Positioning adjustment mechanism, positioning adjustment system, and charging station

Abstract

To improve positioning accuracy of a travel device.SOLUTION: A positioning adjustment mechanism 200 positions, at a predetermined stop position P4, a travel device 1 having, on both sides of a main body 50, a pair of tracked vehicles 10a and 10b that makes contact with a travel surface G to be driven. The positioning adjustment mechanism 200 includes: a guide rail 210 that is provided upright on the travel surface G of the travel device 1; and guide pads 230a and 230b in a pair that are oppositely arranged on both sides of the travel device 1 in a width direction with respect to the guide rail 210. The guide pads 230a and 230b in a pair are respectively arranged on both sides that sandwich a central position of the main body 50 in the width direction and are included in a bottom surface 50B side of the main body 50 of the travel device 1, and are also arranged at a position in the width direction so that a distance between the arranged guide pads 230a and 230b and the tracked vehicles 10a and 10b on an arrangement side becomes smaller than a distance between the arranged guide pads 230a and 230b and the central position.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to a positioning adjustment mechanism, a positioning adjustment system, and a charging station.

Background Art

[0002] In recent years, in various usage environments and applications, autonomous mobile robots (travel devices) have been utilized to assist in tasks that were conventionally performed manually and to perform tasks in environments where humans cannot cope.

[0003] For example, Patent Document 1 discloses a travel device provided with a crawler-type traveling body as an example of such an autonomous mobile travel device in order to enhance stability during travel.

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, Patent Document 1 does not describe a mechanism for stopping more accurately according to a target position, and there is room for improvement.

[0005] An object of the present invention is to improve the positioning accuracy of a travel device.

Means for Solving the Problems

[0006] In order to solve the above-described problems, a positioning and adjustment mechanism according to an aspect of the present invention is a positioning and adjustment mechanism for positioning a traveling device having a pair of traveling bodies that are grounded and driven on both sides of a main body at a predetermined stop position. The positioning and adjustment mechanism includes a guide rail erected on the traveling surface of the traveling device, and at least a pair of guide pads disposed opposite to both sides in the width direction orthogonal to the traveling direction of the traveling device with respect to the guide rail. Among the at least a pair of guide pads, a first pair of guide pads is disposed on the bottom surface side of the main body and at the position of each of the pair of traveling bodies on the main body side, and extends along at least a part in the traveling direction of the main body from the front end side of the main body closest to the stop position. Each pair of the at least a pair of guide pads is disposed on both sides sandwiching the center position in the width direction of the main body, and the distance between the disposed guide pad and the traveling body on the disposed side is smaller than the distance between the disposed guide pad and the center position. The guide rail is arranged in the width direction. The guide rail has a widened portion whose width dimension gradually approaches the distance between the at least a pair of guide pads along the traveling direction of the traveling device, and a positioning portion whose one end is connected to the end of the widened portion where the width dimension in the width direction is the largest, and both ends in the width direction are formed to be parallel along the traveling direction, and the other end extends to the stop position.

Advantages of the Invention

[0007] The positioning accuracy of the traveling device can be improved.

Brief Description of the Drawings

[0008]

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Embodiments for Carrying Out the Invention

[0009] Hereinafter, embodiments will be described with reference to the accompanying drawings. For ease of understanding of the description, the same reference numerals are used for the same components in each drawing as much as possible, and duplicate descriptions are omitted.

[0010] The positioning and adjustment system 100 according to the embodiment is a system for positioning the traveling device 1 at a predetermined stop position. Although details will be described later, the positioning and adjustment system 100 includes the traveling device 1 and a positioning and adjustment mechanism 200 for positioning the traveling device 1 at a predetermined stop position (see FIGS. 1, 5 to 7). Similarly, although details will be described later, the positioning and adjustment mechanism 200 includes a guide rail 210, a vehicle stopper 220, and a pair of guide pads 230a and 230b (see FIGS. 5 to 7). In the present embodiment, as an example of the traveling device, the traveling device 1 including crawler-type (track-type) traveling bodies 10a and 10b will be illustrated and described. Further, in the present embodiment, as an example of the task of positioning the traveling device 1, a charging task of positioning the traveling device 1 at a chargeable position P4 (see FIGS. 13, 18, etc.) of the charging station 300 according to the embodiment will be illustrated and described.

[0011] <Configuration of Traveling Device> First, with reference to FIGS. 1 to 3, the configuration of the traveling device 1 including the crawler-type traveling bodies 10a and 10b will be described. FIG. 1 is a perspective view showing a schematic configuration of the traveling device 1 applied in the embodiment. FIG. 2 is a side view of the traveling device 1 shown in FIG. 1. In FIG. 2, a side view from the side of one crawler-type traveling body 10a of the pair of crawler-type traveling bodies 10a and 10b is illustrated, but the configuration of the other crawler-type traveling body 10b is the same.

[0012] In the description of FIGS. 1 and 2, the x1 direction, y1 direction, and z1 direction are perpendicular to each other. The x1 direction and y1 direction are horizontal directions, and the z1 direction is a vertical direction. The x1 direction is the front-rear direction of the traveling device 1, the positive x1 direction side is the front side of the traveling device 1, and the negative x1 direction side is the rear side of the traveling device 1. The y1 direction is the width direction of the traveling device 1, the positive y1 direction side is the right side when viewed from the front side, and the negative y1 direction side is the left side. Further, hereinafter, for convenience of explanation, the positive z1 direction side may also be expressed as the upper side and the negative z1 direction side as the lower side.

[0013] As shown in FIG. 1, the traveling device 1 has a main body 50 at the center in the y1 direction, and has a pair of traveling bodies that are in contact with the traveling surface and drive on both sides of the main body 50 in the y1 direction. The pair of traveling bodies are crawler-type traveling bodies 10a and 10b. In the example of FIG. 1, one crawler-type traveling body 10a is arranged on the positive y1 direction side of the main body 50, and the other crawler-type traveling body 10b is arranged on the negative y1 direction side of the main body 50. The traveling device 1 is configured to change the traveling direction by giving a speed difference to each of the pair of crawler-type traveling bodies 10a and 10b. In the following description, the pair of crawler-type traveling bodies 10a and 10b may be collectively represented by the reference numeral 10.

[0014] As shown in FIGS. 1 and 2, the traveling device 1 uses a crawler-type traveling body 10 in the shape of a triangle formed by a drive wheel 13 incorporating an in-wheel motor 14 and two idler wheels 15a and 15b in order to travel with a stable posture. The traveling device 1 having such a crawler-type traveling body 10 has high traveling performance and can travel stably on uneven ground with irregularities. On the other hand, compared with a traveling device 1 using wheels, the difficulty of fine position adjustment is high, and it is difficult to move to a target position with high precision. Furthermore, there is a problem that it is easy to stop in a state of being tilted in the left-right and up-down directions when stopped, and the posture at the time of stopping is not stable.

[0015] When such a crawler-type traveling body 10 stops, for example, when charging or when connecting / disconnecting a conveyed object, it is required to perform highly accurate positioning of about ± ten-odd millimeters with respect to the target position and maintain the posture within about ± several degrees.

[0016] The configuration of each part of the traveling device 1 will be further described. The crawler-type traveling bodies 10a and 10b are units that serve as the moving means of the traveling device 1. Also, the crawler-type traveling bodies 10a and 10b are crawler-type (track-type) traveling bodies that use a belt made of metal or rubber. The crawler-type traveling body has a larger ground contact area compared to a traveling body that travels on tires like an automobile, and can travel stably, for example, even in an environment with poor scaffolding. In addition, while a traveling body that travels on tires requires a turning space when performing a turning operation, a traveling device equipped with a crawler-type traveling body can perform so-called ultra-short turning, and thus can smoothly perform a turning operation even in a limited space.

[0017] The main body 50 is a support that supports the crawler-type traveling bodies 10a and 10b in a state where they can travel, and is equipped with a control device that performs control for driving the traveling device 1. Also, the main body 50 is equipped with a battery 530, which will be described later, that supplies electric power for driving the crawler-type traveling bodies 10a and 10b.

[0018] As shown in FIGS. 1 and 2, the main body 50 of the traveling device 1 is a housing having a top surface 50A, a bottom surface 50B, and a pair of side surfaces 50C and 50D. The top surface 50A is arranged such that the positive z1 direction is the normal direction. The bottom surface 50B is arranged such that the negative z1 direction is the normal direction. The pair of side surfaces 50C and 50D are arranged such that the positive y1 direction and the negative y1 direction are the normal directions, respectively. On the top surface 50A of the main body 50, as sensors used for controlling the traveling device 1, in the example of FIG. 1, a GPS receiver 51, a 2D LiDAR 52, a 3D LiDAR 53, a pan-tilt-zoom camera (PTZ camera) 54, and a 360° camera 55 are mounted.

[0019] The GPS receiver 51 receives radio waves from artificial satellites and acquires current position information. The traveling device 1 can perform autonomous driving outdoors based on the position information acquired by the GPS receiver 51. As shown in FIG. 1, for example, when two devices of the GPS receiver 51 are set in the width direction (y1 direction) of the main body 50, the direction in which the traveling device 1 is facing can be grasped in addition to the position information.

[0020] The 2D LiDAR 52 acquires distance information of a horizontal plane by horizontally scanning the distance measurement light. In this embodiment, the 2D LiDAR 52 is arranged at the center in the width direction (y1 direction) of the main body 50, and is installed so as to be able to acquire distance information in a range of 270 degrees in the horizontal direction centering on the front (x1 positive direction) of the main body 50. The traveling device 1 can perform movement control to a target position by, for example, creating a map of the surrounding shape in advance using the 2D LiDAR 52 and performing pattern matching between the measurement result of the 2D LiDAR 52 and the map information during traveling. Thereby, the traveling device 1 can perform autonomous traveling using the 2D LiDAR 52 even in a space where a GPS signal cannot be received, such as indoors.

[0021] The 3D LiDAR 53 acquires distance information of a space including the height direction in addition to the horizontal direction. The traveling device 1 can perform traveling control such as monitoring the front using the 3D LiDAR 53 and temporarily stopping the traveling when it is likely to come into contact with a person or an object during traveling. Note that the traveling device 1 may be configured to monitor both the front and the rear using the 3D LiDAR 53 to detect obstacles.

[0022] The PTZ camera 54 is an imaging device having a function of moving the direction of the camera lens left and right (pan), a function of moving the direction of the camera lens up and down (tilt), and a function of zooming in and out (zoom). The traveling device 1 can acquire detailed images of surrounding people, meters, etc. using each function of the PTZ camera 54. For example, the traveling device 1 can use the PTZ camera 54 to automatically read meter values within a preset factory site and perform a patrol while automatically photographing water leakage in pipes, etc.

[0023] The 360° camera 55 is an imaging device that collectively photographs in a range of 360 degrees, that is, over the entire circumference of the main body 50. The traveling device 1 can acquire an image of the entire circumference of the surroundings during traveling using the 360° camera 55.

[0024] In addition, the PTZ camera 54 and the 360° camera 55 can be used to provide the operator with the image information of the traveling device 1 when the traveling device 1 is remotely operated by the operator. The operator can, for example, view the camera image on the monitor screen and perform remote operation while grasping the situation around the traveling device 1 in real time.

[0025] Further, bumpers 56 and 57 extending in the width direction are attached to the front side and the rear side of the traveling device 1. Both ends of the bumpers 56 and 57 in the width direction preferably extend to the outside in the y1 direction beyond the pair of crawler traveling bodies 10a and 10b installed on both sides of the main body 50. Contact sensors 58 and 59 (see FIG. 3) are built into the bumpers 56 and 57 respectively, and can detect contact with an external object such as a person or an obstacle, for example. The traveling device 1 can perform traveling control such as temporarily stopping the traveling when the contact sensors 58 and 59 of the bumpers 56 and 57 detect contact with an object.

[0026] Also, the front portion of the main body 50 is divided into a front surface 50E and an inclined surface 50F along the z1 direction. The front surface 50E is a surface arranged with the positive x1 direction as the normal direction and is the most forward part of the main body 50. The inclined surface 50F is provided above the front surface 50E and is a surface arranged with the obliquely upper front (positive x1 direction and positive z1 direction) as the normal direction. The inclined surface 50F is formed in a rectangular shape with the same width dimension as the front surface 50E. One side at the lower end of the rectangular shape is connected to the upper end of the front surface 50E, one side at the upper end is connected to the front end of the top surface 50A, and the opposite sides in the width direction are connected to the side surfaces 50C and 50D respectively.

[0027] And particularly in this embodiment, a power receiving device 60 is installed on the inclined surface 50F of the main body 50. The power receiving device 60 is a device that receives power supply from the power feeding stand 310 of the charging station 300 during the charging task. In this embodiment, the power receiving device 60 is a non-contact method such as a magnetic coil method, and automatically supplies power to the battery 530 (see FIG. 3) inside the main body 50 when approaching the power feeding device 315 of the power feeding stand 310 to a predetermined distance.

[0028] As shown in FIG. 1 for example, the power receiving device 60 is erected from the inclined surface 50F at the same height, and the upper surface 60A is formed of a substantially rectangular parallelepiped housing having the same obliquely upper front direction as the inclined surface 50F as the normal direction.

[0029] Further, an exhaust duct 61 is installed on the front surface 50E of the main body 50 so as to protrude forward from the front surface 50E. The front end portion 61A of this exhaust duct 61 is disposed at the end portion on the positive x1 direction side of the power receiving device 60, that is, further forward than the lower end of the upper surface 60A. Thereby, when the traveling device 1 approaches the power feeding stand 310, the front end portion 61A can contact a part of the power feeding stand 310 (in this embodiment, the contact receiving portion 316 of the rotating portion 312 (see FIG. 15 etc.)) before the power receiving device 60. That is, the exhaust duct 61 functions as a contact portion that contacts the power feeding stand 310 when the traveling device 1 reaches the chargeable position P4. By providing the exhaust duct 61 as such a contact portion, the traveling device 1 can prevent the power receiving device 60 from contacting the power feeding device 315 of the power feeding stand 310 at the chargeable position P4.

[0030] Note that the traveling device 1 can also be charged manually. In that case, for example, a connector provided on the rear surface 50G of the main body 50 etc. is used to directly charge the battery 530 from a dedicated charging facility.

[0031] As shown in FIG. 2, the crawler type traveling body 10 has a triangular shape formed by a drive wheel 13 and two idler wheels 15a, 15b. The crawler type traveling body 10 having a triangular shape can increase the ground contact area within the limited front and rear sizes, for example, when there are restrictions on the front and rear sizes of the traveling body, so that the stability during traveling can be improved. On the other hand, in a so-called tank type crawler where the upper side (drive wheel side) is longer than the lower side (idler wheel side), when there are restrictions on the front and rear sizes, the overall ground contact area becomes small and unstable. Thus, the crawler type traveling body 10 is effective when enhancing the traveling performance of the relatively small traveling device 1.

[0032] The crawler traveling body 10 includes a crawler 11, a drive wheel 13, in-wheel motors 14, idler wheels 15a, 15b, idlers 18a, 18b, links 19, side plates 20a, 20b, and a tensioner 25.

[0033] The crawler 11, also called a track, is formed of metal or rubber. The crawler 11 is wound around the drive wheel 13 and the idler wheels 15a, 15b. The crawler 11 rotates the crawler traveling body 10 by driving the idler wheels 15a, 15b while moving in accordance with the rotation direction of the drive wheel 13. Further, a plurality of protrusions 11a, 11b are provided on the surface of the crawler 11. The outer protrusions 11a of the crawler 11 are provided, for example, to stably overcome small obstacles such as stones on the road surface and travel. Also, the inner protrusions 11b are provided, for example, to prevent the crawler 11 from coming off the drive wheel 13 or the idler wheels 15a, 15b.

[0034] The drive wheel 13 transmits a driving force for rotating the crawler traveling body 10 to the crawler 11. The crawler traveling body 10 transmits the driving force (rotational force) transmitted from the in-wheel motor 14 to the drive wheel 13 to the idler wheels 15a, 15b via the crawler 11.

[0035] The in-wheel motor 14 is built into the drive wheel 13 and transmits a rotational force to the drive wheel 13. The in-wheel motor 14 rotates around a motor shaft 141 that serves as a drive shaft. The rotation shaft (motor shaft 141) of the in-wheel motor 14 becomes the rotation shaft (drive shaft) of the drive wheel 13, and the drive wheel 13 rotates by the rotational force of the in-wheel motor 14. Then, the rotational force of the in-wheel motor 14 is transmitted to the crawler 11 as a driving force. Specifically, the in-wheel motor 14 gives the drive wheel 13 a forward rotation for advancing the traveling device 1 or a reverse rotation for retracting the traveling device 1.

[0036] In addition, the in-wheel motor 14 can simplify the structure by being built into the drive wheel 13. For example, by not using components such as drive chains or gears, the risk of failures caused by these components can be reduced. Furthermore, by building the in-wheel motor 14 into the drive wheel 13, the driving force can be generated near the outer periphery of the crawler-type traveling body 10, so the torque can be increased.

[0037] The idler wheels 15a and 15b are rotatably attached to the crawler-type traveling body 10. The idler wheels 15a and 15b rotate about the idler wheel shafts 151a and 151b as rotation axes by the driving force (rotational force) transmitted from the drive wheel 13 via the crawler 11.

[0038] Here, the drive wheel 13, the idler wheel 15a, and the idler wheel 15b form a triangle in a side view. The crawler 11 is looped around the drive wheel 13, the idler wheel 15a, and the idler wheel 15b, and the area between the idler wheel 15a and the idler wheel 15b touches the ground. That is, the drive wheel 13 with the in-wheel motor 14 built therein does not touch the road surface. Therefore, even when the crawler-type traveling body 10 travels through a puddle, for example, the in-wheel motor 14 will not be submerged, so there is no need to install a special waterproof mechanism for the in-wheel motor 14.

[0039] In addition, the diameters of the drive wheel 13 and the idler wheels 15a and 15b are different. The running body needs to be layout-designed considering factors such as size limitations and running performance requirements. Generally, the smaller the diameter of the motor, the more likely the torque per unit width in the thickness (width) of the motor will tend to decrease. Therefore, the drive wheel incorporating the in-wheel motor needs to have a diameter equal to or larger than the motor diameter so as to be able to meet the required torque performance. Accordingly, the crawler-type running body 10 is designed such that the diameter of the drive wheel 13 installed above is larger than the diameters of the idler wheels 15a and 15b, as a layout that satisfies the size limitations of the traveling device 1 or the crawler-type running body 10 and also meets the required running performance. Note that if the diameter of the idler wheel is increased while the size is limited, the ground contact area will become smaller and the running stability will be impaired. Therefore, there is also an advantage in adopting idler wheels 15a and 15b with a relatively small diameter in consideration of the diameter of the drive wheel 13.

[0040] The idler wheels 18a and 18b are auxiliary wheels provided between the two idler wheels 15a and 15b and rotate following the crawler belt 11. The idler wheels 18a and 18b rotate about idler shafts 181a and 181b as rotation axes, respectively. Also, the link 19 is a support that supports the idler wheels 18a and 18b.

[0041] The side plate 20a supports the drive wheel 13, the idler wheels 15a and 15b, and the idler wheels 18a and 18b in the crawler-type running body 10. The side plate 20a is installed on the side surface of the crawler-type running body 10 on the positive y1 direction side. Also, on the opposite side of the side plate 20a, on the side surface of the crawler-type running body 10 on the negative y1 direction side, a side plate 20b having the same shape as the side plate 20a is set. The crawler-type running body 10 has a double-support structure that supports the drive wheel 13 and the idler wheels 15a and 15b, etc., using the two side plates 20a and 20b. The side plates 20a and 20b support the drive wheel 13 using the motor shaft 141. Also, the side plates 20a and 20b support the idler wheels 15a and 15b using the idler shafts 151a and 151b, respectively. Further, the side plates 20a and 20b support the idler wheels 18a and 18b via the link shafts 191 of the link 19 that supports the idler wheels 18a and 18b.

[0042] The tensioner 25 is formed of an elastic member such as a spring and is connected to the motor shaft 141 which is the rotation shaft of the in-wheel motor 14 and the drive wheel 13. The tensioner 25 is installed so that the drive wheel 13 presses against the inner side of the crawler belt 11 to apply tension to the crawler belt 11. The tensioner 25 plays a role of adjusting the tension applied from the drive wheel 13 to the crawler belt 11 during running. The tensioner 25 plays a role of keeping the reference tension substantially constant during running, for example, based on the tension at rest of the crawler-type traveling body 10. Further, the crawler-type traveling body 10 maintains the normal transmission of the driving force by the crawler belt 11 by adjusting the slack of the crawler belt 11 by the tensioner 25. Further, the crawler-type traveling body 10 can prevent the crawler belt 11 from coming off by applying tension to the crawler belt 11 by the tensioner 25.

[0043] Here, as shown in FIGS. 1 and 2, the crawler-type traveling body 10 has a structure that is substantially symmetric in the front and rear in the traveling direction with the drive wheel 13 as the center. More specifically, the crawler-type traveling body 10 has a structure that is approximately line-symmetric with respect to the perpendicular line from the motor shaft 141 of the in-wheel motor 14 to the straight line connecting the idler shafts of the two idlers 15a and 15b in a side view seen from the y1-axis direction as shown in FIGS. 1 and 2.

[0044] For example, a traveling device that travels in a narrow space such as an office corridor needs to frequently move forward and backward and perform tight turning on the spot. In this case, if the shape of the crawler belt or the arrangement of the drive wheel, idler wheel, or tensioner, etc. is asymmetric in the front and rear, the driving characteristics may change during forward and backward movement, or it may not be possible to rotate around the center during tight turning on the spot. Therefore, the crawler-type traveling body 10 can improve the running stability and simplify the control of the traveling device 1 by making the layout (structure) substantially symmetric in the front and rear. Further, since the crawler-type traveling body 10 can be installed without being conscious of the left and right of the traveling device 1, the number of parts can be reduced, etc.

[0045] FIG. 3 is a diagram showing an example of the hardware configuration of the traveling device 1. As shown in FIG. 1, the traveling device 1 includes a main body 50 that controls the processing or operation of the traveling device 1. The main body 50 includes a radio receiver 501, a CPU (Central Processing Unit) 502, a memory 503, a communication I / F (Interface) 506, a battery 530, a traveling control motor driver 540, an attitude control motor driver 550, and attitude control motors 555a and 555b. Further, the radio receiver 501, the CPU 502, the memory 503, the communication I / F 506, the battery 530, the traveling control motor driver 540, and the attitude control motor driver 550 are connected via a system bus 510. The system bus 510 is an address bus, a data bus, etc. for electrically connecting the above components, and transmits an address signal, a data signal, and various control signals, etc.

[0046] The radio receiver 501 receives an operation instruction signal transmitted from a transmitter such as a PC used by the operator of the traveling device 1.

[0047] The CPU 502 controls the entire traveling device 1. The CPU 502 is an arithmetic unit that realizes each function of the traveling device 1 by reading out the program P stored in the memory 503 and various data necessary for operating the traveling device 1 and executing the processing.

[0048] The memory 503 stores the program P executed by the CPU 502 and various data necessary for operating the traveling device 1. The program P is provided by being pre-embedded in the memory 503.

[0049] Also, the program P may be configured to be recorded and provided on a computer-readable recording medium such as a CD-ROM, flexible disk (FD), CD-R, or DVD (Digital Versatile Disc) in an installable or executable file format. Further, the program P may be configured to be stored on a computer connected to a network such as the Internet and provided by causing it to be downloaded to the traveling device 1 via the network. Also, the program P may be configured to be provided or distributed via a network such as the Internet. When the program P is provided from the outside, the CPU 502 reads the program P via the communication I / F 506. Note that instead of operating the CPU 502 according to the program P, the traveling device 1 may be operated hardware-wise by mounting a dedicated ASIC (Application Specific Integrated Circuit) having the same arithmetic and control functions as those executed by the program P.

[0050] The communication I / F 506 is a communication interface that communicates (connects) with other devices or apparatuses via a communication network. The communication I / F 506 is, for example, a communication interface such as a wired or wireless LAN (Local Area Network). Note that the communication I / F 506 may include a communication interface such as 3G (3rd Generation), LTE (Long Term Evolution), 4G (4th Generation), 5G (5th Generation), Wi-Fi (Wireless Fidelity) (registered trademark), WiMAX (Worldwide Interoperability for Microwave Access), Zigbee (registered trademark), or millimeter-wave wireless communication. Also, the traveling device 1 may include a communication circuit for performing short-range wireless communication such as NFC (Near Field Communication) or Bluetooth (registered trademark).

[0051] The sensors mounted on the main body 50, namely the GPS receiver 51, 2D LiDAR 52, 3D LiDAR 53, PTZ camera 54, 360° camera 55, contact sensors 58 and 59, described with reference to FIGS. 1 and 2, can be communicably connected to each hardware element within the main body 50 via, for example, a communication I / F 506.

[0052] The battery 530 is a power supply unit that supplies power necessary for the processing or operation of the traveling device 1. The battery 530 supplies power to, for example, the in-wheel motors 14a and 14b and the attitude control motors 555a and 555b. The battery 530 is electrically connected to the power receiving device 60, and during a charging task, power is supplied from the power supply device 315 of the power supply stand 310 of the charging station 300 via the power receiving device 60 for charging.

[0053] The traveling control motor driver 540 drives the in-wheel motors 14a and 14b by supplying motor drive signals thereto respectively.

[0054] The in-wheel motors 14a and 14b are respectively installed inside the drive wheels 13a of the crawler traveling body 10a and the drive wheels 13b of the crawler traveling body 10b, and transmit rotational force to the drive wheels 13a and 13b. The in-wheel motors 14a and 14b give the drive wheels 13a and 13b a positive rotation to move the traveling device 1 forward or a negative rotation to move the traveling device 1 backward. Further, the in-wheel motors 14a and 14b rotate only one of the drive wheels 13a (or 13b) in the positive or negative direction to stop the other drive wheel 13b (or 13a), thereby causing the traveling device 1 to perform a pivot turn on the spot. Also, the in-wheel motors 14a and 14b rotate one of the drive wheels 13a (or 13b) in the positive direction and the other drive wheel 13b (or 13a) in the negative direction, thereby causing the traveling device 1 to perform a super pivot turn.

[0055] The posture control motor driver 550 drives the posture control motors 555a and 555b by supplying motor drive signals thereto respectively. The posture control motors 555a and 555b adjust the heights of the idlers 18a and 18b, for example, by changing the height of the link 19 up and down according to a control signal from the posture control motor driver 550. Also, the posture control motors 555a and 555b prevent the traveling device 1 from tipping over, for example, by controlling the posture of the main body 50.

[0056] Each hardware element inside the main body 50 shown in FIG. 3, such as a heavy object like the battery 530, is preferably installed downward near the bottom surface 50B. Thereby, the posture stability of the main body 50 can be improved. Also, the main body 50 is preferably formed with a waterproof design. Thereby, water intrusion into each hardware element inside the main body 50 can be prevented, and the traveling device 1 can be used outdoors even in rainy weather.

[0057] Also, an odometer may be installed on each of the pair of crawler traveling bodies 10a and 10b, and configured to output information on the rotation amount of each traveling body 10a and 10b to each hardware element inside the main body 50. In this case, the odometer is installed, for example, to acquire the rotation amount of the rotation shafts 141 of the in-wheel motors 14a and 14b of each crawler traveling body 10a and 10b. Each hardware element of the main body 50 into which the rotation amount information is input from the odometer can derive an approximate value of the moving distance of the traveling device 1 based on the rotation amount of the rotation shaft 141.

[0058] Note that the traveling device 1 is not limited to a configuration that travels in accordance with an operation instruction received by the radio control receiving unit 501, and may be configured to travel using technologies such as autonomous driving or line tracing. Further, the traveling device 1 may be configured to travel by remote operation from a user located at a remote location by receiving an operation instruction signal transmitted via a communication network with the communication I / F 506. Further, in addition to the manual remote operation by the operator, the traveling device 1 can also be configured to automatically perform operations such as traveling and various tasks by a host system such as a server. In this case, the traveling device 1 can receive an operation instruction signal from the host system via the radio control receiving unit 501 or the communication I / F 506.

[0059] The dimensions of the traveling device 1 illustrated in FIGS. 1 to 3 are, for example, about 1 meter each in the length in the front-rear direction, the width in the left-right direction, and the height.

[0060] Note that the traveling device targeted by the positioning adjustment system 100 of the present embodiment is not limited to the traveling device 1 having the crawler-type traveling body 10 illustrated in FIGS. 1 to 3. That is, it is not limited to the crawler-type traveling body 10 configured such that the tensioner 25 is disposed on the rotation shaft 141 of the in-wheel motor 14. This is because other configurations of crawler-type traveling devices also have the problem that fine adjustment of positioning is difficult.

[0061] An autonomous mobile traveling device is required to have high positioning accuracy with respect to a target position so that it can also handle work in a poor road surface environment or a limited space. Conventional autonomous mobile traveling devices have room for improvement in terms of such positioning accuracy. In particular, in a structure that changes the traveling direction by giving a speed difference to each of a pair of traveling bodies, such as the crawler-type traveling body disclosed in Patent Document 1, for example, this problem is prominent because fine position adjustment is difficult.

[0062] <Outline of charging task> As an example of the task of positioning the traveling device 1 by the positioning adjustment system 100 according to the embodiment, the configuration of a charging task of positioning at the chargeable position P4 of the charging station 300 will be illustrated and described.

[0063] FIG. 4 is a schematic diagram showing an application pattern of the charging task. In the basic pattern shown in FIG. 4(A), the traveling device 1 travels, for example, along a predetermined circuit route. As a specific example of the circuit route, in an outdoor area with a large floor area such as a plant factory, a route for performing an inspection task of inspecting a plurality of management objects (for example, numerical values of measuring instruments) that require maintenance management such as daily inspection or periodic inspection in a predetermined order can be mentioned.

[0064] In the basic pattern of FIG. 4(A), a charging route is incorporated into the circuit route. The charging route is a route for charging the traveling device 1 at a predetermined charging station 300 after deviating from the circuit route once. In the basic pattern of FIG. 4(A), for example, the traveling device 1 can be controlled to enter the charging route from the circuit route when a predetermined condition is satisfied, such as when the traveling device 1 has circled the circuit route a predetermined number of times or when a predetermined time has elapsed. Thereby, the traveling device 1 can travel along the circuit route by autonomous driving to perform the inspection task, and at the same time, appropriately charge the battery 530 in the main body 50 to continue autonomous driving.

[0065] Also, as shown in FIG. 4(B), it is conceivable that an emergency situation occurs, such as when the remaining amount of the battery 530 suddenly becomes insufficient or an emergency stop command is received while the traveling device 1 is moving along the circuit route. In this case, for example, the traveling device 1 can also be controlled to switch the traveling route to an emergency evacuation route that deviates from the circuit route and quickly move to the charging station 300. For example, in the example of FIG. 4(B), the emergency evacuation route is set so that the traveling distance to the charging station 300 is shorter than continuing to move along the circuit route.

[0066] Also, as shown in FIG. 4(C), a plurality of circuit routes can be set, and a charging route to a charging station common to each circuit route can also be incorporated. In the example of FIG. 4(C), two types of circuit routes, i.e., a first circuit route and a second circuit route, are set, and one charging route for charging at a common single charging station is incorporated into each circuit route. In this case, for example, as illustrated in FIG. 4(C), different traveling devices 1A and 1B are arranged on the first circuit route and the second circuit route respectively, and each traveling device can be controlled to charge using the common charging station at different timings.

[0067] Also, as shown in FIG. 4(D), a plurality of charging stations can be installed within the circuit route, and a plurality of charging routes can be incorporated. In the example of FIG. 4(D), two charging stations 300a and 300b are installed on a single circuit route, and a first charging route for charging at one charging station 300a and a second charging route for charging at the other charging station 300b are incorporated into this circuit route. In this case, for example, as illustrated in FIG. 4(D), when performing a charging task, it can be controlled to select the closer charging route within the circuit route. For example, when at the upper left position in the figure of the circuit route like the traveling device 1A, it can be controlled to select the closer first charging route on the circuit route and charge at one charging station 300a. Also, when at the lower right position in the figure of the circuit route like the traveling device 1B, it can be controlled to select the closer second charging route on the circuit route and charge at the other charging station 300b.

[0068] And, in order to smoothly charge at a predetermined charging station 300 while the traveling device 1 is moving autonomously in this way, it is important how the traveling device 1 can be accurately moved to a predetermined chargeable position P4 within the charging station 300. The charging station 300 according to this embodiment has a configuration for solving this problem. The configuration of the charging station 300 will be described below.

[0069] <Configuration of Charging Station> FIG. 5 is a perspective view showing a schematic configuration of a charging station 300 according to an embodiment. As shown in FIG. 5, the charging station 300 includes a power supply stand 310, a floor plate 320, a guide rail 210, and a vehicle stopper 220.

[0070] In the description from FIG. 5 onward, the x2 direction, y2 direction, and z2 direction are perpendicular to each other. The x2 direction and y2 direction are horizontal directions, and the z2 direction is a vertical direction. The x2 direction is the arrangement direction of the power supply stand 310 and the guide rail 210, and is the longitudinal direction of the guide rail 210. The positive x2 direction side is the entrance / exit side of the charging station 300 and the tip side of the guide rail 210. The negative x2 direction side is the back side of the charging station 300. The y2 direction is the width direction of the power supply stand 310 and the guide rail 210. When viewed from the entrance / exit side (positive x2 direction side) of the charging station 300, the positive y2 direction side is the left side, and the negative y2 direction side is the right side. Also, hereinafter, for convenience of explanation, the positive z2 direction side may also be expressed as the upper side, and the negative z2 direction side may be expressed as the lower side.

[0071] The floor plate 320 is a plate material placed on the installation surface where the charging station 300 is installed. The power supply stand 310, the guide rail 210, and the vehicle stopper 220 are fixedly provided on the upper surface of the floor plate 320. The floor plate 320 can be provided to fix each element of the charging station 300 when it is not desired to damage the installation surface.

[0072] Also, for example, when the installation surface has a relatively high road surface resistance such as asphalt, the resistance received by the crawler traveling body 10 from the road surface becomes strong when guiding the traveling device 1 to the power supply stand 310, which may hinder the positioning accuracy of the traveling device 1. In this case, it is desirable to place a floor plate 320 with a lower frictional resistance than the installation surface on the installation surface. Examples of such a floor plate 320 include an aluminum plate with a thickness of about 5 mm, and a plate material in which a rubber sheet with a thickness of about 5 mm for anti-slip is adhered to the back surface of a stainless steel metal plate with a thickness of about 5 mm.

[0073] The power supply stand 310 is a device that supplies power to the battery 530 inside the main body 50 of the traveling device 1 via the power receiving device 60 of the traveling device 1. The power supply stand 310 can supply power to the traveling device 1 when the traveling device 1 stops at a predetermined chargeable position P4 (see FIGS. 13, 18, etc.).

[0074] The guide rail 210 is a member that guides the traveling device 1 that has entered the charging station 300 to the chargeable position P4 of the power supply stand 310. The guide rail 210 is formed symmetrically with respect to a symmetry line S1 (see FIG. 12) that extends along the x2 direction passing through the center in the width direction of the power supply stand 310, for example. When the charging station 300 includes a floor plate 320, the guide rail 210 is erected on the upper surface of the floor plate 320. Here, "erected" means provided in a state standing in the normal direction (z2 direction) of the upper surface of the floor plate 320, that is, vertically upward.

[0075] The vehicle stopper 220 is a member that contacts the rear side of the crawler-type traveling body 10 of the traveling device 1 when the traveling device 1 reaches the chargeable position P4 and restricts the movement of the traveling device 1 in the positive x2 direction. The vehicle stopper 220 is, for example, a prism member that extends in the y2 direction at a predetermined position in the x2 direction as shown in FIG. 5. The vehicle stopper 220 is formed to have substantially the same length on both sides in the y2 direction from the symmetry line S1 passing through the center in the width direction of the power supply stand 310, and is formed to extend at least to the range where the pair of crawler-type traveling bodies 10a, 10b are arranged when the traveling device 1 is located at the chargeable position P4. The height dimension of the vehicle stopper 220 is, for example, about 20 mm.

[0076] On the other hand, the traveling device 1 is provided with a pair of guide pads 230a, 230b that guide the entry direction of the traveling device 1 by contacting the guide rail 210 when entering the charging station 300.

[0077] FIG. 6 is a diagram showing an example of the guide pads 230a and 230b. FIG. 6(A) is a perspective view of the traveling device 1 viewed from below, and the guide pads 230a and 230b attached to the traveling device 1 are shown. FIG. 6(B) is a perspective view showing only the pair of guide pads 230a and 230b extracted from FIG. 6(A).

[0078] As shown in FIG. 6, the pair of guide pads 230a and 230b are arranged on the bottom surface 50B side of the main body 50 of the traveling device 1 and at positions on the main body 50 side of each of the pair of crawler traveling bodies 10a and 10b. The pair of guide pads 230a and 230b are provided to extend over the entire length along the traveling direction (x1 direction) of the main body 50 from the front end portion of the main body 50 closest to the stop position (chargeable position P4). The pair of guide pads 230a and 230b are arranged to face each other in the width direction (y1 direction) of the traveling device 1 with a certain distance d1 along the width dimension of the main body 50 of the traveling device 1. Each of the pair of guide pads 230a and 230b is arranged on both sides (y1 positive direction side and y1 negative direction side) sandwiching the center position in the width direction of the main body 50, and the distance between the arranged guide pad 230a or 230b and the crawler traveling body 10a or 10b on the arranged side is arranged at a position in the width direction of the main body 50 so as to be smaller than the distance between the arranged guide pad 230a or 230b and the center position. In other words, one guide pad 230a is arranged in the range on the y1 positive direction side of the bottom surface 50B from the center position in the width direction of the main body 50 and is arranged closer to one crawler traveling body 10a than the center position. Also, the other guide pad 230b is arranged in the range on the y1 negative direction side of the bottom surface 50B from the center position in the width direction of the main body 50 and is arranged closer to the other crawler traveling body 10b than the center position.

[0079] The distance d1 between the pair of guide pads 230a and 230b is slightly larger than the maximum value of the width direction dimension of the guide rail 210. For this reason, with the guide rail 210 inserted between the pair of guide pads 230a and 230b, the traveling device 1 can move in the direction of the power supply stand 310 within the charging station 300.

[0080] Further, the pair of guide pads 230a and 230b are each formed in a substantially planar shape facing the center side of the main body 50. One guide pad 230a has a contact surface 231a facing the negative y1 direction side, and the other guide pad 230b has a contact surface 231b facing the positive y1 direction side.

[0081] Also, as shown in FIG. 6(A), the bottom surface 50B of the main body 50 has a planar shape with the negative z1 direction as the normal direction. In the stationary posture of the traveling device 1, the distance from the installation surface to the bottom surface 50B is substantially constant over the entire area of the bottom surface. The contact surfaces 231a and 231b of the guide pads are each installed so as to stand upright from the bottom surface 50B to the negative z1 direction side at substantially the same height over the entire longitudinal direction (x1 direction).

[0082] With these configurations, when the traveling device 1 enters the charging station, the pair of guide pads 230a and 230b can contact the guide rail 210 at the same height position from at least one side in the width direction (y1 direction) of the traveling device 1 by at least one of the contact surfaces 231a and 231b. As a result, the pair of guide pads 230a and 230b are disposed opposite to both sides in the width direction orthogonal to the traveling direction of the traveling device 1 with respect to the guide rail 210, and can guide the traveling device 1 to the predetermined power reception possible position P4 while adjusting the position in the width direction along the guide rail 210.

[0083] In other words, as shown in FIGS. 5 to 7, the configuration including the guide rail 210 and the vehicle stopper 220 provided in the charging station 300 and the pair of guide pads 230a and 230b provided in the traveling device 1 can also be expressed as "a positioning adjustment mechanism 200 for positioning a traveling device 1 having a main body 50 and a pair of traveling bodies (crawler traveling bodies 10a and 10b) that are in contact with and drive on the traveling surface at both sides of the main body 50 to a predetermined stop position (in this embodiment, the chargeable position P4 within the charging station 300)". Further, as shown in FIGS. 1, 5 to 7, the traveling device 1 and the positioning adjustment mechanism 200 can also be expressed as "a positioning adjustment system 100 including a traveling device 1 having a main body 50 and a pair of traveling bodies (crawler traveling bodies 10a and 10b) that are in contact with and drive on the traveling surface at both sides of the main body 50, and a positioning adjustment mechanism 200 for positioning the traveling device 1 to a predetermined stop position (in this embodiment, the chargeable position P4 of the charging station 300)".

[0084] In addition, angles 232 and 232 are respectively provided at the ends on the front end side of the main body 50 of the traveling device 1 on the pair of guide pads 230a and 230b. The angle 232 is a planar portion formed by bending from the front end portions of the respective contact surfaces 231a and 231b so that the normal direction is inclined forward (in the x1 direction) with respect to each contact surface 231a and 231b. These angles 232 and 232 function as buffer portions for reducing the contact resistance with the guide rail 210 when the traveling device 1 moves forward.

[0085] In addition, angles 233 and 233 having the same structure as the front side are respectively provided at the ends on the rear end side of the main body 50 of the traveling device 1 on the pair of guide pads 230a and 230b. These angles 233 and 233 function as buffer portions for reducing the contact resistance with the guide rail 210 when the traveling device 1 moves backward.

[0086] FIG. 7 is a diagram showing another example of the guide pads 230a and 230b. The basic configuration of the guide pads 230a and 230b is the same as that in FIG. 6. In the example of FIG. 7, rollers 234 and 234 are respectively provided at the end portions on the side of the front end of the main body 50 of the traveling device 1 for a pair of guide pads 230a and 230b. The rollers 234 are installed such that the rotation axis is in the z1 direction and have circumferential surfaces facing in the x1 direction or the y1 direction. These rollers 234 and 234 also function as a buffer portion for reducing the contact resistance with the guide rail 210 when the traveling device 1 moves forward.

[0087] In addition, rollers 235 and 235 having the same structure as that on the front side are respectively provided at the end portions on the rear end side of the main body 50 of the traveling device 1 for a pair of guide pads 230a and 230b. These rollers 235 and 235 function as a buffer portion for reducing the contact resistance with the guide rail 210 when the traveling device 1 moves backward.

[0088] Note that the pair of guide pads 230a and 230b may be configured to extend along at least a part in the traveling direction (x1 direction) of the main body 50 from the front end of the main body 50. In this case, the angle 232 or the roller 234 is provided only at the end portion on the side of the front end of the main body 50. Further, in the present embodiment, an example in which the pair of guide pads 230a and 230b are attached to the main body 50 is illustrated, but the pair of guide pads 230a and 230b only need to be able to realize the above-described arrangement, and the attachment position may be other than the main body 50. For example, each of the pair of guide pads 230a and 230b may be individually attached to each of the pair of crawler traveling bodies 10a and 10b.

[0089] As shown in FIG. 5, the guide rail 210 can be divided into four parts arranged in series from the x2 positive direction side. The guide rail 210 has a scooping-up portion 211, a guiding portion 212, a widening portion 213, and a positioning portion 214.

[0090] The scooping-up portion 211 is formed in a tapered shape such that the height on the tip side is lowered at the upper corner portion of the tip portion of the guiding portion 212, and is a portion for scooping up the bottom surface 50B of the main body 50 of the traveling device 1.

[0091] The guiding portion 212 is connected to the end portion on the positive x2 direction side where the dimension in the width direction is the smallest among the widening portions 213, and is a member that is inserted between the pair of guide pads 230a and 230b to guide the traveling device 1 to the widening portion 213. The guiding portion 212 is formed with a constant width such that both ends in the width direction are parallel along the traveling direction (x2 direction) of the traveling device 1.

[0092] The widening portion 213 is a portion that widens such that the dimension in the width direction gradually approaches the distance d1 between the pair of guide pads 230a and 230b along the traveling direction (x2 direction) of the traveling device 1.

[0093] The positioning portion 214 is a portion that is connected to the widening portion 213 on the negative x1 direction side of the widening portion 213. The positioning portion 214 is formed such that both ends in the width direction (y2 direction) are parallel along the traveling direction of the traveling device 1. One end of the positioning portion 214 is connected to the end portion on the negative x2 direction side where the dimension in the width direction is the largest among the widening portions 213, and the other end extends to the stop position (chargeable position P4) of the traveling device 1. That is, the dimension d2 in the width direction of the positioning portion 214 (see FIG. 12) is a constant width that is the same as the dimension in the width direction of the end portion on the negative x2 direction side where the dimension in the width direction is the largest among the widening portions 213. Note that the fact that both ends in the width direction of the positioning portion 214 are "parallel" is not limited to a state where the pair of side surfaces 214C and 214D (see FIG. 12, etc.) at both ends in the width direction of the positioning portion 214 are completely parallel throughout the extending direction (x2 direction), and includes a substantially parallel state where, for example, a part of the side surfaces 214C and 214D is recessed toward the center in the width direction. The same applies to the "parallel" of the guiding portion 212.

[0094] The width dimension d2 of the end portion on the negative x2 direction side of the widening portion 213 and the positioning portion 214 is formed to be about several millimeters shorter than the distance d1 between the pair of guide pads 230a and 230b (see FIG. 12). Thereby, when the traveling device 1 reaches the chargeable position P4, almost no gap is generated between the pair of guide pads 230a and 230b on the traveling device 1 side and the positioning portion 214 of the guide rail 210, so that the positioning accuracy in the width direction of the traveling device 1 at the chargeable position P4 can be improved.

[0095] Also, the upper surfaces of the guiding portion 212, the widening portion 213, and the positioning portion 214 are formed flush so as to be horizontal planes.

[0096] Hereinafter, the functions of each part of the guide rail 210 will be individually described.

[0097] First, with reference to FIGS. 8 and 9, the function of the scooping-up portion 211 will be described. FIG. 8 is a side view showing an example of the posture of the traveling device 1 when moving forward. FIGS. 8(A) and 8(B) illustrate an example of the posture during deceleration and an example of the posture during acceleration, respectively.

[0098] As shown in FIG. 8, in the crawler traveling body 10 of the traveling device 1 according to the present embodiment, the central portion in the front-rear direction (x1 direction) is convex downward. The reason for such a structure is to reduce the ground contact area of the crawler traveling body 10 during ultra-low-speed turning and lower the road surface resistance.

[0099] And, due to such a convex shape, the crawler traveling body 10 according to this embodiment tends to incline by approximately ±5° at most in the pitch direction depending on the grounding position. For example, as shown in Fig. 8(A), when the traveling device 1 moves forward and decelerates on the positive x1 direction side, as indicated by arrow A, the crawler traveling body 10 inclines about 5° forward, and accordingly, the main body 50 to which the crawler traveling body 10 is connected also assumes a posture of inclining about 5° forward. On the other hand, for example, as shown in Fig. 8(B), when the traveling device 1 moves forward and accelerates on the positive x1 direction side, as indicated by arrow B, the crawler traveling body 10 inclines about 5° backward, and accordingly, the main body 50 to which the crawler traveling body 10 is connected also assumes a posture of inclining about 5° backward.

[0100] Therefore, as shown in Fig. 8(A), in this embodiment, when deceleration occurs during the forward movement of the traveling device 1, the main body 50 inclines forward, and as a result, the height position of the front end portion of the bottom surface 50B of the main body 50 decreases, and the distance from the installation surface G is reduced, which becomes a problem.

[0101] Fig. 9 is a side view for explaining the function of the lifting portion 211 of the guide rail 210. Both Fig. 9(A) and (B) are side views of the traveling device 1 viewed from the positive y2 direction side, and the illustration of the crawler traveling body 10a disposed on the positive y2 direction side of the main body 50 is omitted. As shown in Fig. 9, the crawler traveling body 10a is connected and fixed to the side surface 50C on the positive y2 direction side of the main body 50 via a pair of brackets 63A and 63B. The pair of brackets 63A and 63B are disposed, for example, as shown in Fig. 9, at the lower end of the side surface 50C and at the front end side and the rear end side of the main body 50, respectively.

[0102] A pair of brackets 63C and 63D are similarly installed on the other side surface 50D on the negative y2 direction side (the back side of the paper surface in Fig. 9) of the main body 50. And the crawler traveling body 10b disposed on the negative y2 direction side of the main body 50 is connected and fixed to the side surface 50D on the negative y2 direction side of the main body 50 via a pair of brackets 63C and 63D.

[0103] FIG. 9(A) shows, as a comparative example, an operation example in the case where there is no scooping-up portion at the front end of the guiding portion 212 of the guide rail 210. As described above, due to the characteristics of the structure of the crawler traveling body 10 according to the present embodiment, when the traveling device 1 decelerates, the front end portion 50B1 of the bottom surface 50B of the main body 50 descends toward the installation surface G side. The height dimension of the guiding portion 212 of the guide rail 210 is preferably as close as possible to the distance between the bottom surface 50B of the main body 50 of the traveling device 1 and the installation surface G so as to ensure the guiding performance of the guide rail. Then, as shown in FIG. 9(A), when the main body 50 inclines forward in the direction of arrow A, a situation may occur where the height position of the front end portion 50B1 of the bottom surface 50B of the main body 50 becomes lower than that of the guiding portion 212. In this case, the front portion of the main body 50 may be caught by the front end of the guiding portion 212, and the progress of the traveling device 1 may be hindered, and there is a possibility that it cannot proceed in the direction of the chargeable position P4 indicated by arrow C.

[0104] To address such a problem, as shown in FIG. 9(B), by providing a scooping-up portion 211 at the front end of the guiding portion 212 of the guide rail 210, the height dimension of the front end portion of the guiding portion 212 can be reduced. As a result, even when the main body 50 inclines forward in the direction of arrow A and a situation occurs where the height position of the front end portion 50B1 of the bottom surface 50B of the main body 50 becomes lower than that of the guiding portion 212, the front portion of the main body 50 is above the front end of the scooping-up portion 211, so it can proceed in the direction of arrow C along the guide rail while being scooped up upward along the scooping-up portion 211 and can enter the guiding portion 212.

[0105] Note that FIG. 9(B) illustrates a configuration in which the scooping-up portion 211 is formed in a tapered shape at the tip portion of the guiding portion 212, but other shapes than the tapered shape may be used. The scooping-up portion 211 may be formed such that the height on the tip side is lowered at least at the upper corner portion of the tip portion of the guiding portion 212. For example, the scooping-up portion 211 may be formed of a convex curved surface protruding in the positive z2 direction and the positive x2 direction, or may be formed of a concave curved surface recessed in the negative z2 direction and the negative x2 direction.

[0106] FIG. 10 is a plan view for explaining the function of the guiding portion 212 of the guide rail 210. FIG. 10(A) illustrates the traveling device 1 when it enters the guiding portion 212, and FIG. 10(B) illustrates the traveling direction of the traveling device 1 immediately before passing through the guiding portion 212.

[0107] Here, as shown in FIGS. 5 and 10, the guiding portion 212 is a plate-like member erected vertically upward (in the positive z2 direction), and has an upper surface 212A with the erection direction as the normal direction, and a pair of side surfaces 212B and 212C with both sides in the width direction as the normal direction. The dimension of the guiding portion 212 in the width direction is smaller than the dimension in the height direction, and is formed to be sufficiently smaller than the distance d1 between the pair of guide pads 230a and 230b. The guiding portion 212 is formed to extend in the x2 direction such that the symmetry line S1 is disposed at the center in the width direction.

[0108] As shown in FIG. 10(A), when the traveling device 1 enters the guiding portion 212, the traveling device 1 advances in the direction of arrow C. In the example of FIG. 10, the direction of arrow C is on the negative x2 side and the positive y2 side, and is inclined leftward when viewed from the entrance / exit side (negative x2 side) of the charging station 300 with respect to the extending direction (x2 direction) of the guide rail 210. For this reason, the guide pad 230b installed on the side of the crawler traveling body 10b on the negative y2 side abuts against the side surface 212C on the negative y2 side of the guiding portion 212. At this time, the angle 232 provided at the front end of the guide pad 230b allows the guide pad 230b to be in surface contact with the guide rail 210, so that the impact received by the guide rail 210 when the guide pad 230b abuts can be mitigated.

[0109] After that, when the traveling device 1 continues to advance in the direction of arrow C, since the guide pad 230b is in contact with the side surface 212C of the guiding portion 212, the front end of the guide pad 230b moves in the negative x2 direction along the side surface 212C. As a result, the movement of the traveling device 1 in the yaw direction is physically and forcibly changed in the direction along the guiding portion 212. As shown by arrow D in FIG. 10(B), as the movement proceeds along the guiding portion 212, the traveling direction of the traveling device 1 is adjusted toward the negative x2 side.

[0110] FIG. 11 is a plan view for explaining the function of the widened portion 213 of the guide rail 210. FIG. 11(A) illustrates the traveling direction of the traveling device 1 when the traveling device 1 enters the widened portion 213, and FIG. 11(B) illustrates the traveling direction of the traveling device 1 immediately before passing through the widened portion 213.

[0111] Here, as shown in FIGS. 5 and 11, etc., the widened portion 213 has a vertical portion 213A erected vertically upward and a horizontal portion 213B installed so as to extend horizontally at the upper end of the vertical portion 213A. Both the vertical portion 213A and the horizontal portion 213B are plate-like members with a predetermined thickness. The horizontal portion 213B is installed so as to have a thickness in the vertical direction, and this thick portion becomes a pair of side surfaces 213C and 213D in the width direction of the widened portion 213. The horizontal portion 213B is formed in a substantially isosceles triangle shape so as to be line-symmetric in the width direction with respect to the symmetry line S1 when viewed from the vertical direction. The portion corresponding to the base of the isosceles triangle becomes the end portion on the x2 negative direction side where the dimension in the width direction of the horizontal portion 213B is the largest. The portions corresponding to the other two sides of the isosceles triangle having equal lengths become a pair of side surfaces 213C and 213D on both sides in the width direction of the horizontal portion 213B.

[0112] The pair of side surfaces 213C and 213D are formed in an inclined shape so that the distance between them widens as they go toward the x2 negative direction side. The apex angle of the isosceles triangle of the horizontal portion 213B of the widened portion 213, that is, the angle formed by the pair of side surfaces 213C and 213D at the end portion on the x2 positive direction side, is preferably about 20° (10° on each side with respect to the symmetry line S1).

[0113] As shown in FIG. 11(A), when the traveling device 1 enters the widening portion 213, the traveling device 1 advances in the direction of arrow D1. In the example of FIG. 11, the direction of arrow D1 is on the negative x2 side and the positive y2 side, and is inclined leftward when viewed from the entrance / exit side (negative x2 side) of the charging station 300 with respect to the extending direction (x2 direction) of the guide rail 210. For this reason, the guide pad 230b installed on the side of the crawler traveling body 10b on the negative y2 side comes into contact with the side surface 213D on the negative y2 side of the widening portion 213. At this time, since the angle 232 provided at the front end of the guide pad 230b is bent in the extending direction side of the side surface 213D of the widening portion 213, the contact angle between the guide pad 230b and the side surface 213D of the widening portion 213 can be reduced. Thereby, the contact resistance between the guide pad 230b and the guide rail 210 can be alleviated, and the guide pad 230b can be easily moved along the side surface 213D of the widening portion 213.

[0114] Subsequently, when the traveling device 1 continues to advance in the direction of arrow D1, since the guide pad 230b is in contact with the side surface 213D of the widening portion 213, the front end of the guide pad 230b moves in the negative x2 direction along the side surface 213D. As a result, as shown by arrow E in FIG. 11(B), as the movement progresses along the widening portion 213, the traveling direction of the traveling device 1 is further adjusted toward the negative x2 side.

[0115] Note that depending on the initial state such as the entry angle of the traveling device 1 into the charging station 300 and the position in the width direction, a situation may occur where the pair of guide pads 230a and 230b of the traveling device 1 directly contact the widening portion 213 without contacting the guiding portion 212 of the guide rail 210. Even in such a situation, the angle 232 provided at the front end of the guide pad 230a or the guide pad 230b can bring the guide pad 230a or the guide pad 230b into surface contact with the side surface 213C or the side surface 213D of the widening portion 213 of the guide rail 210, so that the impact received by the guide rail 210 when the guide pads 230a and 230b abut can be alleviated.

[0116] As described above with reference to FIGS. 10 and 11, the angle 232 described with reference to FIG. 6 and the roller 234 described with reference to FIG. 7 can function as a buffer portion that reduces the contact resistance between the guide pads 230a and 230b and the guide rail 210.

[0117] FIG. 12 is a plan view for explaining the positioning portion 214 of the guide rail 210 and the function of the vehicle stopper 220. FIG. 12(A) shows the state when the traveling device 1 has moved to a position in front of the vehicle stopper 220 of the positioning portion 214, and FIG. 12(B) shows the state when the traveling device 1 has reached the chargeable position P4.

[0118] Here, as shown in FIGS. 5 and 12, etc., the positioning portion 214 has a vertical portion 214A erected vertically upward and a horizontal portion 214B installed so as to extend horizontally at the upper end of the vertical portion 214A. Both the vertical portion 214A and the horizontal portion 214B are plate-like members having a predetermined thickness. The horizontal portion 214B is installed so as to have a thickness in the vertical direction, and this thick portion becomes a pair of side surfaces 214C and 214D in the width direction of the positioning portion 214. The horizontal portion 214B is formed in a substantially rectangular shape so as to be line-symmetric in the width direction about the symmetry line S1 when viewed from the vertical direction. The portions corresponding to one set of opposite sides facing in the x2 direction among the two sets of opposite sides of the rectangular shape are, respectively, one end connected to the end on the negative x2 side of the widened portion 213 and the other end extending to the chargeable position P4. On the other hand, the portions corresponding to the second set of opposite sides facing in the y2 direction become a pair of side surfaces 214C and 214D on both sides in the width direction of the horizontal portion 214B. The pair of side surfaces 214C and 214D are formed so that the distance between them is equal throughout the x2 direction.

[0119] Further, the vehicle stopper 220 is arranged to extend in the width direction (y2 direction) at a predetermined position in the extending direction (x2 direction) of the positioning portion 214. The position of the vehicle stopper 220 in the x2 direction is arranged so that the rear portion of the crawler traveling body 10 comes into contact when the traveling device 1 reaches the chargeable position P4, as shown in FIG. 12(B).

[0120] As described above, the distance d2 between the pair of side surfaces 214C and 214D of the positioning portion 214, that is, the dimension in the width direction of the positioning portion 214, and the dimension in the width direction of the end portion on the negative x2 side where the dimension in the width direction of the widened portion 213 is the largest are formed to be shorter than the distance d1 between the pair of guide pads 230a and 230b by about several millimeters. For this reason, as shown in FIG. 12(A), when the traveling device 1 passes through the widened portion 213 and enters the positioning portion 214, the pair of guide pads 230a and 230b face the pair of side surfaces 214C and 214D of the positioning portion 214, respectively. Thereby, the traveling direction of the traveling device 1 is adjusted from the direction of the arrow E being adjusted in the widened portion 213 shown in FIG. 11 to the direction facing the power feeding stand 310, that is, the negative x2 direction. Also, after this, since the pair of side surfaces 214C and 214D extend at equal intervals along the x2 direction, the traveling direction is maintained in the direction of the arrow F even when the traveling device 1 further moves to the negative x2 side of the positioning portion 214.

[0121] Also, as described above, the horizontal portion 214B of the positioning portion 214 is formed to be line-symmetric in the width direction about the symmetry line S1 in a plan view. For this reason, the pair of guide pads 230a and 230b arranged on the outer sides in the y2 direction with respect to the pair of side surfaces 214C and 214D, respectively, are also arranged to be line-symmetric in the width direction about the symmetry line S1. Thereby, the width direction position of the traveling device 1 is positioned so that the central position in the width direction of the traveling device 1 aligns with the central position in the width direction of the guide rail 210 and the power feeding stand 310.

[0122] Note that, as shown in FIG. 12(A), the vehicle stopper 220 is arranged in the middle of the extending direction of the positioning portion 214. For this reason, the traveling device 1 can be positioned by the positioning portion 214 before crossing the vehicle stopper 220 where a load is applied to the motor. Also, it is desirable that the traveling device 1 stops or decelerates once before crossing the vehicle stopper 220.

[0123] After that, as the traveling device 1 continues to move in the direction of arrow F and the crawler traveling body 10 crosses the vehicle stopper 220, as shown by arrow G in FIG. 12(B), it further moves in the same direction as arrow F and finally reaches the chargeable position P4 facing the power supply stand 310. At this time, since the positioning portion 214 and the width dimension d2 of the end portion on the negative x2 side of the widening portion 213 are formed to be about several millimeters shorter than the distance d1 between the pair of guide pads 230a and 230b, almost no gap is generated between the pair of guide pads 230a and 230b on the traveling device 1 side and the positioning portion 214 of the guide rail 210, and the positioning accuracy in the width direction of the traveling device 1 at the chargeable position P4 can be improved.

[0124] Note that it is preferable that the traveling device 1 once stops or decelerates after crossing the vehicle stopper 220 and then moves to the chargeable position P4 at a reduced speed.

[0125] FIG. 13 is a side view of the state where the traveling device 1 has reached the chargeable position P4 of the charging station 300. As shown in FIG. 13, when the traveling device 1 reaches the chargeable position P4, the rear portion of the crawler traveling body 10 is in contact with the vehicle stopper 220, so that the position of the crawler traveling body 10 in the x2 direction can be held more stably.

[0126] FIG. 14 is a view showing the cross-sectional shape of each part of the guide rail 210. FIG. 14 shows the cross-sectional shape viewed from the negative x2 side when each part of the guide rail (the scooping-up portion 211, the guiding portion 212, the widening portion 213, the positioning portion 214) is cut in the y2-z2 plane.

[0127] FIG. 14(A) shows the cross-sectional shape of the entrance position of the guide rail 210 and the positional relationship with the traveling device 1. Among the rectangular cross-sections shown in FIG. 14(A), a pair of opposite sides in the y2 direction represent a pair of side surfaces 212B and 212C of the guiding portion 212, and the upper side of the rectangular cross-section represents the plane of the scooping portion 211. Also, in FIG. 14(A), as shown in FIG. 8(A), the height position of the front end portion of the bottom surface 50B of the main body 50 when the traveling device 1 is tilted forward is shown by a dotted line. As shown in FIG. 14(A), the height dimension of the scooping portion 211 is lower than the front end portion of the bottom surface 50B of the main body 50 when the traveling device 1 is tilted forward, and is at a height that does not collide with the front end portion.

[0128] FIG. 14(B) shows the cross-sectional shape of the guiding portion 212 of the guide rail 210 and the positional relationship with the traveling device 1. As shown in FIG. 14(B), the cross-sectional shape of the guiding portion 212 is formed in a substantially rectangular shape with the height direction as the long side. Among the rectangular shape, a pair of opposite sides in the y2 direction represent a pair of side surfaces 212B and 212C of the guiding portion 212, and the upper side of the rectangular cross-section represents the upper surface 212A of the guiding portion 212. As shown in FIG. 14(B), the height dimension of the guiding portion 212 is defined such that the gap with the bottom surface 50B of the main body 50 of the traveling device 1 is about several millimeters.

[0129] In FIG. 14(C), the cross-sectional shape of the widened portion 213 of the guide rail 210 and the positional relationship with the traveling device 1 are shown. As shown in FIG. 14(C), the cross-sectional shape of the widened portion 213 is formed in a T shape. Among the T shape, the rectangular portion extending in the z2 direction from the floor plate 320 represents the vertical portion 213A of the widened portion 213, and the rectangular portion extending in the y2 direction at the upper end of the vertical portion 213A represents the horizontal portion 213B of the widened portion 213. Among the rectangular shape of the horizontal portion 213B, a pair of opposite sides in the y2 direction represent a pair of side surfaces 213C and 213D of the widened portion 213.

[0130] As shown in FIG. 14(C), the y2-direction positions of the pair of side surfaces 213C and 213D of the widened portion 213 are formed such that the gaps with the respective guide pads 230a and 230b gradually narrow as they progress in the negative x2 direction. Also, as shown in FIG. 14(C), the height dimension of the widened portion 213 is defined such that the gap between the upper surface of the horizontal portion 213B and the bottom surface 50B of the main body 50 of the traveling device 1 is about several millimeters. Further, the upper surface of the horizontal portion 213B of the widened portion 213 is formed flush with the upper surface 212A of the guiding portion 212.

[0131] In FIG. 14(D), the positional relationship between the cross-sectional shape of the positioning portion 214 of the guide rail 210 and the traveling device 1 is illustrated. As shown in FIG. 14(D), the cross-sectional shape of the positioning portion 214 is formed in a T shape. The rectangular portion extending in the z2 direction from the floor plate 320 in the T shape represents the vertical portion 214A of the positioning portion 214, and the rectangular portion extending in the y2 direction at the upper end of the vertical portion 214A represents the horizontal portion 214B of the positioning portion 214. The pair of opposite sides in the y2 direction of the rectangle of the horizontal portion 214B represent the pair of side surfaces 214C and 214D of the positioning portion 214.

[0132] As shown in FIG. 14(D), the gaps between the pair of side surfaces 214C and 214D of the positioning portion 214 and the guide pads 230a and 230b are each defined to be about several millimeters. Also, the height dimension of the positioning portion 214 is defined such that the gap between the upper surface of the horizontal portion 214B and the bottom surface 50B of the main body 50 of the traveling device 1 is about several millimeters. Further, the upper surface of the horizontal portion 214B of the positioning portion 214 is formed flush with the upper surface of the horizontal portion 213B of the widened portion 213 and the upper surface 212A of the guiding portion 212.

[0133] Thus, according to the configuration in which the traveling device 1 is guided along the guide rail 210 to the chargeable position P4, the gaps between the guide pads 230a and 230b, the guide rail 210, and the bottom surface 50B of the main body finally become several millimeters at the chargeable position P4, enabling highly accurate positioning of the traveling device 1 in the width direction and the height direction.

[0134] Referring to FIG. 15 in addition to FIG. 5, the configuration of the power supply stand 310 will be described. FIG. 15 is a perspective view showing an enlarged view of the rotating part 312 of the power supply stand 310.

[0135] The power supply stand 310 has a base 311 erected vertically upward from the floor board 320 and a rotating part 312 connected to the base 311 and rotating with respect to the base 311 by an external force. At the upper end of the base 311, a first beam portion 311A extending in the y2 direction is provided, and the rotating part 312 is connected to the first beam portion 311A such that the extending direction (y2 direction) of the first beam portion 311A serves as the rotation axis. The rotating part 312 is connected to the first beam portion 311A by a plurality of hinges 313 arranged, for example, over the entire longitudinal direction of the first beam portion 311A.

[0136] As shown in FIG. 15, the rotating part 312 is a plate-like member having a first flat portion 312A, an inclined portion 312B, a second flat portion 312C, and a protruding portion 312D. The rotating part 312 is formed of, for example, an aluminum sheet metal.

[0137] The first flat portion 312A is formed in a substantially rectangular shape having opposite sides extending in the y2 direction and the z2 direction, respectively, when viewed in the x2 direction. The hinge 313 is installed on the upper side of the rectangular shape on the positive z2 side of the first flat portion 312A. Thereby, the rotating part 312 rotates about the upper side of the rectangular shape of the first flat portion 312A as the rotation axis. The first flat portion 312A is arranged such that the positive x2 direction is the normal direction.

[0138] The inclined portion 312B is provided connected to the lower side of the first flat portion 312A and is arranged such that the obliquely downward (positive x2 direction and negative z2 direction) is the normal direction. The inclined portion 312B is formed in a rectangular shape having the same width dimension as the first flat portion 312A, and one side at the upper end of the rectangular shape is connected to the lower end of the first flat portion 312A.

[0139] The second flat portion 312C is provided connected to the lower side of the inclined portion 312B and is arranged such that the positive x2 direction is the normal direction. Accordingly, the second flat portion 312C is arranged parallel to the first flat portion 312A and is arranged on the negative x2 direction side of the first flat portion 312A with the inclined portion 312B intervening therebetween. The second flat portion 312C is formed in a rectangular shape with a width dimension smaller than that of the inclined portion 312B and is arranged at the central portion in the width direction of the inclined portion 312B.

[0140] The protruding portion 312D is provided connected to the lower side of the second flat portion 312C. The protruding portion 312D is formed with the same width dimension as that of the second flat portion 312C. The protruding portion 312D has a horizontal portion 312D1 protruding in the positive x2 direction from the lower end of the second flat portion 312C and a vertical portion 312D2 formed by bending downward at a substantially right angle from the end portion on the positive x2 direction side of the horizontal portion 312D1. Accordingly, the vertical portion 312D2 becomes a surface with the positive x2 direction as the normal direction. The dimension of the horizontal portion 312C1 in the x2 direction is set such that the vertical portion 312D2 is arranged in the middle between the first flat portion 312A and the second flat portion 312C in the x2 direction.

[0141] As shown in FIGS. 5 and 15, a box-shaped housing portion 314 is installed on the main surface on the positive x2 direction side of the inclined portion 312B, and a power feeding device 315 is fixedly installed and housed inside the housing portion 314. Similar to the power receiving device 60, the power feeding device 315 is erected from the inclined portion 312B at the same height, and the front surface 315A is formed of a substantially rectangular parallelepiped housing having the same obliquely downward direction as the normal direction as the inclined portion 312B.

[0142] On the surface on the positive x2 direction side of the vertical portion 312D2 of the protruding portion 312D, a contact receiving portion 316 is provided protruding further in the positive x2 direction from this surface. The contact receiving portion 316 is an element that receives the contact of the traveling device 1 (particularly the front end portion 61A of the exhaust duct 61) when the traveling device 1 approaches the chargeable position P4. The contact receiving portion 316 is preferably formed of an elastic body such as rubber so as to be able to mitigate the impact on the traveling device 1 side during contact.

[0143] As shown in FIG. 15, a marker 317 is printed or attached to the surface of the first flat portion 312A on the +x2 direction side. The marker 317 is used to measure the position of the power supply stand 310 by the 2D LiDAR 52 of the traveling device 1 when the traveling device 1 approaches the power supply stand 310. For this reason, the marker 317 includes, for example, a barcode in which a retroreflective (laser light is easily reflected) tape is arranged on a black base. In order to make it easier for the 2D LiDAR 52 to detect the marker 317, it is preferably configured such that the barcode array of the marker 317 has autocorrelation.

[0144] The height position of the marker 317 is preferably aligned with the height position of the 2D LiDAR 52. Thereby, the 2D LiDAR 52 can more easily detect the marker 317.

[0145] Note that the marker 317 does not necessarily have to be provided only on the first flat portion 312A, and may be installed outside the first flat portion 312A or the number may be increased. For example, when the distance from the entrance / exit of the charging station 300 to the power supply stand 310 is large and the angular resolution of the 2D LiDAR 52 is insufficient with the marker 317 on the surface area of the first flat portion 312A, a marker 317 larger than the first flat portion 312A may be created and installed on, for example, the base 311 of the power supply stand 310.

[0146] In addition, the marker 317 may function as an indicator for determining a predetermined stop position (chargeable position P4) of the traveling device 1, and other types of markers such as a two-dimensional barcode, a predetermined pattern, or a figure may be applied.

[0147] Note that a configuration in which both the function of reading the marker 317 and the function of detecting an obstacle are implemented using the 3D LiDAR 53 may be employed. In this case, the height position of the marker 317 is preferably aligned with the height position of the 3D LiDAR 53. Thereby, the 3D LiDAR 53 can more easily detect the marker 317.

[0148] As shown in FIG. 5, at an intermediate position in the height direction of the base 311 and at the same height position as the second flat portion 312C, a second beam portion 311B extending in the y2 direction is provided. The position of the second beam portion 311B in the x2 direction is on the x2 negative direction side of the first beam portion 311A, and is provided so as to contact the surface on the x2 positive direction side of the second flat portion 312C of the rotating portion when the rotating portion 312 extends vertically downward without receiving an external force. Thereby, the rotation of the rotating portion 312 is restricted from further rotating in the x2 positive direction from the posture in which the first flat portion 312A and the second flat portion 312C face the x2 positive direction side due to the contact between the second beam portion 311B and the second flat portion 312C.

[0149] Further, a pair of stop devices 318 are installed on the base 311. The pair of stop devices 318 are arranged at the same height position and at positions equidistant from the center of the power supply stand 310 in the y2 direction. The stop device 318 is a device for absorbing shock when the traveling device 1 comes into contact, and has, for example, a damper mechanism for this function. A damper mechanism having a performance capable of absorbing the kinetic energy assumed from the weight and speed of the traveling device 1 is applied. In the case of this embodiment, for example, the damper mechanism has a stroke of about 15 mm and also has a built-in spring, and can be biased toward the traveling device 1 when the traveling device 1 comes into contact.

[0150] On the other hand, as shown in FIG. 1, a pair of frames 62 are installed on the traveling device 1 at positions where they can contact the pair of stop devices 318 on the front side. As shown in FIG. 2, the frame 62 may also be provided on the rear side of the traveling device 1.

[0151] Further, the power supply stand 310 includes a power supply controller 319. The power supply controller 319 obtains electricity from, for example, an indoor outlet, supplies electricity to the power supply device 315, and controls the operation of the power supply device 315.

[0152] FIG. 16 is a diagram for explaining the operation of the power supply stand 310 when the traveling device 1 reaches the chargeable position P4. In FIG. 16, the transition until the traveling device 1 reaches the chargeable position P4 and is positioned is illustrated in three stages of (A), (B), and (C).

[0153] FIG. 16(A) shows a state where the traveling device 1 is approaching the chargeable position P4 and before the frame 62 of the traveling device 1 reaches a position where it contacts the stop device 318 of the power supply stand 310. In this state, since the distance between the upper surface 60A of the power receiving device 60 of the traveling device 1 and the front surface 315A of the power supply device 315 of the power supply stand 310 is farther than the chargeable distance, charging cannot be performed.

[0154] Also, in the state of FIG. 16(A), the main surface on the +x2 direction side of the second flat portion 312C of the rotating portion 312 of the power supply stand 310 is in contact with the second beam portion 311B of the base portion 311. As a result, further rotation of the rotating portion 312 in the +x2 direction is restricted, and the posture of the rotating portion 312 is maintained constant.

[0155] FIG. 16(B) shows a state where the traveling device 1 is approaching the chargeable position P4 and the frame 62 of the traveling device 1 has reached a position where it contacts the stop device 318 of the power supply stand 310. In this state, the damper mechanism of the stop device 318 has not been compressed yet and the spring is at the maximum length position. At this time, the distance between the upper surface 60A of the power receiving device 60 of the traveling device 1 and the front surface 315A of the power supply device 315 of the power supply stand 310 is closer than in FIG. 16(A) and is at a chargeable distance.

[0156] Also, in the state of FIG. 16(B), similar to FIG. 16(A), the main surface on the +x2 direction side of the second flat portion 312C of the rotating portion 312 of the power supply stand 310 is in contact with the second beam portion 311B of the base portion 311. As a result, further rotation of the rotating portion 312 in the +x2 direction is restricted, and the posture of the rotating portion 312 is maintained constant.

[0157] FIG. 16(C) shows a state where the traveling device 1 has reached the chargeable position P4. In this state, as shown by the arrow H, the traveling device 1 moves further in the negative x2 direction from the position in FIG. 16(B). Due to this movement, the frame 62 of the traveling device 1 presses the stop device 318 of the power supply stand 310 in the negative x2 direction, and the damper mechanism of the stop device 318 is compressed and the spring is pushed into the position of the minimum length. Also, at this time, since the exhaust duct 61 of the traveling device 1 also presses the contact receiving portion 316 of the power supply stand 310 in the negative x2 direction, as shown by the arrow I, the rotating portion 312 of the power supply stand 310 rotates in the negative x2 direction and the positive z2 direction around the axis of the hinge 313, and the second flat portion 312C of the rotating portion 312 also separates from the second beam portion 311B in the negative x2 direction. As a result, the power receiving device 60 of the traveling device 1 can move forward while the power supply device 315 of the power supply stand 310 can move backward. Therefore, the upper surface 60A of the power receiving device 60 of the traveling device 1 and the front surface 315A of the power supply device 315 of the power supply stand 310 are closer than in FIG. 16(B), but do not collide, and a chargeable distance can be continuously maintained.

[0158] Also, in the state of FIG. 16(C), since the damper mechanism of the stop device 318 is compressed and the spring is pushed in, as shown by the arrow J, the damper mechanism of the stop device 318 is in a state of being biased in the positive x2 direction. This biasing force J is transmitted to the traveling device 1 via the frame 62, and the entire traveling device 1 is in a state of being pressed in the positive x2 direction.

[0159] FIG. 17 is a diagram showing the positional relationship between the crawler traveling body 10 and the vehicle stopper 220 at the chargeable position P4. In FIG. 17, the rear part of the crawler traveling body 10 and the vehicle stopper 220 are shown in an enlarged view. Also, FIG. 17 shows the arrow of the biasing force J shown in FIG. 16(C).

[0160] As shown in FIG. 17, when the traveling device 1 moves to the chargeable position P4, the vehicle stopper 220 contacts the rear portion of the crawler traveling body 10, thereby restricting the movement of the crawler traveling body 10 in the positive x2 direction. In this state, when the biasing force J by the damper mechanism of the stop device 318 is applied to the traveling device 1 in the positive x2 direction as described above, the crawler traveling body 10 is further pressed against the vehicle stopper 220. As a result, the crawler traveling body 10 can be brought into stronger contact with the vehicle stopper 220, so that the generation of play in the front-rear direction of the traveling device 1 can be suppressed and the positioning accuracy in the front-rear direction at the chargeable position P4 can be improved.

[0161] In the example of FIG. 17, a state where the protrusion 11a outside the crawler 11 is in contact with the vehicle stopper 220 is illustrated, but the contact portion between the crawler 11 and the vehicle stopper 220 is not limited to this. For example, the concave portion 11c between the two protrusions 11a of the crawler 11, that is, the outer surface of the crawler 11 may be in contact with the vehicle stopper 220.

[0162] <Charge control> Next, with reference to FIGS. 18 to 25, the charge control executed by the control device of the traveling device 1 in the charging task will be described. In the charging task, among the elements in the main body 50 shown in FIG. 3, for example, the traveling control motor driver 540, the memory 503 in which the program P is read, and the CPU 502 function as a control device.

[0163] First, the requirement definition of the connection operation of the traveling device 1 in this embodiment to the charging station 300 will be described. The requirement definition is as follows, for example. (1) The traveling device 1 performs autonomous traveling from the charging route start position toward the charging station 300. (2) The traveling device 1 does not detect obstacles until it leaves the charging station 300. (3) The traveling device 1 performs I / O operations of the power receiving device 60 to bring it into a state where charging can be started. (4) The traveling device 1 stops at the chargeable position P4. (5) The traveling device 1 starts charging after reaching the chargeable position P4. (6) The traveling device 1 monitors and adjusts the chargeable position P4 until the charging is completed. (7) The traveling device 1 detects the end of charging. (8) The traveling device 1 performs I / O operations on the power receiving device 60 and ends the charging process. (9) The traveling device 1 reverses from the charging station 300 to the charging route start position P1.

[0164] The content of the series of charging controls described below satisfies the above requirement definitions.

[0165] FIG. 18 is a schematic diagram for explaining the operation of entering the charging route in the charging control. In the example of FIG. 18, the charging station 300 is installed indoors considering operation stability such as in rainy weather. For this reason, when approaching the charging station 300, it is conceivable that the traveling device 1 cannot detect its own position using the GPS receiver 51. In addition, in the building where the charging station 300 is installed, the installation area of the charging station 300 is set separately from other robot entry prohibited areas.

[0166] As shown in FIG. 18, the traveling device 1 traveling on the patrol route described in FIG. 4 mainly controls its own position and orientation using the reception information of the GPS receiver 51.

[0167] Next, when the traveling device 1 traveling on the patrol route arrives at the charging route entrance P1 (initial position), the control mode switches to the charging task from here, and the control without using the GPS receiver 51 is changed. The traveling device 1 grasps the position information of the charging route entrance P1 using the map information and the like acquired in advance, and can detect that it has arrived at the charging route entrance P1 using, for example, the reception information of the GPS receiver 51.

[0168] When switching to the charging task, the traveling device 1 mainly controls its own position and orientation using the reception information of the 2D LiDAR 52. First, at the charging route entrance P1, the distance and direction from the power supply stand 310 of the charging station 300 are detected, and the direction is changed in the direction of the power supply stand 310.

[0169] Next, the vehicle enters up to the connection preparation position P2 at the entrance and exit of the charging station 300. At the connection preparation position P2, the final adjustment of the position and angle of the own vehicle is performed using the reception information of the 2D LiDAR 52. Then, the vehicle moves toward the power supply stand 310, enters the guide rail 210, and while finely adjusting the direction and the width direction position, when it reaches the vehicle stop position P3 in front of the vehicle stopper 220, it decelerates or temporarily stops.

[0170] Note that the portion of the connection preparation position P2 is preferably a floor surface with low frictional resistance, similar to the floor plate 320 described with reference to FIG. 5 and the like. Thereby, at the connection preparation position P2, the traveling device 1 can be easily turned, and the adjustment of the facing angle of the traveling device 1 with respect to the guide rail 210 can be easily performed.

[0171] Then, the vehicle crosses over the vehicle stopper 220 and finally reaches the chargeable position P4 (stop position), facing the power supply stand 310 directly. At this time, the traveling device 1 is in a chargeable state.

[0172] Here, the distance from the charging route entrance P1 to the connection preparation position P2 is preferably 2 m or more, the distance from the connection preparation position P2 to the vehicle stop position P3 is about 1.5 m, and the distance from the vehicle stop position P3 to the chargeable position P4 is about 0.6 m. Note that since the distance from the vehicle stop position P3 to the chargeable position P4 is substantially the same as the dimension in the front-rear direction of the traveling device 1, it is appropriately changed according to the size of the traveling device 1.

[0173] FIG. 19 is a schematic diagram for explaining the control at each stage when entering the charging route.

[0174] In the first stage shown in FIG. 19(A), the traveling device 1 searches for the position of the charging station 300 using the 2D LiDAR 52 at the charging route entrance P1. Specifically, referring to FIG. 15, the marker 317 installed on the power feeding stand 310 is detected by the 2D LiDAR 52, and the position of the marker 317 is recognized as the position of the chargeable position P4. During the execution of the charging task, a different obstacle detection function from normal traveling may be implemented using the 3D LiDAR 53. In this function, for example, when a situation occurs where the marker 317 once recognized after the charging route entrance P1 disappears (for example, a person stands on the path to the chargeable position P4), the traveling device 1 stops.

[0175] In the second stage shown in FIG. 19(B), the traveling device 1 moves from the charging route entrance P1 to the connection preparation position P2. The traveling device 1 performs autonomous driving by target tracking aiming at a position target (for example, the marker 317) in the section up to the connection preparation position P2.

[0176] In the third stage shown in FIG. 19(C), the traveling device 1 uses the 2D LiDAR 52 to confirm the position and angle (direction) of the marker 317 at the connection preparation position P2. After confirming the position and angle of the marker 317, the traveling device 1 performs a highly accurate turn and adjusts the angle as necessary.

[0177] Here, referring to FIGS. 20 and 21, the direction control of the traveling device 1 at the connection preparation position P2 will be described.

[0178] FIG. 20 is a plan view for explaining the direction control at the connection preparation position P2. As shown in FIG. 20(A), consider the case where when the traveling device 1 approaches the tip of the guide rail 210 (the scooping-up part 211 and the guiding part 212), the guide rail 210 is out of the space K between the pair of guide pads 230a and 230b of the traveling device 1. In this case, even if the traveling device 1 moves forward as it is, the guide rail 210 cannot enter the space K between the pair of guide pads 230a and 230b, so it is necessary to guide the direction of the traveling device 1 to a range where the guide rail 210 fits into the space K.

[0179] Therefore, as shown in FIG. 20(B), at the connection preparation position P2 where the traveling device 1 approaches the tip of the guide rail 210, the traveling device 1 performs a super-local turning as indicated by the arrow L, and adjusts the direction of the traveling device 1 within a range where the guide rail 210 fits into the space K between the pair of guide pads 230a and 230b. Note that the turning amount of the traveling device 1 at this time can be set based on the direction of the marker 317 detected by, for example, the 2D LiDAR 52.

[0180] FIG. 21 is a plan view showing another example of direction control at the connection preparation position P2. As a building where the charging station 300 is installed, for example, a garage can be considered. When the building is a garage, it is expected that there are other objects such as columns, cars, bicycles, and lockers in addition to the charging station 300 in the building. Therefore, a situation may occur where it hinders the detection of the target position of the power supply stand 310 and the detection of the current position of the traveling device 1. As a countermeasure, for example, as shown in FIG. 21, a target object 330 such as a pole having a characteristic shape such as a star-shaped cross section may be additionally installed near the entrance and exit of the charging station 300. In this configuration, by recognizing the shape of the target object 330 with the 2D LiDAR 52, the information available for detecting the target position of the power supply stand 310 and the current position of the traveling device 1 can be increased, and the detection accuracy can be improved.

[0181] In the fourth step shown in FIG. 19(D), the traveling device 1 travels straight forward at a low speed toward the marker 317. At this time, the traveling device 1 enters the guide rail 210 and travels while being finely adjusted in the width direction position and the traveling direction by the guide rail 210. Note that in the fourth step, the traveling device 1 may perform odometry traveling toward the marker 317.

[0182] In the fifth step shown in FIG. 19(E), the traveling device 1 measures the distance between the marker 317 and itself using the 2D LiDAR 52 and moves forward, and once decelerates or stops at the vehicle stop position P3 in front of the vehicle stop 220 based on the distance information from the marker 317.

[0183] In the sixth stage shown in FIG. 19(F), the traveling device 1 travels straight forward at a low speed from the vehicle stop position P3 toward the chargeable position P4. At this time, the traveling device 1 measures the distance between the marker 317 and itself using the 2D LiDAR 52 while moving forward, and based on the distance information from the marker 317, when the distance from the marker 317 becomes equal to or less than a certain threshold value, it determines that it has reached the chargeable position P4 and stops (becomes motor-free). Also, in the fourth stage, the power receiving device 60 is activated to transition to a chargeable state.

[0184] Note that in the sixth stage, in addition to the stop control at the chargeable position P4 based on the distance from the marker 317 described above, a function of detecting an increase in the load of the in-wheel motor 14 of the traveling device 1 and stopping may be further added. As described with reference to FIG. 16(C), when the traveling device 1 reaches the chargeable position P4, the frame 62 of the traveling device 1 presses the stop device 318 of the power supply stand 310 in the negative x2 direction, and the damper mechanism of the stop device 318 is compressed. At this time, although the in-wheel motor 14 is driving, the forward movement of the traveling device 1 is restricted, so the load of the in-wheel motor 14 increases. Therefore, in the above additional function, when an increase in the load of the in-wheel motor 14 is detected when the traveling device 1 presses the damper mechanism of the stop device 318 of the power supply stand 310, the in-wheel motor 14 is stopped. By adding this function, it is possible to prevent the traveling device 1 from going too far beyond the chargeable position P4.

[0185] Also, for example, when there is an obstacle on the traveling route to the chargeable position P4, a situation may occur where the forward movement of the traveling device 1 is physically hindered and the traveling device 1 cannot reach the chargeable position P4. By providing the above additional function, in such a situation, when the motor load rises above a predetermined threshold value, even if the traveling device 1 has not reached the chargeable position P4, the motor can be stopped. This can reduce the load on the in-wheel motor 14 more than necessary and prevent the in-wheel motor 14 from malfunctioning.

[0186] In the sixth stage, the traveling device 1 may perform odometry traveling from the vehicle stop position P3 toward the chargeable position P4. Also, in the sixth stage, instead of stopping the in-wheel motor 14 of the traveling device 1 in a motor-free state when reaching the chargeable position P4, the in-wheel motor 14 may be stopped and held in a state with a speed command of 0, or a stop control such as using an excitation brake may be performed.

[0187] FIG. 22 is a schematic diagram for explaining the operation during charging at the chargeable position P4. As shown in FIG. 22, during charging, the traveling device 1 is maintained in a state of being positioned at the chargeable position P4. At this time, the traveling device 1 performs control to monitor and correct the front and rear positions of its own vehicle.

[0188] FIG. 23 is a schematic diagram for explaining the control during charging. During charging, the state mainly shown in FIG. 23(A) is maintained. In this state, first, charging is started. During charging, the distance to the marker 317 is continuously detected using the 2D LiDAR 52, and it is monitored whether the traveling device 1 is maintained in the positioning at the chargeable position P4.

[0189] Here, when it is detected that the vehicle has deviated from the chargeable position P4 during charging, the traveling device 1 temporarily stops charging. Then, the traveling device 1 travels straight at a low speed (odometry) and returns to the chargeable position P4 again. Examples of the case where the vehicle deviates from the chargeable position P4 during charging include a situation where, for example, since the crawler traveling body 10 is in a motor-free state during charging, when a large external force such as an earthquake is applied, the crawler traveling body 10 gets over the vehicle stop 220 and is displaced in the positive x2 direction.

[0190] After the traveling device 1 returns to the chargeable position P4, charging is resumed.

[0191] If, for some reason, the traveling device 1 cannot maintain the state of being positioned at the chargeable position P4, as shown in Fig. 23(B), the traveling device 1 retreats beyond the vehicle stopper 230 to the vehicle stop position P3 and evacuates outside the vehicle stopper 220. In this case, the traveling device 1 ends the charging mode and reports it to the administrator.

[0192] Fig. 24 is a schematic diagram for explaining the operation of exiting the charging route in charge control. As shown in Fig. 24, after the charging is completed, the traveling device 1 retreats from the chargeable position P4 to the connection preparation position P2 and returns. At the connection preparation position P2, it turns 180 degrees so that the positive x2 direction side becomes the front. Then, it switches on the obstacle detection function of the 3D LiDAR 53 and advances to the charging route entrance P1 where the GPS receiver 51 can receive the GPS signal.

[0193] Next, when the traveling device 1 reaches the charging route entrance P1, it returns to the normal patrol route from here. In the patrol route, the traveling device 1 mainly controls its own position and orientation using the received information of the GPS receiver 51.

[0194] Fig. 25 is a schematic diagram for explaining the control at each stage when exiting the charging route.

[0195] In the first stage shown in Fig. 25(A), when the remaining amount of the battery 530 in the main body 50 of the traveling device 1 becomes equal to or more than a certain value, the traveling device 1 ends the charging and stops the operation of the power receiving device 60.

[0196] In the second stage shown in Fig. 25(B), the traveling device 1 ends the charging mode and receives a patrol start command from, for example, a host device. The patrol start command is a command for traveling a predetermined patrol route and performing inspection tasks, etc., and is, for example, a command received regularly. The traveling device 1 is set not to respond even if it receives the patrol start command during the implementation of the charging mode, but to respond according to the command after the charging mode ends.

[0197] In the second stage, in response to the circuit start command, the traveling device 1 first reverses and travels straight at a low speed (odometry) to the connection preparation position P2. At this time, the traveling device 1 continues to measure the distance between the marker 317 and itself using the 2D LiDAR 52 while reversing and moves to the connection preparation position P2.

[0198] In the third stage shown in FIG. 25(C), the traveling device 1 changes its direction by 180° at the connection preparation position P2. Also, the obstacle detection function of the 3D LiDAR 53 is turned on.

[0199] In the fourth stage shown in FIG. 25(D), the traveling device 1 travels straight (odometry) toward the charging route entrance P1 where GPS reception is possible.

[0200] <Modification Example> FIG. 26 is a diagram showing a modification example of the configuration of the charging station 300. As in the charging station 300A shown in FIG. 26(A), a weight such as a ballast 340 may be installed on the floor plate 320 and at positions on both sides in the width direction of the guide rail 210.

[0201] In the case where the floor plate 320 has a configuration in which rubber is attached to the lower surface of an aluminum plate, since the overall weight of the floor plate 320 is relatively light, for example, when the traveling device 1 collides with the guide rail 210, the charging station 300 may move together with the floor plate 320. As a method for solving this, as in the charging station 300A shown in FIG. 26, a configuration in which the floor plate 320 is pressed by the ballast 340 may be adopted. In the example of FIG. 26, eight 10 kg water tanks are prepared as the ballast 340 and are arranged in series in the x2 direction, four on each side in the width direction of the guide rail 210. Thereby, the load of the ballast 340 can be evenly applied over the entire floor plate 320, and the displacement of the floor plate 320 can be preferably suppressed.

[0202] Alternatively, like the charging station 300B shown in FIG. 26(B), it may be configured without the floor plate 320. For example, when an anchor can be driven into the installation surface G of the charging station 300B, as the minimum configuration of the charging station 300B, only the power supply stand 310, the guide rail 210, and the vehicle stopper 220 may be directly installed on the installation surface G. When applying the charging station 300B, it is desirable that the installation surface G is, for example, the floor surface of a painted garage, etc., where the friction of the road surface is not large.

[0203] FIG. 27 is a diagram showing another modification of the configuration of the charging station 300. Like the charging station 300J shown in FIG. 27, it may be configured without the vehicle stopper 220. In the above embodiment, as shown in FIG. 5 for example, the vehicle stopper 220 is provided to extend in the y2 direction at a predetermined position in the x2 direction, and when the traveling device 1 reaches the chargeable position P4, it contacts the rear side of the crawler traveling body 10 of the traveling device and restricts the movement of the traveling device 1 in the positive x2 direction.

[0204] The advantage of providing the vehicle stopper 220 in the above embodiment is that when the traveling device 1 reaches the chargeable position P4, the rear part of the crawler traveling body 10 comes into contact with the vehicle stopper 220, thereby stabilizing the posture of the traveling device 1 at the chargeable position P4. As a result, as described with reference to FIG. 16 etc., it becomes easier to oppose the upper surface 60A of the power receiving device 60 of the traveling device 1 and the front surface 315A of the power supply device 315 of the power supply stand 310, and it becomes easier to control the gap between the upper surface 60A of the power receiving device 60 and the front surface 315A of the power supply device 315. Here, the reason why such gap control is necessary is that, as shown in FIG. 2 etc., in the crawler traveling body 10 of the above embodiment, the central part in the front-rear direction (x1 direction) is convex downward. More specifically, this is because the idlers 18a, 18b provided between the two drive wheels 15a, 15b are installed to protrude toward the negative z1 direction with respect to the drive wheels 15a, 15b. Due to such a structure of the crawler traveling body 10, in the traveling device 1 of the above embodiment, as described with reference to FIG. 8 etc., the inclination of the vehicle body forward or backward during traveling becomes large.

[0205] Therefore, for example, when a crawler traveling body in which the protruding amount of the idlers 18a and 18b toward the negative z1 direction with respect to the drive wheels 15a and 15b is smaller than that of the crawler traveling body 10 of the above-described embodiment is applied to the traveling device 1, it is possible to suppress the inclination of the vehicle body in the longitudinal direction that may occur during traveling. In this case, as in the above-described embodiment, the necessity of controlling the inclination of the vehicle body of the traveling device 1 in the longitudinal direction at the chargeable position P4 and the necessity of controlling the gap between the upper surface 60A of the power receiving device 60 and the front surface 315A of the power feeding device 315 are reduced. For this reason, even when the vehicle stop 220 is not provided as in the charging station 300J shown in FIG. 27, when the traveling device 1 reaches the chargeable position P4, the upper surface 60A of the power receiving device 60 of the traveling device 1 and the front surface 315A of the power feeding device 315 of the power feeding stand 310 can be arranged to face each other.

[0206] In the case of a configuration in which the vehicle stop 220 is not provided, when the traveling device 1 reaches the chargeable position P4, it is preferable to perform stop control such as stopping and holding the in-wheel motor 14 of the traveling device 1 in a state where the speed command is 0 or using an excitation brake. Thereby, the traveling device 1 can be reliably positioned by the chargeable position P4.

[0207] Further, as shown in FIG. 27, a configuration in which the guide rail 210J is not provided with the lifting portion 211 may be employed. In the guide rail 210 of the above-described embodiment, the lifting portion 211 is formed in a tapered shape such that the height on the front end side is lowered at the upper corner portion of the front end portion of the guiding portion 212, and is a portion that lifts the bottom surface 50B of the main body 50 of the traveling device 1.

[0208] The advantage of providing the lifting portion 211 in the above-described embodiment is that, as described with reference to FIG. 9 and the like, when the traveling device 1 enters the guide rail 210, even if the main body 50 of the traveling device 1 tilts forward and the height position of the front end portion 50B1 of the bottom surface 50B of the main body 50 becomes lower than that of the guiding portion 212, it can be lifted upward along the lifting portion 211 and enter the guiding portion 212.

[0209] Here, as described above, for example, when a crawler traveling body in which the protruding amounts of the idlers 18a and 18b in the negative z1 direction with respect to the idler wheels 15a and 15b are smaller than those of the crawler traveling body 10 of the above-described embodiment is applied to the traveling device 1, it is possible to suppress the inclination of the vehicle body in the longitudinal direction that may occur during traveling. In this case, as in the above-described embodiment, when the traveling device 1 enters the guide rail 210, a situation in which the height position of the front end portion 50B1 of the bottom surface 50B of the main body 50 of the traveling device 1 becomes lower than that of the guiding portion 212 is less likely to occur. Therefore, even if the guiding rail 210J is configured without the scooping-up portion 211 as in the charging station 300J shown in FIG. 27, it is possible to cause the traveling device 1 to enter the guiding portion 212 of the guiding rail 210J.

[0210] FIG. 28 is a diagram showing still another modified example of the configuration of the charging station 300. As in the charging station 300K shown in FIG. 28, the width dimension of the floor plate 320K in the y2 direction may be reduced to approximately the same dimension as the width dimension of the power supply stand 310. With this configuration, the overall size of the charging station 300K can be reduced.

[0211] Further, the charging station 300 of the embodiment may be configured to be divisible into a plurality of parts. For example, among the charging station 300, the power supply stand 310, the floor plate 320, the guide rail 210, and the vehicle stopper 220 may be configured as separate parts, and a configuration in which an integrated charging station 300 is formed by assembling each part can be cited. With this configuration, the charging station 300 can be easily carried.

[0212] FIG. 29 is a diagram showing a modification of the installation position of the charging station 300. In the above embodiment, as illustrated and described with reference to FIG. 18 and the like, the charging station 300 is exemplified as being installed on the back side from the entrance of the building. However, the installation position is not limited to this. For example, like the charging station 300C shown in FIG. 29(A), it may be installed near the entrance of the building. Specific examples of such installation positions include, for example, the entrance in a garage with an open entrance that can be accessed from the road. In the case of the example in FIG. 29(A), since the tip portion of the guide rail 210 is installed near the entrance of the building, a robot entry prohibited area can be provided more widely.

[0213] Also, like the charging station 300D shown in FIG. 29(B), while the power supply stand 310 is installed on the back side from the entrance of the building as in the above embodiment, the guiding portion 212a of the guide rail 210A is extended from that of the above embodiment, and thus the tip portion of the guide rail 210 may be installed near the entrance of the building. Even in the case of the example in FIG. 29(B), since the tip portion of the guide rail 210A is installed near the entrance of the building, the traveling device is guided by the guide rail, so it can move more safely.

[0214] FIG. 30 is a diagram showing a first modification of the guiding portion 212. There may be a case where, like the charging station 300E shown in FIG. 30(A), the power supply stand 310 is on the back side from the entrance of the building and further arranged on the back side of the robot entry prohibited area. In this case, the path for the traveling device 1 to reach the power supply stand 310 from the entrance of the building is a substantially L-shaped path that first travels in the y2 direction and then changes direction in the x2 direction. That is, at the connection preparation position P2 at the entrance of the building, the traveling device 1 cannot visually recognize the power supply stand 310, and thus the marker 317 provided on the power supply stand 310 cannot be detected either.

[0215] In the charging station 300E of FIG. 30(A), the guiding portion 212b of the guide rail 210B is extended compared to that of the above-described embodiment, and has straight portions 212b1, 212b3 and a curved portion 212b2, and the straight portions 212b1, 212b3 and the curved portion 212b2 are connected to form one guiding portion 212b. In the example of FIG. 30(A), the guiding portion 212b is formed as one guiding portion 212b by being connected in series in the order of the straight portion 212b1, the curved portion 212b2, and the straight portion 212b3 in sequence from the connection preparation position P2 at the building entrance.

[0216] Here, as shown in FIG. 30(B), the pair of guide pads 230a, 230b of the traveling device 1 are arranged with a certain distance d1 therebetween. Therefore, even if the guiding direction changes in the curved portion 212b2 of the guiding portion 212b, the curved portion 212b2 can be accommodated between the pair of guide pads 230a, 230b, so that the traveling direction can be changed along the curved portion 212b2.

[0217] In the charging station 300E of FIG. 30, as described above, since the marker 317 provided on the power supply stand 310 cannot be detected at the connection preparation position P2 at the entrance of the building, movement control to the position of the marker 317 cannot be performed using the 2D LiDAR 52. Therefore, as shown in FIG. 30(A), it is necessary to install another marker 350 on the movement path. Examples of the installation location of the marker 350 include the back side of the curved portion 212b2 visible from the connection preparation position P2 at the entrance of the building.

[0218] FIG. 31 is a diagram showing a second modification of the guiding portion 212. The arrangement of the charging station 300F shown in FIG. 31 is the same as that in FIG. 30. In the charging station 300F of FIG. 31, the guiding portion 212c of the guide rail 210C is extended more than that of the above-described embodiment, and has a plurality of straight portions 212c1 and 212c2 in different extending directions, and the plurality of straight portions 212c1 and 212c2 are formed to be separated from each other. In the example of FIG. 31, the guiding portion 212c is installed such that a straight portion 212c1 extending in the y2 direction from the connection preparation position P2 at the building entrance and a straight portion 212c2 extending in the x2 direction on the back side of the straight portion 212c1 are separated from each other at the boundary portion therebetween.

[0219] In the charging station 300F shown in FIG. 31, a marker 350 different from the marker 317 of the power supply stand 310 is also provided. As the installation location of the marker 350, for example, the back side of the boundary portion of the straight portions 212c1 and 212c2 visible from the connection preparation position P2 at the entrance of the building can be mentioned.

[0220] In the charging station 300F of FIG. 31, the traveling device 1 first performs movement control to the position of the marker 350 using the 2D LiDAR 52, moves in the negative y2 direction along the straight portion 212c1 of the guiding portion 212c, and moves to the boundary portion of the two straight portions 212c1 and 212c2. Next, at this boundary portion, since the 2D LiDAR 52 can detect the marker 317 of the power supply stand 310, the traveling device 1 detects the direction of the marker 317 using the 2D LiDAR 52 and turns to the negative x2 side where the marker 317 is located. Then, movement control to the position of the marker 317 is performed using the 2D LiDAR 52, and the device moves in the negative x2 direction along the straight portion 212c2 of the guiding portion 212c to reach the power supply stand 310.

[0221] FIG. 32 is a diagram showing a modification of the widening portion 213. FIG. 32(A) illustrates the shapes of the guide rail 210 and the widening portion 213 of the above-described embodiment described with reference to FIG. 5 and the like.

[0222] As with the guide rail 210D shown in Fig. 32(B), the configuration may be such that the dimension of the widened portion 213d in the x2 direction is extended compared to that of the above-described embodiment. As also shown in Fig. 32, the pair of guide pads 230a and 230b of the traveling device 1 are arranged with a fixed distance d1 therebetween. For this reason, as shown in Fig. 32(B), even if the dimension of the widened portion 213d in the x2 direction extends and the shape changes, the widened portion 213d can be accommodated between the pair of guide pads 230a and 230b without particularly changing the configuration of the guide pads 230a and 230b on the traveling device 1 side, so that it is movable along the widened portion 213d.

[0223] Fig. 33 is a diagram showing a first modified example of the power supply stand 310. As with the traveling device 1G shown in Fig. 33(A), the configuration may be such that the non-contact power receiving device 60G is arranged on the bottom surface 50B of the main body 50.

[0224] In this case, as shown in Fig. 33(B), in the charging station 300G, the non-contact power supply device 315G is arranged on the upper surface of the positioning portion 214 of the guide rail 210. The installation position of the non-contact power supply device 315G is a position directly facing the non-contact power receiving device 60G on the traveling device 1G side at the position where the traveling device 1G reaches the chargeable position P4 and contacts the pair of stop devices 318, that is, a position that overlaps the non-contact power receiving device 60G when viewed from the z2 direction.

[0225] In the configuration of Fig. 33, the dimensions of each part are set so that there is a gap of about several millimeters between the upper surface of the guide rail 210 and the bottom surface 50B of the main body 50 of the traveling device 1G as described above. Therefore, by simply positioning the traveling device 1G at the chargeable position P4, the non-contact power receiving device 60G and the non-contact power supply device 315G can be arranged at an appropriate chargeable distance, and charging can be more reliably performed.

[0226] FIG. 34 is a diagram showing a second modified example of the power supply stand 310. As in the traveling device 1H shown in FIG. 34(A), a configuration may be adopted in which the positive electrode plate 60H1 and the negative electrode plate 60H2 of the contact power receiving device are arranged on the bottom surface 50B of the main body 50. The positive electrode plate 60H1 and the negative electrode plate 60H2 are each formed, for example, in a rectangular shape having substantially the same shape with the longitudinal direction in the x1 direction, and are arranged at a predetermined distance in the y1 direction.

[0227] In this case, as shown in FIG. 34(B), in the charging station 300H, the positive electrode plate 315H1 and the negative electrode plate 315H2 of the contact power supply device are arranged on the upper surface of the positioning portion 214 of the guide rail 210. The installation positions of the positive electrode plate 315H1 and the negative electrode plate 315H2 are positions where the traveling device 1G reaches the chargeable position P4 and contacts the pair of stop devices 318, and are positions directly facing the positive electrode plate 60H1 and the negative electrode plate 60H2 of the contact power receiving device on the traveling device 1G side, that is, positions where the positive electrode plate 315H1 overlaps the positive electrode plate 60H1 and the negative electrode plate 315H2 overlaps the negative electrode plate 60H2 when viewed from the z2 direction. Further, the positive electrode plate 315H1 and the negative electrode plate 315H2 on the charging station 300H side are formed of, for example, a leaf spring or the like, and thus it is preferable to adopt a configuration that can more reliably contact the positive electrode plate 60H1 and the negative electrode plate 60H2 on the traveling device 1H side.

[0228] FIG. 35 is a diagram showing a third modified example of the power supply stand 310. As in the traveling device 1I shown in FIG. 35(A), a configuration may be adopted in which the pair of guide pads 230a and 230b are shared as the positive electrode plate 60I1 and the negative electrode plate 60I2 of the contact power receiving device. In this case, the pair of guide pads 230a and 230b are made of metal.

[0229] In this case, as shown in FIG. 35(B), in the charging station 300I, the positive electrode plate 315I1 and the negative electrode plate 315I2 of the contact power feeding device are respectively arranged on a pair of side surfaces 214C and 214D of the positioning portion 214 of the guide rail 210. The installation positions of the positive electrode plate 315I1 and the negative electrode plate 315I2 are such that when the traveling device 1I reaches the chargeable position P4 and contacts the pair of stop devices 318, they are in positions directly facing the positive electrode plate 60I1 and the negative electrode plate 60I2 of the contact power receiving device on the traveling device 1I side, that is, the guide pads 230a and 230b. Further, the positive electrode plate 315I1 and the negative electrode plate 315I2 on the charging station 300I side are formed of, for example, leaf springs or the like, and preferably configured to ensure more reliable contact with the positive electrode plate 60I1 and the negative electrode plate 60I2 on the traveling device 1I side.

[0230] Note that instead of using the entire pair of guide pads 230a and 230b as the positive electrode plate 60I1 and the negative electrode plate 60I2 of the contact power receiving device, a configuration may be adopted in which only a part of the guide pads 230a and 230b is used as the positive electrode plate 60I1 and the negative electrode plate 60I2.

[0231] FIG. 36 is a perspective view showing a modified example of the guide pad. As shown in FIG. 36, in the traveling device 1L according to the modified example, similar to the traveling device 1 of the above embodiment, the crawler traveling body 10a is connected and fixed to the side surface 50C on the positive y1 direction side of the main body 50 via a pair of brackets 63A and 63B (see FIG. 9). The bracket 63A (the first connecting member) is arranged between the main body 50 and the crawler traveling body 10a on the front end side (positive x1 direction side) of the side surface 50C along the traveling direction (x1 direction) of the traveling device 1. On the other hand, the bracket 63B (the second connecting member) is arranged between the main body 50 and the crawler traveling body 10a on the rear end side (negative x1 direction side) of the side surface 50C along the traveling direction (x1 direction) of the traveling device 1.

[0232] On the other hand, the other crawler traveling body 10b, whose illustration is omitted in FIG. 36, is connected and fixed to the side surface 50D on the negative y1-direction side of the main body 50 via a pair of brackets 63C and 63D (see FIG. 9). The bracket 63C (the third connecting member) is disposed between the main body 50 and the crawler traveling body 10b on the front end side (positive x1-direction side) of the side surface 50D along the traveling direction (x1 direction) of the traveling device 1. On the other hand, the bracket 63D (the fourth connecting member) is disposed between the main body 50 and the crawler traveling body 10b on the rear end side (negative x1-direction side) of the side surface 50C along the traveling direction (x1 direction) of the traveling device 1.

[0233] In the modification example of FIG. 36, lower end portions 64A to 64D extending downward from the bottom surface 50B of the main body 50 are integrally formed with the respective brackets 63A to 63D. By providing the lower end portions 64A to 64D in this way, as shown in FIG. 36, the lower end portion 64A and the lower end portion 64C are disposed at the same position on the front end side in the x1 direction and are opposed to each other with a certain distance in the y1 direction. Similarly, the lower end portion 64B and the lower end portion 64D are disposed at the same position on the rear end side in the x1 direction and are opposed to each other with a certain distance in the y1 direction.

[0234] In the modification example of FIG. 36, the lower end portion 64A and the lower end portion 64C function as a first pair of guide pads, and the lower end portion 64B and the lower end portion 64D function as a second pair of guide pads. That is, in the modification example of FIG. 36, the traveling device 1L is configured to have two pairs of guide pads.

[0235] The first pair of guide pads (lower end portions 64A and 64C) are arranged on the bottom surface 50B side of the main body 50 and at positions on the main body 50 side of each of the pair of crawler traveling bodies 10a and 10b, extending along a part in the traveling direction of the main body 50 from the front end portion side of the main body 50 closest to the stop position (chargeable position P4). Further, the second pair of guide pads (lower end portions 64B and 64D) are arranged on the bottom surface 50B side of the main body 50 and at positions on the main body 50 side of each of the pair of crawler traveling bodies 10a and 10b, extending along a part in the traveling direction of the main body 50 from the rear end portion side of the main body 50 farthest from the stop position (chargeable position P4).

[0236] The first pair of guide pads (lower end portions 64A and 64C) and the second pair of guide pads (lower end portions 64B and 64D) can perform the same functions as the pair of guide pads 230a and 230b in the above embodiment.

[0237] By configuring the lower end portions 64A to 64D as guide pads integrally with the brackets 63A to 63D as connecting components between the crawler traveling bodies 10a and 10b and the main body 50 in this way, the number of holes required for attaching each component to the main body 50 can be reduced. This is advantageous in terms of the waterproofness and strength of the main body 50 of the traveling device 1L. Also, since there is no need to create the guide pads as separate components, the number of parts can be reduced, and the man-hours and costs during the manufacture of the traveling device 1L can be reduced.

[0238] In the positioning and adjustment mechanism 200 according to the embodiment, like the modification shown in FIG. 36 or the above embodiment (see FIGS. 6 and 7), the traveling devices 1 and 1L may have a configuration including at least a pair of guide pads arranged to face each other on both sides in the width direction orthogonal to the traveling direction of the traveling device with respect to the guide rail 210.

[0239] In the case of a configuration including only a pair of guide pads 230a and 230b as in the above-described embodiment, the pair of guide pads 230a and 230b corresponds to "a first pair of guide pads arranged to extend at least partially along the traveling direction of the main body 50 from the front end side of the main body 50 closest to the stop position (chargeable position P4) on the bottom surface 50B side of the main body 50 and at positions on the main body 50 side of each of the pair of crawler traveling bodies 10a and 10b."

[0240] FIG. 37 is a plan view showing a modified example of the guide rail. The charging station 300M according to the modified example shown in FIG. 37 includes a guide rail 210M. The guide rail 210M is provided with a plurality of rollers 215 (rollers) that are rotatably installed along the traveling direction (x2 direction) of the traveling device 1 with a part protruding outward from both side surfaces in the width direction (y2 direction) of the widened portion 213 and the positioning portion 214. In FIG. 37, the circumferential surface of each roller 215 is shown as a circle, and the rotation axis is shown as a point at the center of the circle. Also, in the example of FIG. 37, a part of the circumferential surface of each roller 215 protrudes from both side surfaces in the width direction of the guide rail 210M.

[0241] In the example of FIG. 37, a plurality of pairs of rollers 215 are provided so as to be arranged at the same position in the x2 direction on both side surfaces in the width direction of the widened portion 213 and the positioning portion 214. Also, it is preferable that each of the plurality of pairs of rollers 215 is arranged such that the distance from an adjacent pair of rollers is substantially constant.

[0242] In the guide rail 210M according to the modified example of FIG. 37, by installing the rollers 215 on the side surface in this way, when the traveling device 1 moves along the guide rail 210M, the guide pads 230a and 230b of the traveling device 1 come into contact with the rollers 215 and the rollers 215 rotate in the traveling direction. As a result, when the traveling device 1 moves along the guide rail 210M, the resistance received from the widened portion 213 and the positioning portion 214 of the guide rail 210M can be reduced, so that the traveling device 1 can be guided more smoothly to the chargeable position P4.

[0243] The positioning of the traveling device 1 in the width direction (y2 direction) up to the chargeable position P4 is determined by the width of the guide rail 210 and the distance d1 between the guide pads 230a and 230b of the traveling device 1 (see FIGS. 6, 7, etc.), and misalignment leads to a decrease in charging efficiency. There is concern that the wear of the guide pads 230a and 230b or the guide rail 210 may cause a decrease in charging efficiency. Therefore, if a configuration is adopted in which rollers 215 are provided on the side surface of the guide rail as in the guide rail 210M according to the modification example shown in FIG. 37, the wear of the guide pads 230a and 230b and the guide rail 210M can be suppressed, and problems such as a decrease in charging efficiency can be solved.

[0244] As described above, the present embodiment has been described with reference to specific examples. However, the present disclosure is not limited to these specific examples. Those obtained by appropriately making design changes by those skilled in the art to these specific examples are also included in the scope of the present disclosure as long as they have the features of the present disclosure. Each element included in each of the above-described specific examples and its arrangement, conditions, shape, etc. are not limited to those illustrated and can be appropriately changed. Each element included in each of the above-described specific examples can be appropriately combined as long as no technical contradiction occurs.

[0245] In the above embodiment, a configuration in which the positioning adjustment mechanism 200 (guide rail 210, vehicle stopper 220, guide pads 230a, 230b) according to the embodiment is applied to the charging station 300 has been illustrated. However, the positioning adjustment mechanism 200 according to the embodiment can also be applied to purposes of use other than the charging station 300. For example, for a task of positioning the traveling device 1 at a predetermined stop position such as the above-described chargeable position P4, the positioning accuracy of the traveling device 1 can be improved by applying the positioning adjustment mechanism 200 according to the embodiment.

[0246] In addition, in the above-described embodiment, a configuration is exemplified in which the charging station 300 is installed indoors where a GPS signal cannot be received, and as movement control of the traveling device 1 to the chargeable position P4 in the charging station 300, the positions and directions of the markers 317 and 350 are detected using the 2D LiDAR 52 mounted on the traveling device 1, and control is exemplified in which the traveling device 1 is guided to the chargeable position P4 based on the detected information. However, the 2D LiDAR 52 is an example of a detection unit that detects the positions and directions of the markers 317 and 350 in an environment where a GPS signal cannot be received, and elements other than the 2D LiDAR 52 may be applied as the detection unit. For example, configurations include detecting the positions and directions of the markers 317 and 350 using the detection information of the 3D LiDAR 53 described with reference to FIG. 1, or using captured images captured by imaging devices such as a PTZ camera 54 and a 360° camera 55.

Explanation of Signs

[0247] 1, 1A, 1B, 1L Traveling device 10, 10a, 10b Crawler-type traveling body (traveling body) 14 In-wheel motor 50 Main body 50B Bottom surface 52 2D LiDAR (detection unit) 60 Power receiving device 63A to 63D Brackets (first to fourth connecting members) 64A, 64C Lower ends (first pair of guide pads) 64B, 64D Lower ends (second pair of guide pads) 100 Positioning adjustment system 200 Positioning adjustment mechanism 210, 210A to 210D, 210J, 210M Guide rails 211 Scooping-up part 212 Induction part 212b1, 212b3 Straight parts 212b2 Curved part 212c1, 212c2 Straight parts 213 Widening part 214 Positioning part 215 Roller 220 Vehicle stopper 230a, 230b Pair of guide pads (first pair of guide pads) 232, 233 Angles (buffer parts) 234, 235 Rollers (buffer parts) 300, 300A - 300K, 300M Charging station 312 Rotating part 315 Power supply device 316 Contact receiving part 317 Marker (indicator) 320, 320K Floor board 540 Travel control motor driver (control device) P1 Charging route start position (initial position) P4 Charging possible position (stop position)

Prior art documents

Patent documents

[0248]

Patent Document 1

Claims

1. A positioning adjustment mechanism for positioning a traveling device having a pair of traveling bodies that are driven by contacting with a traveling surface on both sides of a main body, at a predetermined stop position, A guide rail provided upright on a traveling surface of the traveling device; At least a pair of guide pads arranged opposite each other on both sides of the guide rail in a width direction perpendicular to the traveling direction of the traveling device; Equipped with A first pair of guide pads among the at least pair of guide pads are arranged on the bottom surface side of the main body and on the main body side of each of the pair of running bodies so as to extend from a front end side of the main body closest to the stop position along at least a portion of the traveling direction of the main body, Each pair of the at least one pair of guide pads is disposed on both sides of a central position in the width direction of the main body, and is disposed at a position in the width direction such that a distance between the disposed guide pad and the traveling body on the disposed side is smaller than a distance between the disposed guide pad and the central position; The guide rail is a width increasing portion that gradually increases in width along the travel direction of the traveling device so as to approach a distance between the at least one pair of guide pads; a positioning portion in which one end of the widening portion is connected to an end portion having a maximum dimension in the width direction, the both ends in the width direction are formed to be parallel along the traveling direction, and the other end extends to the stop position; Positioning adjustment mechanism.

2. The guide rail is a guide portion that is connected to an end portion of the widening portion that has the smallest dimension in the width direction, and that is formed so that both ends in the width direction are parallel to the traveling direction, and that is inserted between the at least one pair of guide pads to guide the traveling device to the widening portion; The positioning adjustment mechanism according to claim 1 .

3. The guide rail is 3. The positioning adjustment mechanism according to claim 2, further comprising a scooping portion formed at an upper corner of a tip portion of the guide portion so as to be lower in height on the tip side and scooping up a bottom surface of the main body of the traveling device.

4. a wheel stopper that comes into contact with rear end portions of the pair of traveling bodies when the traveling device reaches the stop position; The positioning adjustment mechanism according to claim 1 .

5. The first pair of guide pads include: A buffer portion is provided at an end portion of the main body on the side of the front end portion to reduce contact resistance with the guide rail. The positioning adjustment mechanism according to claim 1 .

6. the at least one pair of guide pads includes only the first pair of guide pads; The first pair of guide pads are provided to extend from the front end of the main body along the entire moving direction of the main body, and also have the buffer portion at an end on the rear end side of the main body. The positioning adjustment mechanism according to claim 5 .

7. The guiding portion of the guide rail has a straight portion and a curved portion, The straight line portion and the curved portion are connected to each other. The positioning adjustment mechanism according to claim 2 .

8. The guide portion of the guide rail has a plurality of straight line portions extending in different directions, The plurality of straight line portions are formed at intervals. The positioning adjustment mechanism according to claim 2 .

9. The traveling device is configured to change the traveling direction by causing a speed difference between each of the pair of traveling bodies. The positioning adjustment mechanism according to claim 1 .

10. The pair of running bodies are track-type running bodies. The positioning adjustment mechanism according to claim 9.

11. The at least one pair of guide pads includes the first pair of guide pads and a second pair of guide pads, The second pair of guide pads are disposed on the bottom surface side of the main body and on the main body side of each of the pair of running bodies so as to extend from a rear end side of the main body farthest from the stop position along at least a portion of the traveling direction of the main body. The positioning adjustment mechanism according to claim 1 .

12. The traveling device is a first connecting member and a second connecting member that are disposed on the front end side and the rear end side along the traveling direction between the main body and one of the pair of running bodies and connect the one running body to the main body; a third connecting member and a fourth connecting member that are disposed on the front end side and the rear end side along the traveling direction between the main body and the other of the pair of running bodies and connect the other running body to the main body; having the first pair of guide pads are provided to extend downward from the first connecting member and the third connecting member below the bottom surface of the main body, The second pair of guide pads are provided to extend downward from the second connecting member and the fourth connecting member below the bottom surface of the main body. The positioning adjustment mechanism according to claim 11.

13. The guide rail is The width widening portion and the positioning portion have a plurality of rollers that protrude outward from both side surfaces in the width direction and are rotatably installed along the traveling direction. The positioning adjustment mechanism according to claim 1 .

14. A traveling device having a pair of traveling bodies on both sides of the main body, the traveling bodies being driven in contact with the traveling surface; A positioning adjustment mechanism according to any one of claims 1 to 13 for positioning the traveling device at a predetermined stop position; A positioning adjustment system comprising:

15. The traveling device has a detection unit capable of detecting a distance and a direction to a marker that is an indicator of the stop position, A control device for controlling the operation of the traveling device is provided, The control device includes: Using a GPS signal, control is performed to move the traveling device to an initial position of a stop control to the stop position of the traveling device; Detecting the index using the detection unit and controlling the traveling device to move to the stop position so as to approach the index. The positioning and adjustment system according to claim 14.

16. The control device includes: performing control to stop the traveling device when an increase in load on the driving source of the pair of traveling bodies is detected; The positioning and adjustment system according to claim 15.

17. A charging station for charging a traveling device having a pair of traveling bodies on both sides of a main body that are driven in contact with a traveling surface, A power supply device that supplies power to the traveling device by a contact method or a non-contact method; A positioning adjustment mechanism according to any one of claims 1 to 13 for positioning the traveling device at a chargeable position where power can be supplied from the power supply device; A charging station equipped with

18. The power supply device is a device that supplies power in a non-contact manner, A rotating unit in which a power supply unit is installed and which can rotate along the traveling direction of the traveling device; a contact receiving portion that is installed on the rotating portion and that contacts the traveling device before a power receiving device installed at a front end portion of the traveling device contacts the power supply device, When the traveling device reaches the chargeable position, the contact receiving portion is pushed in the traveling direction by the traveling device, whereby the rotating portion rotates in a direction away from the traveling device in the traveling direction, thereby maintaining the distance between the power supply device and the power receiving device at a distance that allows charging.

20. The charging station of claim 17.

19. the positioning adjustment mechanism includes a floor plate that is placed on an installation surface and has an upper surface on which the power supply device and the guide rail are installed, The floor plate is formed of a plate material having a lower coefficient of friction than the installation surface.

20. The charging station of claim 17.

20. The floor plate is formed so that the dimension in the width direction is approximately the same as the width dimension of the power supply device.

20. The charging station of claim 19.

Images