Power supply control device, power supply system, and power supply method

Abstract

To provide a power supply control device, a power supply system, and a power supply method that can appropriately charge a mobile object.SOLUTION: A power supply control device according to an embodiment is a power supply control device that performs control to supply electric power by using a power supply robot to a plurality of mobile objects having different types of power supply ports, and comprises: an information acquisition unit that acquires type information related to the type of the power supply port of a first mobile object; and a control value creation unit that creates a control value for supplying power to the first mobile object in accordance with the type information.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a power supply control device, a power supply system, and a power supply method. [Background technology]

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

[0003] [Patent Document 1] Patent Publication No. 2022-56840 Summary of the Invention [Problem to be solved by the invention]

[0004] Vehicle manufacturing plants manufacture vehicles for various destinations. The power supply port specifications differ depending on the destination. Therefore, when charging vehicles for different destinations, there is a problem that they cannot receive power properly.

[0005] Therefore, an object of the present disclosure is to provide a power supply control device, a power supply system, and a power supply method that can appropriately supply power to a moving object. [Means for solving the problem]

[0006] The power supply control device disclosed herein is a power supply control device that performs control to supply power to a plurality of moving bodies having different types of power supply ports using a power supply robot, and includes an information acquisition unit that acquires type information regarding the type of the power supply port of a first moving body, and a control value creation unit that creates a control value for supplying power to the first moving body in accordance with the type information.

[0007] In the power supply control device according to the present disclosure, the control value creation unit may identify a connector according to the type of the power supply port, and create a control value for the power supply robot to supply power by inserting the identified specific connector into the power supply port.

[0008] In the power supply control device according to the present disclosure, a control value related to control for the power supply robot to select and attach the specific connector from the plurality of connectors may be generated.

[0009] The power supply control device according to the present disclosure may further include a transmission unit that transmits the control value to the power supply robot.

[0010] A power supply system according to the present disclosure includes the above-mentioned power supply control device and the power supply robot, and the power supply robot may have an arm mechanism that holds a connector corresponding to the type of the power supply port, a receiving unit that receives a control value transmitted from the transmitting unit, and an arm control unit that controls the arm mechanism to insert the connector into the arm mechanism based on the control value.

[0011] In the power supply control device according to the present disclosure, the power supply control device may be mounted on the power supply robot.

[0012] In the power supply control device according to the present disclosure, the information acquisition unit may receive the type information from the first moving object.

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

[0014] In the power supply control device according to the present disclosure, type information regarding the type of power supply port of a second moving body to be powered after the first moving body is obtained, and if the types of the first moving body and the second moving body are the same, the power supply robot may supply power to the first moving body while holding the connector.

[0015] In the power supply control device according to the present disclosure, the information acquisition unit may acquire power supply information regarding a target SOC according to a destination of the first moving body, and supply power to the first moving body so as to achieve the target SOC.

[0016] In the power supply control device according to the present disclosure, a facility in which the power supply control device is installed may be a manufacturing factory that manufactures moving objects or a port that ships the moving objects.

[0017] The power supply method according to the present disclosure is a power supply method for controlling a plurality of moving objects having different types of power supply ports to supply power using a power supply robot, acquiring type information relating to a type of a power supply port of the first moving object; and creating a control value for supplying power to the first moving object in accordance with the type information. Effect of the Invention

[0018] The present disclosure makes it possible to provide a power supply control device, a power supply system, and a power supply method that can appropriately supply power to a moving object. [Brief description of the drawings]

[0019] [Figure 1] 1 is a schematic diagram showing an overall configuration of a power supply system according to a first embodiment. [Diagram 2] FIG. 2 is a block diagram showing a control system of the power supply system. [Diagram 3] 13 is a flowchart showing a process of an external sensor. [Figure 4] 10 is a flowchart showing a process of transmitting a control instruction in a server. [Diagram 5] 4 is a flowchart showing a process related to movement control in a vehicle. [Figure 6] 13 is a flowchart showing a power supply process in the server. [Figure 7] 13 is a flowchart showing a process in the power supply robot. [Figure 8] 10 is a flowchart illustrating an operation of the power supply robot. [Figure 9] FIG. 11 is a schematic diagram showing an overall configuration of a power supply system according to a second embodiment. [Figure 10] FIG. 2 is a block diagram showing a control system of the power supply system. [Figure 11] FIG. 11 is a schematic diagram showing an overall configuration of a power supply system according to a third embodiment. [Figure 12] FIG. 2 is a block diagram showing a control system of the power supply system. [Figure 13] FIG. 2 is a diagram for explaining vehicle travel control. [Figure 14] FIG. 2 is a control block diagram for explaining a first example of driving control. [Figure 15] 4 is a flowchart for explaining a first example of driving control. [Figure 16] FIG. 11 is a control block diagram for explaining a second example of driving control. [Figure 17] 11 is a flowchart for explaining a second example of driving control. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. However, the invention according to the claims is not limited to the following embodiment. Furthermore, not all of the configurations described in the embodiment are necessarily essential as means for solving the problem. For clarity of explanation, the following description and drawings are omitted and simplified as appropriate. In each drawing, the same elements are given the same reference numerals, and repeated explanations are omitted as necessary.

[0021] Embodiment 1 (Power supply system) The configuration of a power supply system 50 (also simply referred to as system 50) according to this embodiment will be described with reference to FIG. 1. For example, the power supply system 50 is used in a vehicle manufacturing factory. During vehicle manufacturing, the power supply system 50 supplies power to a vehicle 100. The power supply system 50 includes a server 200, an external sensor 300, the vehicle 100, a power supply robot 600, and a power supply device 700.

[0022] The vehicle 100 has a power supply port 140. The vehicle 100 is an electric vehicle such as a battery-powered or plug-in hybrid vehicle. Here, the power supply port 140 has a different shape and size depending on the destination. For example, the types of the power supply port 140 are different for vehicles 100 for Japan, North America, Europe, and China. That is, the factory produces vehicles 100 to be shipped to multiple destinations. The vehicle 100 may be an autonomous vehicle that moves within a vehicle manufacturing factory by automatic control, or may be a non-autonomous vehicle (also called a normal vehicle) that is driven by a driver. Here, the vehicle 100 is assumed to be a self-propelled vehicle that can move on its own.

[0023] The power supply target is not limited to the vehicle 100, and may be a moving body other than a vehicle. In this embodiment, the moving body is the vehicle 100, and more specifically, an electric vehicle (BEV: Battery Electric Vehicle). The moving body is not limited to an electric vehicle, and may be, for example, an electric motorcycle, an electric bicycle, an electric kick scooter, a hybrid vehicle, or a fuel cell vehicle. The moving body may be a vehicle having wheels or a vehicle having tracks, and may be any vehicle, such as a passenger car, a truck, a bus, a two-wheeled vehicle, a four-wheeled vehicle, a tank, or a construction vehicle. 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 power feeder 700 feeds power to the vehicle 100. The vehicle 100 has a power feed port 140 with specifications according to the destination. The power feeder 700 includes a main body 701, a cord 702, and connectors 711-713. Different types of connectors 711-713 are provided according to the specifications of the power feed port 140. The connectors 711-713 have shapes according to the power feed port 140. Therefore, the connectors 711-713 are different from each other in shape, size, etc. The number of connectors is not limited to three, and may be two or more.

[0025] For example, a connector 711 that is a Japanese standard CHAdeMO connector is used for a vehicle 100 for Japan, and a connector 712 that is a North American standard type 1 EV connector is used for a vehicle 100 for North America. A connector 713 that is a European standard IEC62196-2 type 2 EV connector is used for a vehicle 100 for Europe. That is, the connectors 711 to 713 have a shape that matches the power supply port 140 to be connected. In addition, the connectors 711 to 713 are not limited to these standards, and may be compliant with other standards such as a Tesla Supercharger EV connector or a Chinese GB / TEV charging connector. Of course, some of the connectors may have the same shape. That is, the power supply device 700 may be provided with two or more connectors for the same destination.

[0026] The main body 701 generates a power supply voltage for supplying power to the vehicle 100. The power supply voltage generated by the main body 701 is supplied to the connectors 711-713 via the cord 702. Here, the multiple connectors 711-713 correspond to the types of the power feed port 140. Therefore, the power feeder 700 supplies a power supply voltage and a power supply current that correspond to the specifications of the power feed port 140.

[0027] The power supply robot 600 connects the connectors 711-713 to the power supply port 140. For example, the power supply robot 600 has an arm mechanism 612 for connecting the connectors 711-713 to the power supply port 140. The arm mechanism 612 has a plurality of joint motors and an end effector for holding the connectors 711-713. The arm mechanism 612 selects a connector 711 that matches the power supply port 140 from the plurality of connectors 711-713, and inserts the connector 711 into the power supply port 140. This allows the power supply device 700 to supply a power supply voltage to the power supply port 140. Therefore, the power supply device 700 can supply power to the battery of the vehicle 100.

[0028] The external sensor 300 is various sensors such as an infrastructure camera or LiDAR installed in a facility such as a factory. Of course, two or more external sensors 300 may be installed, or two or more types of sensors may be used in combination. The external sensor 300 is a camera that captures an image of the vehicle 100 while moving or stopped. The external sensor 300 may be a LiDAR. The external sensor 300 transmits the detection result to the server 200. The detection result transmitted by the external sensor 300 may be a captured image or information extracted from the image. For example, if the external sensor 300 has an image processing function, the external sensor 300 transmits information extracted by image processing to the server 200.

[0029] The server 200 is an information processing device having a memory and a processor, and functions as a power supply control device that controls the power supply system 50. For example, the server 200 receives a detection result of the external sensor 300. The server 200 performs power supply control in accordance with the detection result and the like.

[0030] The server 200 acquires type information relating to the type of the power feed 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 identifying a connector corresponding to the power feed port 140 from among the multiple connectors 711-713.

[0031] In the following description, it is assumed that the specific connector specified by the type information is connector 711. Server 200 creates a control value for power supply using connector 711 according to the type information, and transmits the control value to power supply robot 600. Then, power supply robot 600 opens the cover of power supply port 140. Power supply robot 600 selects and holds connector 711 according to the type information. Power supply robot 600 inserts connector 711 into power supply port 140. This allows power supply robot 600 to connect connector 711 that matches the specifications of power supply port 140.

[0032] (Control Block) The control of the power supply system will be described in detail with reference to Fig. 2. Fig. 2 is a block diagram showing a control system of the power supply 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. Furthermore, the server 200 includes a communication device 205 for transmitting and receiving data to and from the vehicle 100, the external sensor 300, the power supply robot 600, and the like. Note that the server 200 is not limited to being a single physical device, and may be disposed in a distributed manner. For example, the database, etc. may be a storage device or a cloud server provided separately from the processor.

[0034] The external sensor 300 includes a communication device 330 that transmits and receives data to and 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 not only the captured image but also information obtained from the captured image to the server 200. That is, the communication device 330 transmits a detection result detected by the external sensor 300. The communication device 330 may be built into the external sensor 300 or may be a separate device. The communication device 330 may be shared by 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 can obtain XYZ global coordinates and orientation on a map of the factory. At least a part of the processing in the calculation unit 231 may be provided in the external sensor 300. For example, the external sensor 300 may have a processor that performs image processing. In this case, position information indicating the position of the vehicle 100 is transmitted from the communication device 330 to the communication device 205.

[0036] The position and orientation of the vehicle 100 may be estimated using a captured image acquired by an external sensor 300 provided at a location different from the vehicle 100. The position of the vehicle 100 may be acquired, for example, by calculating the coordinates of the positioning point of the moving body in the image coordinate system using the outer shape of the vehicle 100 detected from the captured image, and converting the calculated coordinates into coordinates in the global coordinate system. The orientation of the vehicle 100 may be estimated based on the direction of the movement vector of the moving body calculated from the position change of the characteristic point of the moving body between frames of the captured image, using, for example, an optical flow method. The orientation of the vehicle 100 may be calculated, for example, using the output result of a yaw rate sensor or the like mounted on the vehicle 100.

[0037] The outer shape of the vehicle 100 included in the captured image can be detected, for example, by inputting the captured image into a detection model that utilizes artificial intelligence. The detection model can be, for example, a trained machine learning model that has been trained to realize either semantic segmentation or instance segmentation. For example, a convolutional neural network (hereinafter, CNN) trained by supervised learning using a training dataset can be used as this machine learning model. The training dataset has, for example, a plurality of training images including moving objects, and a correct answer label that indicates whether each region in the training image is a region indicating a moving object or a region indicating a non-moving object. During training of the CNN, it is preferable that the parameters of the CNN are updated by backpropagation (error backpropagation method) so as to reduce an error between the output result of the detection model and the correct answer label.

[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 a power supply position. The control instruction may be information indicating the speed, acceleration, steering angle, etc. of the vehicle 100. In addition, if the vehicle 100 is capable of autonomous movement, the control instruction may be information indicating a route from the current location on a map to the power supply position. In this way, the control instruction creation unit 232 creates a control instruction regarding the movement of the vehicle 100.

[0039] The communication device 205 transmits a control instruction to the vehicle 100. When the communication device 130 of the vehicle 100 receives the control instruction, the vehicle 100 moves in accordance with the control instruction. The vehicle 100 has an actuator group 120 and a vehicle control unit 115. The actuator group 120 includes a wheel motor for driving the wheels, a steering motor for controlling the steering angle, a brake for stopping the vehicle, and the like. The vehicle control unit 115 generates a control signal for controlling the actuator group 120 in accordance with the control instruction. The vehicle control unit 115 may be configured with an ECU (Electronic Control Unit). This allows the vehicle 100 to move to a power supply position where the power supply robot 600 and the power supply device 700 are located.

[0040] The detection unit 233 detects that the vehicle 100 has stopped at the power supply position. For example, in a case where an external sensor 300 that captures an image of the power supply position is provided, the detection unit 233 detects that the vehicle 100 has stopped at the power supply position from an image of the external sensor 300. Alternatively, the detection unit 233 may transmit a signal indicating that the vehicle 100 has stopped at the power supply position. Furthermore, the vehicle 100 may transmit identification information unique to the vehicle.

[0041] The information acquisition unit 234 acquires type information related to the type of the power supply 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 an 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 supply position. For example, the information acquisition unit 234 accesses a database 235 for production management of a factory to acquire production management information. Since the destination is registered for each vehicle in the production management information, the information acquisition unit 234 can read out the destination from the identification information of the vehicle 100, etc.

[0042] Furthermore, when power supply information related to a target SOC (State Of Charge) etc. is set at the time of shipment, the information acquisition unit 234 reads out the power supply information from the database 235. For example, when a target SOC at the time of shipment is set for each destination, power is supplied so that the system 50 reaches the target SOC. The set value may be only a lower limit value, or may be a range in which an upper limit value and a lower limit value are set. In addition, the power supply device 700 is not limited to only supplying power to reach the target SOC, but may also consume power because the SOC is higher than the target SOC. If the SOC is too high during transportation to the destination, the battery will deteriorate, and if it is too low, it may run out of power. Therefore, the SOC may be set to a predetermined range before shipping.

[0043] The control value creation unit 236 creates a control value based on the type information. For example, the control value is data for identifying a connector according to the destination. When the destination information included in the type information is for 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.

[0044] The communication device 205 transmits the control value to the power supply robot 600. When the communication device 630 of the power supply robot 600 receives the control value, the power supply robot 600 executes a power supply operation. Specifically, the power supply robot 600 has an arm control unit 615. The arm control unit 615 controls the arm mechanism 612 so 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 connector 711 is connected to the power supply port 140.

[0045] In this manner, the control value creation unit 236 creates a control value in accordance with type information indicating the type of the power supply port 140. Therefore, the power supply robot 600 can supply power to the vehicle 100 using the connector 711 that matches the power supply port 140.

[0046] 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. At least a part of the function of each block provided in the server 200 may be implemented in the vehicle 100, the external sensor 300, the power supply robot 600, or the power supply device 700. The communication device 205, the communication device 330, the communication device 630, and the communication device 130 may have only one of a transmission function and a reception function.

[0047] (Power supply operation) The operation of the power supply system 50 will be described below with reference to Figs. 3 to 7. Fig. 3 is a flowchart showing the process of the external sensor 300. Fig. 4 is a flowchart showing the process of transmitting a control instruction in the server 200. Fig. 5 is a flowchart showing the process related to the movement control in the vehicle 100. Fig. 6 is a flowchart showing the process for performing power supply control in the server 200. Fig. 7 is a flowchart showing the process in the power supply robot.

[0048] As shown in Fig. 3, when the external sensor 300 captures an image of the vehicle 100, the image is transmitted to the server 200 (S11). As shown in Fig. 4, the server 200 determines whether or not the image has been received (S21). If the image has not been received (NO in S21), the process ends. In other words, the process waits until the image is received from the external sensor 300.

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

[0050] As shown in Fig. 5, it is determined whether or not the vehicle 100 has received a control instruction from the server 200 (S31). If the vehicle 100 has not received the control instruction (NO in S31), the process ends. That is, the vehicle 100 waits until the control instruction is received. If the vehicle 100 has received the control instruction (YES in S31), vehicle control is performed based on the control instruction (S32). That is, the vehicle control unit 115 controls the actuator group 120, such as the vehicle motor, steering motor, and brakes. As a result, the vehicle 100 moves to the power supply position.

[0051] Next, the detection unit 233 determines whether the vehicle 100 is at the power supply position (S41). For example, the detection unit 233 determines whether the vehicle 100 is at the power supply position based on an image of the external sensor 300 located around the power supply position. If the vehicle 100 is not at the power supply position (NO in S41), the process ends. That is, the server 200 waits until the vehicle 100 moves to the power supply position.

[0052] When the detection unit 233 determines that the vehicle 100 is at the power supply position (YES in S41), the information acquisition unit 234 acquires information about the vehicle 100 (S42). When the detection unit 233 detects the vehicle 100 at the power supply position, the information acquisition unit 234 acquires type information of the vehicle 100. For example, the vehicle 100 at the power supply position may transmit unique identification information to the server 200. The server 200 refers to the database 235 and identifies the destination from the identification information. This allows the information acquisition unit 234 to acquire type information according to the destination. Alternatively, the type information may be acquired from an image of the external sensor 300 or the like. The information acquisition unit 234 may also acquire power supply information such as SOC.

[0053] The server 200 may also acquire information about a vehicle following the vehicle 100 (S43). The following vehicle is a vehicle that will receive power after the vehicle 100. For example, the server 200 may identify the vehicle 100 that will next arrive at the power supply position as the following vehicle based on an image of the external sensor 300 or the like. This allows the server 200 to prepare in advance for power supply to the following vehicle.

[0054] Then, the control value creation unit 236 creates a control value for the power supply robot based on the type information, and the communication device 205 transmits it to the power supply robot 600 (S44). The control value may be information indicating the connector 711. Alternatively, the control value may be a motor drive amount related to the operation of holding the connector 711 and inserting it into the power supply port 140. For example, the control value may be information related to the positions of the power supply port 140 and the connector 711. Furthermore, the control value may be a value related to the insertion position or insertion direction of the connector 711.

[0055] The power supply robot 600 determines whether or not it has received a control value (S51). If the power supply robot 600 has not received a control value (NO in S51), the process ends. That is, the power supply robot 600 waits until it receives a control value. If the power supply robot 600 has received a control value (YES in S51), the power supply robot 600 is controlled based on the control value (S52). For example, the arm control unit 615 drives the arm mechanism 612 so as to grip the connector 711 that matches the type information.

[0056] 8 is a flowchart showing an example of the power supply operation of the power supply robot 600. The power supply robot 600 pushes the cover of the power supply port 140 to open it (S61). Next, the power supply robot 600 fully opens the cover, including the inner cover (S62). The power supply robot 600 attaches a connector 711 that matches the type information to the tip of its arm (S63). The power supply robot 600 inserts the connector into the power supply port 140 and starts power supply (S64).

[0057] The power supply robot 600 and the connector 711 are separated (S65). That is, while the vehicle 100 is being supplied with power, the power supply robot 600 may release its hold on the connector 711 in order to supply power to the following vehicle. For example, while one vehicle is being supplied with power, a part of the power supply operation to the following vehicle may be performed. This allows power to be supplied to two vehicles simultaneously. Alternatively, while one vehicle is being supplied with power, preparations for power supply to the following vehicle may be made. At this time, the power supply robot 600 may perform control using the information on the following vehicle acquired in S43. That is, the connector 712 corresponding to the type information of the following vehicle may be inserted into the power supply port of the following vehicle. If the type of the following vehicle is the same as the vehicle 100 to which power is currently being supplied, the power supply robot and the connector 711 do not need to be separated. That is, the power supply robot 600 may supply power while holding the connector 711. When power is successively supplied to vehicles having the same type of power supply port 140, the power supply robot 600 does not need to change the connector. Therefore, the power supply robot 600 holds the connector 711 without separating it. In this manner, the connector 711 can be quickly connected to the power supply port of the following vehicle after power supply to the first vehicle 100 is completed. In this case, the power supply robot 600 may be configured to be able to open and close the cover of the power supply port 140 while holding the connector.

[0058] After completing power supply, the power supply robot 600 removes the connector 711 from the power supply port 140 (S66). Then, the power supply robot 600 removes the connector 711 from the tip of the arm (S67). That is, the power supply robot 600 returns the connector 711 to the power supply device 700. The power supply robot 600 closes the lid including the inner lid (S68). This ends power supply to the vehicle 100. Then, the vehicle 100 drives itself from the power supply position to the location of the subsequent process.

[0059] 2 may be implemented in the external sensor 300 or the power supply robot 600. For example, the calculation unit 231 may be provided in the external sensor 300. The control value creation unit 236 may be provided in the power supply robot 600. The server 200 and the power supply robot 600 may cooperate to create the control value. For example, the server 200 creates information for identifying the positions of the connector and the power supply port from the type information. Then, the arm control unit 615 may create a control value for the joint motor so that the arm mechanism 612 inserts the connector 711 into the power supply port 140. In other words, the power supply control device does not have to be configured by the server 200 alone, and the server 200, the external sensor 300, and the power supply robot 600 may cooperate to control the power supply.

[0060] Embodiment 2 The configuration according to the embodiment will be described with reference to Figs. 9 and 10. Fig. 9 is a schematic diagram showing the overall configuration of a power supply system. Fig. 10 is a block diagram showing a control system of a power supply system 50. In this embodiment, the server 200 is not provided. Specifically, a power supply robot 600 executes the processing in the server 200. Thus, the power supply 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 same contents as those in the first embodiment will be omitted as appropriate.

[0061] For example, the power supply robot 600 is connected to the external sensor 300. When the external sensor 300 captures an image of the vehicle 100, the communication device 330 transmits the detection results, such as the image, to the power supply robot. The communication device 630 of the power supply robot 600 receives the detection results, such as the 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 power supply position based on the position information. Then, the communication device 630 transmits the control instruction to the vehicle 100. The communication device 130 of the vehicle 100 receives the control instruction. The vehicle control unit 115 controls the actuator group 120 according to the control instruction, so that the vehicle 100 moves to the power supply position.

[0063] The detection unit 633 detects that the vehicle 100 is at a power feeding position based on the image. The information acquisition unit 634 acquires type information indicating the type of the power feeding port 140 of the vehicle 100. For example, when the shape of the bumper differs for each destination of the vehicle 100, the external sensor 300 may capture an image of the bumper. Alternatively, the external sensor 300 may capture an image of the appearance of the power feeding port 140 or the power feeding port 140 with the cover open. Then, the information acquisition unit 634 acquires the type information based on the image. When the power supply robot 600 receives the identification number of the vehicle 100, the information acquisition unit 634 may acquire the type information by referring to a database 635 for production management of the factory.

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

[0065] Embodiment 3 The system according to the third embodiment will be described with reference to Figs. 11 and 12. Fig. 11 is a schematic diagram showing the configuration of a system 50. Fig. 12 is a block diagram showing a control system of the power supply system 50. In this embodiment, the vehicle 100 transmits type information and the like to the power supply robot 600. Then, as in the second embodiment, the control value creation unit 636 of the power supply robot 600 creates the control value. Even with this configuration, the power supply system 50 can supply power to the vehicle 100 using an appropriate connector.

[0066] Further, the vehicle 100 may create a control value according to the type information. In this case, the vehicle 100 transmits the control value to the power supply robot 600. The power supply robot 600 uses the received control value to insert the connector 711 into the power supply port 140. Also, in FIGS. 11 and 12, although the external sensor 300 is not shown, the external sensor 300 may be provided in the same manner as in Embodiments 1 and 2.

[0067] Note that the power supply system 50 may be used at facilities other than vehicle manufacturing factories. For example, it may be a facility such as a port for loading vehicles. That is, the power supply system 50 can be used at a facility for charging a vehicle before shipment. And in a facility for supplying power to vehicles shipped to a plurality of destinations, the power supply system 50 can appropriately supply power to each vehicle 100.

[0068] The vehicle 100 may be a self-driving vehicle that self-drives with the power supply position as the destination. Hereinafter, the driving control of the vehicle 100 will be described. First, an example of the driving control of the vehicle 100 in cooperation with the server 200 will be described. Also, as described above, the destination 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. Driving control example 1> FIG. 13 is a conceptual diagram showing the configuration of the system 50 in driving control example 1. The system 50 includes one or more vehicles 100 as moving bodies, a server 200, and one or more external sensors 300.

[0070] Note that when the moving body is other than a vehicle, the expressions "vehicle" and "car" in the present disclosure can be appropriately replaced with "moving body", and the expression "driving" can be appropriately replaced with "moving".

[0071] The vehicle 100 is configured to be capable of traveling by unmanned driving. "Unmanned driving" means driving without the driving operation of a passenger. Driving operation means at least one of the operations of "running", "turning" and "stopping" of the vehicle 100. Unmanned driving is realized by automatic or manual remote control using a device located outside the vehicle 100, or by autonomous control of the vehicle 100. The vehicle 100 traveling by unmanned driving may have a passenger who does not perform driving operation on board. The passenger who does not perform driving operation includes, for example, a person who simply sits in the seat of the vehicle 100, and a person who performs work other than driving operation, such as assembly, inspection, and operation of switches, while riding on the vehicle 100. Note that driving by a passenger who performs driving operation is sometimes called "manned driving".

[0072] In this specification, "remote control" includes "full remote control" in which all of the operations of the vehicle 100 are completely determined from outside the vehicle 100, and "partial remote control" in which some of the operations of the vehicle 100 are determined from outside the vehicle 100. In addition, "autonomous control" includes "full autonomous control" in which the vehicle 100 autonomously controls its own operations without receiving any information from devices external to the vehicle 100, and "partial autonomous control" in which the vehicle 100 autonomously controls its own operations using information received from devices external to the vehicle 100.

[0073] In this embodiment, the system 50 is used in a factory FC that manufactures the vehicle 100. The reference coordinate system of the factory FC is a global coordinate system GC. That is, any position in the factory FC is expressed by X, Y, and Z coordinates 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 by a road TR along which the vehicle 100 can travel. In the factory FC, a plurality of external sensors 300 are installed along the road TR. The position of each external sensor 300 in the factory FC is adjusted in advance. The vehicle 100 moves from the first location PL1 to the second location PL2 through the road TR by unmanned driving.

[0074] 14 is a block diagram showing the configuration of the system 50. The vehicle 100 includes a vehicle control device 110 for controlling each part of the vehicle 100, an actuator group 120 including one or more actuators that are 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 by wireless communication. The actuator group 120 includes an actuator of a drive device for accelerating the vehicle 100, an actuator of a steering device for changing the traveling direction of the vehicle 100, and an actuator of a braking device for decelerating the vehicle 100.

[0075] The vehicle control device 110 is configured 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 via the internal bus 114 to enable bidirectional communication. The input / output interface 113 is connected to an actuator group 120 and a communication device 130. The processor 111 executes a program PG1 stored in the memory 112 to realize various functions including a function as a vehicle control unit 115.

[0076] The vehicle control unit 115 controls the actuator group 120 to drive the vehicle 100. The vehicle control unit 115 controls the actuator group 120 using a driving control signal received from the server 200 to drive the vehicle 100. The driving control signal is a control signal for driving the vehicle 100. In this embodiment, the driving control signal includes the acceleration and steering angle of the vehicle 100 as parameters. In other embodiments, the driving control signal may include the speed of the vehicle 100 as a parameter instead of or in addition to the acceleration of the vehicle 100.

[0077] The server 200 is configured by 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 via the internal bus 204 to enable bidirectional communication. A communication device 205 for communicating with various devices 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 a program PG2 stored in the memory 202 to realize various functions including a function as a remote control unit 210.

[0078] The remote control unit 210 acquires detection results from the sensors, generates a driving control signal for controlling the actuator group 120 of the vehicle 100 using the detection result, and transmits the driving control signal to the vehicle 100, thereby causing the vehicle 100 to drive by remote control. The remote control unit 210 may generate and output not only the driving control signal, but also a control signal for controlling actuators for operating various accessories provided in the vehicle 100 and various equipment such as wipers, power windows, and lamps. In other words, the remote control unit 210 may operate such various equipment and accessories by remote control.

[0079] The external sensor 300 is a sensor located outside the vehicle 100. In this embodiment, the external sensor 300 is a sensor that captures the vehicle 100 from outside the vehicle 100. The external sensor 300 includes a communication device (not shown) and can communicate with other devices such as the server 200 by wired communication or wireless communication.

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

[0081] Fig. 15 is a flowchart showing a processing procedure for driving control of the vehicle 100 in the driving control example. In the processing procedure in Fig. 15, the processor 201 of the server 200 functions as the remote control unit 210 by executing the program PG2. Also, 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 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 is the basis for generating a driving control signal. In this 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, which is the external sensor 300.

[0083] In detail, in step S110, the processor 201, for example, detects the outer shape of the vehicle 100 from the captured image, calculates the coordinates of the positioning point of the vehicle 100 in the coordinate system of the captured image, i.e., the local coordinate system, and converts the calculated coordinates into coordinates in the global coordinate system GC, thereby acquiring the position of the vehicle 100. The outer shape of the vehicle 100 included in the captured image can be detected, for example, by inputting the captured image into a detection model DM that utilizes artificial intelligence. The detection model DM is prepared, for example, inside or outside the system 50, and is stored in advance in the memory 202 of the server 200. As the detection model DM, for example, a trained machine learning model that has been trained to realize either semantic segmentation or instance segmentation can be used. As this machine learning model, for example, a convolutional neural network (hereinafter, CNN) trained by supervised learning using a learning dataset can be used. The learning dataset has, for example, a plurality of training images including the vehicle 100, and labels indicating whether each region in the training images is a region indicating the vehicle 100 or a region indicating something other than the vehicle 100. During CNN learning, it is preferable to update the parameters of the CNN by backpropagation (backpropagation method) so as to reduce an error between the output result of the detection model DM and the label. In addition, the processor 201 can acquire the orientation of the vehicle 100 by estimating based on the orientation of the movement vector of the vehicle 100 calculated from the positional change of the feature points of the vehicle 100 between frames of the captured image using, for example, an optical flow method.

[0084] In step S120, the processor 201 of the server 200 determines a target position to which the vehicle 100 should next head. In this embodiment, the target position is represented by X, Y, and Z coordinates in the global coordinate system GC. A reference route RR, which is a route along which the vehicle 100 should travel, is stored in advance in the memory 202 of the server 200. The route is represented by nodes indicating the departure point, nodes indicating passing points, nodes indicating the destination, and links connecting the nodes. The processor 201 uses the vehicle position information and the reference route RR to determine a target position to which the vehicle 100 should next head. The processor 201 determines a target position on the reference route RR that is ahead of the current location of the vehicle 100.

[0085] In step S130, the processor 201 of the server 200 generates a driving control signal for driving the vehicle 100 toward the determined target position. The processor 201 calculates the driving speed of the vehicle 100 from the transition of the position of the vehicle 100, and compares the calculated driving speed with the target speed. When the driving speed is lower than the target speed as a whole, the processor 201 determines the acceleration so that the vehicle 100 accelerates, and when the driving speed is higher than the target speed, the processor 201 determines the acceleration so that the vehicle 100 decelerates. In addition, when the vehicle 100 is located on the reference route RR, the processor 201 determines the steering angle and acceleration so that the vehicle 100 does not deviate from the reference route RR, and when the vehicle 100 is not located on the reference route RR, in other words, when the vehicle 100 deviates from the reference route RR, the processor 201 determines the steering angle and acceleration so that the vehicle 100 returns to the reference route RR.

[0086] In step S140, the processor 201 of the server 200 transmits the generated driving control signal to the vehicle 100. The processor 201 repeats, at a predetermined cycle, obtaining the position of the vehicle 100, determining the target position, generating the driving control signal, and transmitting the driving control signal.

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

[0088] <B:Driving Control Example 2> FIG. 16 is an explanatory diagram showing a schematic configuration of the system 50v in Driving Control Example 2. In this example, the system 50v is different from Driving Control Example 1 in that it does not include the server 200. Also, the vehicle 100v in the configuration can travel by autonomous control of the vehicle 100v. For other configurations, unless otherwise specified, they are the same as those described above.

[0089] In this example, the processor 111v of the vehicle control device 110v functions as the vehicle control unit 115v by executing the program PG1 stored in the memory 112v. The vehicle control unit 115v can obtain the output result from the sensor, generate a driving control signal using the output result, output the generated driving control signal, and operate the actuator group 120, thereby enabling the vehicle 100v to travel by autonomous control. In this example, in addition to the program PG1, a detection model DM and a reference route RR are stored in the memory 112v in advance.

[0090] FIG. 17 is a flowchart showing the processing procedure of the driving control of the vehicle 100v in Example 2. In the processing procedure of FIG. 17, 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 acquires vehicle position information using the detection result output from the camera, which is the external sensor 300. In step S220, the processor 111v determines a target position to which the vehicle 100v should next head. In step S230, the processor 111v generates a driving control signal for driving the vehicle 100v toward the determined target position. In step S240, the processor 111v controls the actuator group 120 using the generated driving control signal to drive the vehicle 100v according to the parameters represented in the driving control signal. The processor 111v repeats the acquisition of vehicle position information, the determination of the target position, the generation of the driving control signal, and the control of the actuators at a predetermined cycle. According to the system 50v in this example, the vehicle 100v can be driven by the autonomous control of the vehicle 100v without the server 200 remotely controlling the vehicle 100v.

[0092] YY: Other driving control examples (YY1) In the above example, the external sensor 300 is a camera. In contrast, the external sensor 300 does not have to be a camera, and may be, for example, a LiDAR (Light Detection and Ranging). In this case, the detection result output by the external sensor 300 may be three-dimensional point cloud data representing the vehicle 100. In this case, the server 200 and the vehicle 100 may acquire vehicle position information by template matching using the three-dimensional point cloud data as the detection result and reference point cloud data prepared in advance.

[0093] (YY2) In driving control example 1, processes from obtaining vehicle position information to generating a driving control signal are executed by server 200. In contrast, at least a part of processes from obtaining vehicle position information to generating a driving control signal may be executed by vehicle 100. For example, the following forms (1) to (3) may be used.

[0094] (1) The server 200 may acquire vehicle position information, determine a target position to which the vehicle 100 should next head, and generate a route from the current location of the vehicle 100 represented in the acquired vehicle position information to the target position. The server 200 may generate a route to a target position between the current location and the destination, or may generate a route to the destination. The server 200 may transmit the generated route to the vehicle 100. The vehicle 100 may generate a driving control signal so that the vehicle 100 drives on the route received from the server 200, and control the actuator group 120 using the generated driving control signal.

[0095] (2) Server 200 may acquire vehicle position information and transmit the acquired vehicle position information to vehicle 100. Vehicle 100 may determine a target position to which vehicle 100 should next head, generate a route from the current location of vehicle 100 represented in the received vehicle position information to the target position, generate a driving control signal so that vehicle 100 travels on the generated route, and control actuator group 120 using the generated driving control signal.

[0096] (3) In the above-mentioned (1) and (2) modes, the vehicle 100 may be equipped with an internal sensor, and a detection result output from the internal sensor may be used for at least one of generating a route and generating a driving control signal. The internal sensor is a sensor equipped in the vehicle 100. The internal sensor may include, for example, a sensor for detecting a motion state of the vehicle 100, a sensor for detecting an operating state of each part of the vehicle 100, and a sensor for detecting an environment around 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 gyro sensor, and the like. For example, in the above-mentioned (1) mode, the server 200 may acquire a detection result of the internal sensor, and may reflect the detection result of the internal sensor on the route when generating a route. In the above-mentioned (1) mode, the vehicle 100 may acquire a detection result of the internal sensor, and may reflect the detection result of the internal sensor on the driving control signal when generating a driving control signal. In the above-mentioned (2) mode, the vehicle 100 may acquire a detection result of the internal sensor, and may reflect the detection result of the internal sensor on the route when generating a route. In the above embodiment (2), the vehicle 100 may acquire the detection result of the internal sensor, and may reflect the detection result of the internal sensor in the driving control signal when generating the driving control signal.

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

[0098] (YY4) In the driving control example 2, the vehicle 100v acquires vehicle position information using the detection result of the external sensor 300. In contrast, the vehicle 100v is equipped with an internal sensor, and the vehicle 100v acquires vehicle position information using the detection result of the internal sensor, determines a target position to which the vehicle 100v should next head, generates a route from the current location of the vehicle 100v represented in the acquired vehicle position information to the target position, generates a driving control signal for traveling the generated route, and controls the actuator group 120 using the generated driving control signal. In this case, the vehicle 100v can travel without using any detection result of the external sensor 300. The vehicle 100v may acquire a target arrival time or traffic congestion information from outside the vehicle 100v and reflect the target arrival time or traffic congestion information in at least one of the route and the driving control signal. In addition, all of the functional configurations of the system 50v may be provided in the vehicle 100v. That is, the processing realized by the system 50v in the present disclosure may be realized by the vehicle 100v alone.

[0099] (YY5) In driving control example 1, the server 200 automatically generates a driving control signal to be transmitted to the vehicle 100. In contrast, the server 200 may generate a driving control signal to be transmitted to the vehicle 100 in accordance with the operation of an external operator located outside the vehicle 100. For example, the external operator may operate a control device including a display for displaying an image output from the external sensor 300, a steering wheel for remotely controlling the vehicle 100, an accelerator pedal, a brake pedal, and a communication device for communicating with the server 200 by wired communication or wireless communication, and the server 200 may generate a driving control signal in accordance with the operation applied to the control device.

[0100] (YY6) In each of the above driving control examples, the vehicle 100 may have a configuration capable of moving by unmanned driving, and may be in the form of a platform having the configuration described below, for example. Specifically, the vehicle 100 may have at least a vehicle control device 110 and an actuator group 120 in order to perform the three functions of "running," "turning," and "stopping" by unmanned driving. When the vehicle 100 acquires information from the outside for unmanned driving, the vehicle 100 may further have a communication device 130. That is, the vehicle 100 capable of moving by unmanned driving may not be equipped with at least a part of interior parts such as a driver's seat and a dashboard, may not be equipped with at least a part of exterior parts such as a bumper and a fender, and may not be equipped with a body shell. In this case, the remaining parts such as the body shell may be attached to the vehicle 100 before the vehicle 100 is shipped from the factory FC, or the remaining parts such as the body shell may be attached to the vehicle 100 after the vehicle 100 is shipped from the factory FC in a state in which the remaining parts such as the body shell are not attached to the vehicle 100. Each part may be attached from any direction such as the upper side, lower side, front side, rear side, right side, or left side of the vehicle 100, and may be attached from the same direction or from different directions. Note that the position of the platform shape may be determined in the same manner as for the vehicle 100 in the first embodiment.

[0101] (YY7) The vehicle 100 may be manufactured by combining a plurality of modules. A module means a unit composed of a plurality of parts grouped according to the location or function of the vehicle 100. For example, the platform of the vehicle 100 may be manufactured by combining a front module that constitutes the front part of the platform, a central module that constitutes the central part of the platform, and a rear module that constitutes the rear part of the platform. The number of modules that constitute the platform is not limited to three, and may be two or less, or four or more. In addition to or instead of the parts that constitute the platform, parts that constitute parts of the vehicle 100 that are different from the platform may be modularized. The various modules may include any exterior parts such as a bumper or a grille, or any interior parts such as a seat or a console. In addition, not limited to the vehicle 100, any type of moving body may be manufactured by combining a plurality of modules. Such a module may be manufactured, for example, by joining a plurality of parts by welding or a fastener, or may be manufactured by integrally molding at least a part of the parts that constitute the module as one part by casting. The molding method for integrally molding a single component, particularly a relatively large component, is also called gigacast or megacast. For example, the front module, the center module, and the rear module may be manufactured using gigacast.

[0102] (YY8) Transporting the vehicle 100 by using the vehicle 100's unmanned driving is also called "self-propelled transport." Also, a configuration for realizing self-propelled transport is also called a "vehicle remote-controlled autonomous traveling transport system." Also, a production method for producing the vehicle 100 by using self-propelled transport is also called "self-propelled production." In self-propelled production, for example, at least a part of the transport of the vehicle 100 is realized by self-propelled transport in the factory FC where the vehicle 100 is manufactured.

[0103] (YY9) In each of the above driving control examples, some or all of the functions and processes implemented by software may be implemented by hardware. Also, some or all of the functions and processes implemented by hardware may be implemented by software. As hardware for implementing various functions in each of the above embodiments, various circuits such as integrated circuits and discrete circuits may be used.

[0104] In addition, a part or all of the processes in the above-mentioned external sensor 300, the vehicle 100, the server 200, the external sensor 300, the power supply robot 600, and the like can be realized as a computer program. Such a program can be stored using various types of non-transitory computer-readable media and supplied to the computer. The non-transitory computer-readable medium includes various types of tangible recording media. Examples of the non-transitory computer-readable medium include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)). In addition, the program may be supplied to the computer by various types of temporary computer-readable media. Examples of the temporary computer-readable medium include electric signals, optical signals, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via wired communication paths such as electric wires and optical fibers, or wireless communication paths.

[0105] The present invention is not limited to the above-described embodiment, and can be modified as appropriate without departing from the spirit and scope of the present invention. [Explanation of symbols]

[0106] 50 Power Supply System 100 vehicles 130 Communication Equipment 115 Vehicle control unit 120 Actuators 140 Power supply port 200 Servers 205 Communication Equipment 231 Calculation Section 232 Control Instruction Creation Department 233 Detector 234 Information Acquisition Department 235 Database 236 Control value creation unit 300 External Sensor 330 Communication Equipment 600 Powered Robot 630 Communication Equipment 631 Calculation Department 632 Control Instruction Creation Department 633 Detector 634 Information Acquisition Department 635 Database 636 Control Value Creation Unit 612 Arm Mechanism 630 Communication Equipment 700 power supply 701 Main body 702 Code 711 Connector 712 Connector 713 Connector

Claims

1. A power supply control device that controls power supply using a power supply robot to a plurality of moving objects having different types of power supply ports, an information acquisition unit that acquires type information related to a type of a power supply port of the first moving body; a control value creation unit that creates a control value for supplying power to the first moving body in accordance with the type information.

2. The control value creation unit identifies a connector according to a type of the power supply port, The power supply control device according to claim 1 , wherein a control value is generated for the power supply robot to supply power so that the specified connector is inserted into the power supply port.

3. The power supply control device according to claim 2 , wherein the power supply robot generates a control value related to control for selecting and attaching the specific connector from the plurality of connectors.

4. The power supply control device according to any one of claims 1 to 3, further comprising a transmission unit that transmits the control value to the power supply robot.

5. The power supply control device according to claim 4 ; The power supply robot, The power supply robot includes: an arm mechanism for holding a connector corresponding to the type of the power supply port; a receiving unit that receives the control value transmitted from the transmitting unit; an arm control unit that controls the arm mechanism based on the control value so as to insert the connector into the arm mechanism.

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

7. The power supply 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 power supply 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 a destination of the first moving body is registered.

9. acquiring type information regarding a type of a power supply port of a second moving body that is to be powered after the first moving body; 4. The power supply control device according to claim 2, wherein when the first moving body and the second moving body are of the same type, the power supply robot supplies power to the first moving body while holding the connector.

10. The information acquisition unit acquires power supply information regarding a target SOC according to a destination of the first moving body, The power supply control device according to any one of claims 1 to 3, wherein the first moving body is powered so as to reach the target SOC.

11. The power supply control device according to any one of claims 1 to 3, wherein a facility in which the power supply control device is installed is a manufacturing factory for manufacturing mobile objects or a port for shipping the mobile objects.

12. A power supply method for controlling a plurality of moving objects having different types of power supply ports to supply power using a power supply robot, comprising: acquiring type information relating to a type of a power supply port of the first moving object; creating a control value for supplying power to the first moving object in accordance with the type information.

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