot 600 creates a control value. With this configuration, the feeding system 50 can also feed the vehicle 100 using a suitable connector.

[0066] In addition, the vehicle 100 may create a control value according to the type information. In this case, the vehicle 100 sends the control value to the feeding robot 600. The feeding robot 600 inserts the connector 711 into the feeding port 140 using the received control value. Fig.11 and Fig.12 The external sensor 300 is not shown in FIG. 1 , but similarly to the first and second embodiments, the external sensor 300 may be provided.

[0067] Note that the power supply system 50 can be used in facilities such as vehicle manufacturing plants. The power supply system 50 can be a facility such as a port for loading vehicles. That is, the power supply system 50 can be used in facilities for charging vehicles before transportation. Then, in a facility for supplying power to vehicles transported to multiple destinations, the power supply system 50 can appropriately supply power to each vehicle 100.

[0068] The vehicle 100 can be an autonomous vehicle that travels by itself to a power supply position corresponding to a target position. Hereinafter, the travel control of the vehicle 100 will be described. First, an example of controlling the travel of the vehicle 100 in a collaborative manner by the vehicle 100 and the server 200 will be described. In addition, as described above, the target position of the vehicle 100 can be the power supply position where the power supply robot 600 and the power supply device 700 are located.

[0069] <A. Example of travel control 1> Fig.13 It is a conceptual diagram showing the configuration of the system 50 of the travel control example 1. The system 50 includes one or more vehicles 100 corresponding to moving bodies, a server 200, and one or more external sensors 300.

[0070] Note that when the moving body is not a vehicle, the terms "vehicle" and "automobile" in the present disclosure can be appropriately replaced by "moving body", and the term "travel" can be appropriately replaced by "movement".

[0071] The vehicle 100 is configured to be able to travel without a driver. "Traveling without a driver" means driving that does not depend on the driving operation of a driver. The driving operation refers to an operation related to at least one of "advancing", "turning", or "stopping" of the vehicle 100. Traveling without a driver is achieved by automatic or manual remote control of a device located outside the vehicle 100 or by autonomous control of the vehicle 100. Any passengers who do not perform driving operations can be on the vehicle 100 traveling without a driver. Passengers who do not perform driving operations include, for example, a person simply sitting on the seat of the vehicle 100 and a person who performs operations other than driving operations, such as assembly operations, inspection operations, and switch operations, while riding in the vehicle 100. Note that driving performed by the driving operation of a driver can be referred to as "driving with a driver".

[0072] Here, “remote control” includes “full remote control” in which all operations of the vehicle 100 are completely determined from outside the vehicle 100, and “partial remote control” in which a part of the operations of the vehicle 100 are determined from outside the vehicle 100. Furthermore, “autonomous control” includes “full autonomous control” in which the vehicle 100 autonomously controls its own operations without receiving any information from an external device outside the vehicle 100, and “partial autonomous control” in which the vehicle 100 autonomously controls its own operations using information received from an external device outside the vehicle 100.

[0073] In the present embodiment, the system 50 is used in a factory FC that manufactures the vehicle 100. The reference coordinate system of the factory FC is the global coordinate system GC. That is, the desired position in the factory FC is represented by the coordinates of X, Y, and Z in the global coordinate system GC. The factory FC includes a first location PL1 and a second location PL2. The first location PL1 and the second location PL2 are connected to each other by a driving path TR along which the vehicle 100 can travel. A plurality of external sensors 300 are installed along the driving path TR in the factory FC. The positions of the respective external sensors 300 in the factory FC are pre-adjusted. The vehicle 100 moves from the first location PL1 to the second location PL2 along the driving path TR by unmanned driving.

[0074] Fig.14 is a block diagram showing the configuration of the system 50. The vehicle 100 includes: a vehicle control device 110 for controlling various parts of the vehicle 100; an actuator 120 including one or more actuators driven under the control of the vehicle control device 110; and a communication device 130 for communicating with an external device such as a server 200 through wireless communication. The actuator 120 includes an actuator of a driving device for accelerating the vehicle 100, an actuator of a steering device for changing the driving direction of the vehicle 100, and an actuator of a control device for decelerating the vehicle 100.

[0075] The vehicle control device 110 is constituted by a computer including a processor 111, a memory 112, an input / output interface 113, and an internal bus 114. The processor 111, the memory 112, and the input / output interface 113 are connected to each other via the internal bus 114 in such a manner that they can communicate with each other. An actuator 120 and a communication device 130 are connected to the input / output interface 113. The processor 111 executes a program PG1 stored in the memory 112, thereby realizing various functions including a function as a vehicle control unit 115.

[0076] The vehicle control unit 115 drives the vehicle 100 by controlling the actuator 120. The vehicle control unit 115 can drive the vehicle 100 by controlling the actuator 120 using a driving control signal received from the server 200. The driving control signal is a control signal that drives the vehicle 100. In the present embodiment, the driving control signal includes the acceleration and steering angle of the vehicle 100 as parameters. In another embodiment, instead of or in addition to the acceleration of the vehicle 100, the driving control signal may include the speed of the vehicle 100 as a parameter.

[0077] The server 200 is composed of a computer including a processor 201, a memory 202, an input / output interface 203, and an internal bus 204. The processor 201, the memory 202, and the input / output interface 203 are connected to each other through the internal bus 204 in such a manner that they can communicate with each other. A communication device 205 for communicating with various devices provided outside the server 200 is connected to the input / output interface 203. The communication device 205 can communicate with the vehicle 100 by wireless communication, and can communicate with each external sensor 300 by wired communication or wireless communication. The processor 201 executes the program PG2 stored in the memory 202, thereby realizing various functions including the function as the remote control unit 210.

[0078] The remote control unit 210 acquires the detection results of the sensors, generates a travel control signal for controlling the actuator 120 of the vehicle 100 using the detection results, and transmits the travel control signal to the vehicle 100, thereby causing the vehicle 100 to travel by remote control. The remote control unit 210 can generate not only the travel control signal but also a control signal for controlling an actuator for operating various auxiliary devices provided in the vehicle 100 or various devices such as windshield wipers, power windows, or lights, for example. That is, the remote control unit 210 can operate these various types of devices or various types of auxiliary devices by remote control.

[0079] The external sensor 300 is a sensor provided outside the vehicle 100. The external sensor 300 according to this embodiment is a sensor that photographs the vehicle 100 from the outside of the vehicle 100. The external sensor 300 includes a communication device (not shown) and can communicate with other devices such as the server 200 through wired communication or wireless communication.

[0080] Specifically, the exterior sensor 300 is constituted by a camera. The camera as the exterior sensor 300 captures an image including the vehicle 100 and outputs the captured image as a detection result.

[0081] Fig.15 1 is a flowchart showing a processing procedure of the travel control of the vehicle 100 according to the travel control example. Fig.15 In the illustrated processing, the processor 201 of the server 200 functions as the remote control unit 210 by executing the program PG2. In addition, the processor 111 of the vehicle 100 functions as the vehicle control unit 115 by executing the program PG1.

[0082] In step S110, the processor 201 of the server 200 acquires the vehicle position information of the vehicle 100 using the detection result output from the external sensor 300. The vehicle position information is position information that forms the basis for generating a travel control signal. In the present embodiment, the vehicle position information includes the position and orientation of the vehicle 100 in the global coordinate system GC of the factory FC. Specifically, in step S110, the processor 201 acquires the vehicle position information using a captured image acquired from a camera as the external sensor 300.

[0083] Specifically, in step S110, the processor 201 detects, for example, the outline of the vehicle 100 from the captured image, calculates the coordinate system of the captured image, that is, the coordinates of the measurement points of the vehicle 100 in the local coordinate system, converts the calculated coordinates into coordinates in the global coordinate system GC, thereby acquiring the position of the vehicle 100. The outline of the vehicle 100 included in the captured image can be detected, for example, by inputting the captured image into a detection model DM using artificial intelligence. For example, the detection model DM is prepared in the system 50 or outside the system 50, and the detection model DM is pre-stored in the memory 202 of the server 200. The detection model DM can be, for example, a learned machine learning model that has been learned to achieve one of semantic segmentation or instance segmentation. The machine learning model can be, for example, a convolutional neural network (hereinafter, CNN) learned by supervised learning using a learning data set. The learning data set includes, for example, a plurality of training images including the vehicle 100, and labels indicating whether each region in the training image indicates a region of the vehicle 100 or indicates a region outside the vehicle 100. When CNN learning is performed, the parameters of CNN are preferably updated by back propagation in such a way that the error between the output result of the detection model DM and the label is reduced. In addition, the processor 201 can acquire the orientation of the vehicle 100 by estimating the orientation of the vehicle 100 based on the direction of the motion vector of the vehicle 100, and the direction of the motion vector of the vehicle 100 is calculated according to the position change of the feature point of the vehicle 100 between the frames of the captured image by using the optical flow method.

[0084] In step S120, the processor 201 of the server 200 determines the target position to which the vehicle 100 should next travel. In this embodiment, the target position is represented by the coordinates of X, Y, and Z in the global coordinate system GC. The memory 202 of the server 200 pre-stores a reference route RR that is the route along which the vehicle 100 should travel. The route is represented by nodes indicating the starting point, nodes indicating passing points, nodes indicating the target position, and links connecting the respective nodes. The processor 201 determines the target position to which the vehicle 100 should next travel using the vehicle position information and the reference route RR. The processor 201 determines the target position on the reference route RR in front of the current position of the vehicle 100.

[0085] In step S130, the processor 201 of the server 200 generates a driving control signal for causing the vehicle 100 to travel toward the determined target position. The processor 201 calculates the driving speed of the vehicle 100 based on the change in the position of the vehicle 100 and compares the calculated driving speed with the target speed. Generally, when the driving speed is lower than the target speed, the processor 201 determines the acceleration in such a way as to accelerate the vehicle 100. On the other hand, when the driving speed is higher than the target speed, the processor 201 determines the acceleration in such a way as to decelerate the vehicle 100. In addition, when the vehicle 100 is located on the reference route RR, the processor 201 determines the steering angle and acceleration to prevent the vehicle 100 from deviating from the reference route RR. On the other hand, when the vehicle 100 is not located on the reference route RR, that is, when the vehicle 100 deviates from the reference route RR, the processor 201 determines the steering angle and acceleration in such a way that the vehicle 100 returns to the reference route RR.

[0086] In step S140, the processor 201 of the server 200 sends the generated driving control signal to the vehicle 100. The processor 201 repeats the acquisition of the position of the vehicle 100, the determination of the target position, the generation of the driving control signal, the sending of the driving control signal, etc. at a predetermined cycle.

[0087] In step S150, the processor 111 of the vehicle 100 receives the driving control signal sent from the server 200. In step S160, the processor 111 of the vehicle 100 controls the actuator 120 using the received driving control signal, so that the vehicle 100 travels at the acceleration and steering angle indicated in the driving control signal. The processor 111 repeats the reception of the driving control signal and the control of the actuator 120 at a predetermined cycle. With the system 50 in this example, the vehicle 100 can be driven by remote control and the vehicle 100 can be moved without using transportation equipment such as a crane or a conveyor.

[0088] <B: Driving Control Example 2> Fig.162 is an explanatory diagram showing a schematic configuration of a system 50v of traveling control example 2. In the present embodiment, the system 50v is different from the traveling control example 1 in that the system 50v does not include the server 200. In addition, the vehicle 100v in this configuration is capable of traveling by autonomous control of the vehicle 100v. Unless otherwise specified, the other configurations are the same as those described above.

[0089] In this example, the processor 111v of the vehicle control device 110v serves as a vehicle control unit 115v by executing a program PG1 stored in a memory 112v. The vehicle control unit 115v obtains the output result of the sensor, generates a travel control signal using the output result, and outputs the generated travel control signal to operate the actuator 120, thereby enabling the vehicle 100v to travel by autonomous control. In this example, in addition to the program PG1, the memory 112v pre-stores a detection model DM and a reference route RR.

[0090] Fig.17 1 is a flowchart showing a travel control processing procedure of the vehicle 100v of the travel control example 2. Fig.17 In the illustrated processing, the processor 111v of the vehicle 100v functions as the vehicle control unit 115v by executing the program PG1.

[0091] In step S210, the processor 111v of the vehicle control device 110v uses the detection result output from the camera as the external sensor 300 to obtain the vehicle position information. In step S220, the processor 111v determines the target position to which the vehicle 100v should go next. In step S230, the processor 111v generates a travel control signal for causing the vehicle 100v to travel toward the determined target position. In step S240, the processor 111v controls the actuator 120 using the generated travel control signal, so that the vehicle 100v travels according to the parameters indicated in the travel control signal. The processor 111v repeats the acquisition of the vehicle position information, the determination of the target position, the generation of the travel control signal, and the control of the actuator at a predetermined cycle. Using the system 50v of this example, the vehicle 100v can be driven by the autonomous control of the vehicle 100v without the need for the server 200 to remotely control the vehicle 100v.

[0092] YY: Other driving control examples (YY1) In the above example, the external sensor 300 is a camera. On the other hand, the external sensor 300 may not be a camera and may be replaced by, for example, light detection and ranging (LiDAR). In this case, the detection result output from the external sensor 300 may be three-dimensional point cloud data indicating the vehicle 100. In this case, the server 200 and the vehicle 100 may obtain the vehicle position information by template matching using the three-dimensional point cloud data indicating the detection result and the reference point cloud data prepared in advance.

[0093] (YY2) In the driving control example 1, the server 200 performs the processing from the acquisition of the vehicle position information to the generation of the driving control signal. On the other hand, the vehicle 100 may perform at least a part of the processing from the acquisition of the vehicle position information to the generation of the driving control signal. For example, the following forms from (1) to (3) may be adopted.

[0094] (1) The server 200 may acquire vehicle position information, determine a target position to which the vehicle 100 should go next, and generate a route from the current position of the vehicle 100 indicated in the acquired vehicle position information to the target position. The server 200 may generate a route to a target position between the current position and the target position or may generate a route to the target position. The server 200 may send the generated route to the vehicle 100. The vehicle 100 may generate a travel control signal in such a manner that the vehicle 100 travels along the route received from the server 200 and control the actuator 120 using the generated travel control signal.

[0095] (2) The server 200 may acquire the vehicle position information and transmit the acquired vehicle position information to the vehicle 100. The vehicle 100 may determine a target position to which the vehicle 100 should go next, generate a route from the current position of the vehicle 100 indicated in the received vehicle position information to the target position, generate a travel control signal for causing the vehicle 100 to travel along the generated route, and control the actuator 120 using the generated travel control signal.

[0096] (3) In the forms of (1) and (2) above, an internal sensor may be installed on the vehicle 100, and the detection result output from the internal sensor may be used for at least one of the generation of the route or the generation of the travel control signal. The internal sensor is a sensor installed on the vehicle 100. The internal sensor may include, for example, a sensor for detecting the motion state of the vehicle 100, a sensor for detecting the operating state of each component of the vehicle 100, and a sensor for detecting the environment near the vehicle 100. Specifically, the internal sensor may include, for example, a camera, a LiDAR, a millimeter wave radar, an ultrasonic sensor, a GPS sensor, an acceleration sensor, a gyroscope sensor, etc. For example, in the form of (1) above, the server 200 may obtain the detection result in the internal sensor and reflect the detection result in the internal sensor in the route when generating the route. In the form of (1) above, the vehicle 100 may obtain the detection result in the internal sensor and reflect the detection result in the internal sensor in the travel control signal when generating the travel control signal. In the form of (2) above, the vehicle 100 may obtain the detection result in the internal sensor and reflect the detection result in the internal sensor in the route when generating the route. In the form of (2) above, the vehicle 100 can acquire the detection result in the internal sensor and reflect the detection result in the internal sensor in the travel control signal when generating the travel control signal.

[0097] (YY3) In driving control example 2, an internal sensor may be installed on the vehicle 100v, and the detection result output from the internal sensor may be used for at least one of the generation of a route or the generation of a driving control signal. For example, the vehicle 100v may obtain the detection result in the internal sensor and reflect the detection result in the internal sensor in the route when generating the route. The vehicle 100v may obtain the detection result in the internal sensor and reflect the detection result in the internal sensor in the driving control signal when generating the driving control signal.

[0098] (YY4) In driving control example 2, vehicle 100v uses the detection result of external sensor 300 to obtain vehicle position information. On the other hand, internal sensors are installed on vehicle 100v, and vehicle 100v can use the detection result in the internal sensor to obtain vehicle position information, determine the target position to which vehicle 100v should go next, generate a route from the current position of vehicle 100v indicated in the acquired vehicle position information to the target position, generate a driving control signal for driving along the generated route, and use the generated driving control signal to control actuator 120. In this case, vehicle 100v can travel without using the detection result in external sensor 300. Note that vehicle 100v can obtain target arrival time or congestion information from the outside of vehicle 100v and reflect the target arrival time or congestion information in at least one of the route or driving control signal. In addition, all functional configurations of system 50v can be set in vehicle 100v. That is, the processing implemented by system 50v in the present disclosure can be implemented only by vehicle 100v.

[0099] (YY5) In driving control example 1, the server 200 automatically generates a driving control signal to be sent to the vehicle 100. On the other hand, the server 200 may generate a driving control signal to be sent to the vehicle 100 in accordance with an operation performed by an external operator located outside the vehicle 100. For example, the external operator may operate a manipulation device including a display for displaying a captured image output from the external sensor 300, a steering, an accelerator pedal, and a brake pedal for remotely operating the vehicle 100, and a communication device for communicating with the server 200 through wired communication or wireless communication, and the server 200 may generate a driving control signal in accordance with the operation added to the manipulation device.

[0100] (YY6) In each of the above-mentioned driving control examples, it is sufficient that the vehicle 100 includes a configuration capable of moving by unmanned driving, and the vehicle 100 may have the form of a platform including, for example, the configuration stated below. Specifically, it is sufficient that the vehicle 100 includes at least a vehicle control device 110 and an actuator 120 so as to realize the three functions of "traveling", "turning" and "stopping" by unmanned driving. In the case where the vehicle 100 externally obtains information for unmanned driving, the vehicle 100 may further include a communication device 130. That is, the vehicle 100 capable of moving by unmanned driving may not be provided with at least some internal components (such as a driving seat or a dashboard), at least some external components (such as a bumper or a grille), or a body shell. In this case, other components (such as a body shell) may be installed on the vehicle 100 before the vehicle 100 is shipped from the factory FC, or other components (such as a body shell) may be installed on the vehicle 100 after the vehicle 100 is shipped from the factory FC in a state where the other components (such as the body shell) are not installed on the vehicle 100. Each component can be mounted thereon from a desired direction such as the upper side, lower side, front side, rear side, right side, or left side of the vehicle 100, mounted thereon from the same direction, or mounted thereon from different directions. In terms of the form of the platform, the position can be determined as in the vehicle 100 according to the first embodiment.

[0101] (YY7) The vehicle 100 can be manufactured by combining a plurality of modules. A module means a unit formed by a plurality of components grouped according to a part or function of the vehicle 100. For example, the platform of the vehicle 100 can be manufactured by combining a front module forming the front of the platform, a central module forming the central part of the platform, and a rear module forming the rear of the platform with each other. Note that the number of modules forming the platform is not limited to three, and may be two or less or four or more. In addition, in addition to or in place of the components forming the platform, components of the vehicle 100 forming a portion other than the platform may be formed in a module. In addition, these modules may include any external components such as a bumper or a grille or any internal components such as a seat and a console. In addition, by combining a plurality of modules, not only the vehicle 100 but also any form of mobile body may be manufactured. For example, these modules may be manufactured by joining a plurality of components by welding, a clamp, etc., or may be manufactured by molding at least a portion of the components forming the module as one component in one piece by casting. The molding method of forming one component (especially a relatively large-sized component) in one piece is also referred to as gigacasting or megacasting. For example, the front module, the center module, and the rear module described above may be manufactured using one-piece casting.

[0102] (YY8) Transporting the vehicle 100 by driving the vehicle 100 without human intervention is also referred to as "self-propelled transportation". In addition, the configuration for realizing self-propelled transportation is referred to as "vehicle remote-controlled autonomous driving transportation system". In addition, the production method of producing the vehicle 100 using self-propelled transportation is also referred to as "self-propelled production". In self-propelled production, for example, in the factory FC that manufactures the vehicle 100, a portion of the transportation of the vehicle 100 is realized by self-propelled transportation.

[0103] (YY9) In each of the above-mentioned driving control examples, part or all of the functions and processes implemented in the form of software may also be implemented in the form of hardware. In addition, some or all of the functions and processes implemented in the form of hardware may be implemented in the form of software. For example, various types of circuits such as integrated circuits or discrete circuits may be used as hardware for implementing various types of functions in the above-mentioned embodiments.

[0104] Any type of non-transitory computer-readable medium can be used to store programs and provide programs to computers. Non-transitory computer-readable media include any type of tangible storage media. Examples of non-transitory computer-readable media include magnetic storage media (such as floppy disks, magnetic tapes, hard disk drives, etc.), optical magnetic storage media (e.g., magneto-optical disks), CD-ROMs (Compact Disc Read Only Memory), CD-Rs (Compact Disc Recordable), CD-R / Ws (Compact Disc Rewritable), and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, RAMs (Random Access Memory), etc.). Any type of temporary computer-readable medium can be used to provide programs to computers. Examples of temporary computer-readable media include electrical signals, optical signals, and electromagnetic waves. Temporary computer-readable media can provide programs to computers via wired communication lines (e.g., wires and optical fibers) or wireless communication lines.

[0105] From the disclosure thus described, it will be apparent that the embodiments of the disclosure may be varied in many ways. These variations should not be regarded as departing from the spirit and scope of the disclosure, and all such modifications obvious to those skilled in the art are intended to be included within the scope of the appended claims.

Claims

1. A power feeding control device configured to control power feeding to a plurality of moving bodies including power feeding ports of different types using a power feeding robot, the power feeding control device comprising: an information acquisition unit configured to acquire type information related to a type of a feeding port of the first moving body; as well as A control value creating unit is configured to create a control value for feeding power to the first moving body according to the type information.

2. The feed control device according to claim 1, wherein: The control value creation unit specifies a connector according to the type of the feed port, and The control value creation unit creates a control value for causing the power feeding robot to feed power by inserting the designated specific connector into the power feeding port.

3. The feed control device according to claim 2, wherein: A control value related to control for causing the feeding robot to select the specific connector from a plurality of connectors and attach the selected connector to a moving body is generated. 4 . The feeding control device according to claim 1 , further comprising a sending unit configured to send the control value to the feeding robot. 5 .

5. Feeding system, including: The feed control device according to claim 4; as well as The feeding robot, wherein The feeding robot comprises: an arm mechanism configured to hold a connector of the type of the feed port; a receiving unit configured to receive the control value sent from the sending unit; and The arm control unit is configured to control the arm mechanism based on the control value so that the connector is inserted into the arm mechanism.

6. The feed control device according to any one of claims 1 to 3, wherein: The power feeding control device is mounted on the power feeding robot.

7. The feed control device according to any one of claims 1 to 3, wherein: The information acquisition unit receives the type information from the first moving object.

8. The feed control device according to any one of claims 1 to 3, wherein: The information acquisition unit acquires the type information by referring to production management information in which the destination of the first moving body is registered.

9. The feed control device according to claim 2 or 3, wherein: acquiring type information about a type of a power feeding port of a second moving body to be fed after the first moving body is fed, and When the type of the first moving body is the same as the type of the second moving body, power is fed to the first moving body by the power feeding robot while continuing to hold the connector.

10. The feed control device according to any one of claims 1 to 3, wherein: The information acquisition unit acquires power feeding information related to a target SOC according to a destination of the first moving body, and The first moving body is fed with power to satisfy the target SOC.

11. The feed control device according to any one of claims 1 to 3, wherein: A facility where the feed control device is installed is a manufacturing plant where a moving body is manufactured or a port where the moving body is transported.

12. A power feeding method for controlling power feeding to a plurality of moving bodies including power feeding ports of different types using a power feeding robot, the power feeding method comprising: acquiring type information related to the type of the feeding port of the first moving body; as well as A control value for feeding power to the first moving body is created according to the type information.

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