Walking system

Abstract

This enables the creation of a walking system that easily improves the power supply efficiency from the power supply device to the power receiving device. [Solution] A walking system 10 comprising a power receiving device and a power supply device, wherein the power receiving device comprises a power receiving unit 31 located at the bottom of a target leg which is at least one of a plurality of legs, and the power supply device comprises a plurality of power supply units 41 arranged along the walking surface 11, each of the plurality of power supply units 41 configured to supply power to the power receiving unit 31 while facing the power receiving unit 31, and at least one of the power receiving device and the power supply device is provided with an alignment mechanism 50 for aligning the power receiving unit 31 and the power supply unit 41.

Description

Technical Field

[0001] The present invention relates to a walking system including a walking device using a plurality of legs.

Background Art

[0002] Japanese Patent Application Laid-Open No. 2024-58524 (Patent Document 1) discloses a walking device (11) that walks on a walking surface using a plurality of legs (3A).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In order to operate a walking device that walks on a walking surface using a plurality of legs for a long time, it is conceivable to install a plurality of power supply units on the walking surface and supply power from any one of the plurality of power supply units to a power receiving unit provided at the bottom of the leg. However, in a walking device such as that of Patent Document 1, since the positional relationship between the bottom of the leg and the walking surface changes every time it walks, if a power receiving unit is provided at the bottom of the leg and a power supply unit is provided on the walking surface, the power supply efficiency from the power supply device to the power receiving device tends to be low.

[0005] Therefore, it is desired to realize a walking system that can easily improve the power supply efficiency from the power supply device to the power receiving device.

Means for Solving the Problems

[0006] The walking system according to this disclosure comprises a walking device having a plurality of legs and walking on a walking surface using the plurality of legs, a power receiving device provided on the walking device, and a power supply device provided on the walking surface and supplying power to the power receiving device, wherein the power receiving device includes a power receiving unit disposed at the bottom of a target leg which is at least one of the plurality of legs, the power supply device includes a plurality of power supply units arranged along the walking surface, each of the plurality of power supply units configured to supply power to the power receiving unit while facing the power receiving unit, and at least one of the power receiving device and the power supply device is provided with an alignment mechanism for aligning the power receiving unit and the power supply unit.

[0007] In this configuration, when the walking device walks on the walking surface using multiple legs, the power receiving unit moves together with the target leg and aligns itself with one of the multiple power supply units arranged along the walking surface. Therefore, the positional relationship between the opposing power supply units and power receiving units can be brought closer to an appropriate positional relationship, making it easier to improve the power supply efficiency from the power supply unit to the power receiving unit. [Brief explanation of the drawing]

[0008] [Figure 1] Side view of the walking system according to the first embodiment [Figure 2] Side view showing the power receiving device and power supply device in Figure 1. [Figure 3] Figure 1 shows an example of the arrangement of the positive and negative electrodes in the power supply section. [Figure 4] Figure 1 shows another example of the arrangement of the positive and negative electrodes in the power supply section. [Figure 5] Side view showing the power receiving device and power supply device according to the second embodiment. [Figure 6] Figure 5 shows an example of the arrangement of the positive and negative electrodes in the power supply section. [Figure 7] Figure 5 shows another example of the arrangement of the positive and negative electrodes in the power supply section. [Figure 8] Side view showing a power receiving device and a power supply device according to the third embodiment. [Figure 9]Figure 8: Top view of the power receiving section [Figure 10] Side view showing the power receiving device and power supply device according to the fourth embodiment. [Figure 11] Figure 10: Top view of the power receiving section [Figure 12] Top view of the power receiving unit according to the fifth embodiment [Modes for carrying out the invention]

[0009] [First Embodiment] In the following description, a walking system 10 according to the first embodiment will be explained with reference to the drawings. Figure 1 is a side view showing an example of the walking system 10. The walking system 10 comprises a plurality of legs 20 and a walking device 13 that walks on a walking surface 11 using the plurality of legs 20. In this embodiment, there are two legs 20, but there may be three or more. In this embodiment, the walking surface 11 is the floor surface, but it may be the front surface of the ceiling, a wall surface, the surface of a column, etc. Furthermore, each of the plurality of legs 20 may be equipped with either an adsorption part that adheres to the wall surface or ceiling, or a gripping part that grips a gripping part provided on the wall surface or ceiling, etc.

[0010] Walking by the walking device 13 may be autonomous walking or remotely controlled walking. Examples of walking by the walking device 13 include walking in which the bottom of the legs 20 and the walking surface 11 repeatedly come into contact and separate, shuffling walking, walking adapted to low gravity conditions, walking adapted to weightless conditions, etc. In this embodiment, walking by the walking device 13 is bipedal walking, but it may also be tripedal, quadrupedal, hexapedal, etc. Examples of walking devices 13 include humanoid robots, dog-type robots, insect-type robots, robots with roller skate-type legs, walking transport devices, etc. In this embodiment, the walking device 13 is a humanoid work robot that performs autonomous bipedal walking.

[0011] The walking system 10 includes a power receiving device 30. The power receiving device 30 is provided on the walking device 13. The power receiving device 30 includes a power receiving unit 31 located on the bottom of the target leg 21, which is the bottom of at least one of the multiple leg portions 20. Here, the target leg bottom 22 is the part of the target leg 21 that has a surface facing the walking surface 11. Note that the target leg 21 may also serve as an arm for performing work on an object.

[0012] In this embodiment, all of the multiple leg portions 20 are target leg portions 21, but there may be leg portions 20 that are not target leg portions 21. In this embodiment, the walking device 13 has multiple target leg portions 21, and each of the multiple target leg portions 21 is equipped with one power receiving portion 31. Examples of power receiving portion 31 include flat, hemispherical, concave, and convex members. In this embodiment, the power receiving portion 31 is a flat pad.

[0013] Here, the direction from the target foot sole 22 toward the walking surface 11 is defined as the first direction Z. Furthermore, one of the directions perpendicular to the first direction Z is defined as the X direction, and the direction perpendicular to the X direction is defined as the Y direction. The walking device 13 is configured to be able to walk in both the X and Y directions. In this embodiment, the walking device 13 is configured to be able to rotate around an axis along the first direction Z, but it may not be able to rotate around an axis along the first direction Z. In this embodiment, the first direction Z is the direction from top to bottom, and the direction perpendicular to the first direction Z is the horizontal direction.

[0014] The power receiving device 30 includes a power storage device 35. The power storage device 35 is installed on the walking device 13. The power receiving device 30 is configured to charge the power storage device 35 with power supplied to the power receiving unit 31. The power receiving unit 31 and the power storage device 35 are connected by an electric wire. In this embodiment, the power storage device 35 is equipped with a charge level display screen that allows the charge level to be visually checked.

[0015] The walking system 10 includes a power supply device 40. The power supply device 40 is provided on the walking surface 11 and supplies power to the power receiving device 30. The power supply device 40 includes a plurality of power supply units 41 arranged along the walking surface 11. Examples of the arrangement of the plurality of power supply units 41 include a checkerboard arrangement, a staggered arrangement, a linear arrangement on the walking surface 11, and the like. The plurality of power supply units 41 may be arranged on a passage set on the walking surface 11 or may be arranged at a location where the walking device 13 temporarily stops.

[0016] Each of the plurality of power supply units 41 is configured to supply power to the power receiving unit 31 in a state of facing the power receiving unit 31. In the present embodiment, one power receiving unit 31 is configured to be able to face each of the plurality of power supply units 41. Examples of the plurality of power supply units 41 include members such as a flat plate shape, a hemispherical shape, a concave shape, and a convex shape. In the present embodiment, each of the plurality of power supply units 41 is a flat plate-shaped pad.

[0017] The power supply device 40 includes a power source 45. The plurality of power supply units 41 supply the power supplied from the power source 45 to the power receiving unit 31 in a state of facing the power receiving unit 31. The power supply from the power supply device 40 to the power receiving device 30 is wireless power supply. Examples of the power supply method from the power supply device 40 to the power receiving device 30 include an electromagnetic induction method, a magnetic field resonance method, an electric field coupling method, and the like. In the present embodiment, the power supply from the power supply device 40 to the power receiving device 30 is performed by an electric field coupling method.

[0018] FIG. 2 is an enlarged view showing an example of the power receiving device 30 and the power supply device 40 included in the walking system 10. The power receiving unit 31 includes a power receiving electrode (the first electrode 31d or the second electrode 31e). Each of the plurality of power supply units 41 includes a power supply electrode (the positive electrode 41d or the negative electrode 41e). The alignment mechanism 50 described later aligns the power receiving unit 31 and the power supply unit 41 so that the power receiving electrode and the power supply electrode face each other. [[ID=​​One of the target legs 21 is designated as the first leg 21a, and the other as the second leg 21b. In this embodiment, the power receiving unit 31 located at the bottom 22a of the first leg 21a is equipped with a first electrode 31d, which is a positive electrode. In this embodiment, the power receiving unit 31 located at the bottom 22b of the second leg 21b is equipped with a second electrode 31e, which is a negative electrode. Multiple negative electrodes 41e are arranged on the walking surface 11 to face the first electrode 31d, and multiple positive electrodes 41d are arranged to face the second electrode 31e.

[0020] Figures 3 and 4 show examples of arrangements of positive electrodes 41d and negative electrodes 41e placed on the walking surface 11. In Figure 3, the positive electrodes 41d and negative electrodes 41e are arranged in a grid pattern. In Figure 4, the positive electrodes 41d and negative electrodes 41e are arranged in a staggered pattern. Alternatively, the positive electrodes 41d and negative electrodes 41e may be arranged alternately in a single row on the walking surface 11. Furthermore, the positive electrodes 41d and negative electrodes 41e may be placed in pathways set on the walking surface 11, or at locations where the walking device 13 temporarily stops.

[0021] In this embodiment, one positive electrode, the first electrode 31d, is provided at the bottom 22a of the first leg portion 21a, and one negative electrode, the second electrode 31e, is provided at the bottom 22b of the second leg portion 21b. Alternatively, multiple positive electrodes, the first electrode 31d, may be provided at the bottom 22a of the first leg portion 21a, and multiple negative electrodes, the second electrode 31e, may be provided at the bottom 22b of the second leg portion 21b.

[0022] The walking system 10 includes an alignment mechanism 50 that aligns the power receiving unit 31 and the power supply unit 41. In this embodiment, the alignment mechanism 50 is provided in at least one of the power receiving device 30 and the power supply device 40. In this embodiment, the alignment mechanism 50 aligns the power receiving unit 31 with the power supply unit 41 that is closest to the power receiving unit 31.

[0023] The alignment mechanism 50 includes a plurality of fitting parts 51 arranged on the walking surface 11. Each of the plurality of power supply units 41 is positioned at a location corresponding to each of the plurality of fitting parts 51. Examples of the shapes of the fitting parts 51 include frustoconical, spherical, pyramidal, frustoconical pyramidal, cylindrical, prismatic, multi-stage prismatic, and the like.

[0024] Each of the multiple fitting portions 51 is formed with a concave and convex shape that matches the shape of the target leg base 22 (in the illustrated example, base 22a and base 22b) so that the target leg base 22 fits into it. Each of the multiple fitting portions 51 may have a concave central portion and a convex outer edge, or each may have a convex central portion and a concave outer edge. In this embodiment, each of the multiple fitting portions 51 has a power supply portion 41 located in the center.

[0025] Each of the multiple power supply units 41 is positioned such that the power supply efficiency to the power receiving unit 31 is higher when the target leg base 22 is fitted into the fitting portion 51 than when the target leg base 22 is not fitted into the fitting portion 51. In this embodiment, the power supply efficiency to the power receiving unit 31 is highest when the target leg base 22 is fitted into the fitting portion 51 and the bottom surface of the target leg base 22 is in contact with the walking surface 11.

[0026] The fitting portion 51 is shaped to gradually increase the restriction on the position of the target leg base 22 in the direction perpendicular to the first direction Z as the target leg base 22 moves in the first direction Z. In this embodiment, the fitting portion 51 is shaped such that the gap between the target leg base 22 and the fitting portion 51 in the direction perpendicular to the first direction Z decreases as the target leg base 22 moves in the first direction Z. In this embodiment, the gap decreases continuously, but the gap may decrease in two or more stages or three or more stages.

[0027] The fitting portion 51 is shaped to gradually increase the restriction on at least one of the positions of the target leg base 22 on both sides in the X direction and both sides in the Y direction as the target leg base 22 moves in the first direction Z. In this embodiment, the fitting portion 51 is shaped to gradually increase the restriction on both the positions of the target leg base 22 on both sides in the X direction and both sides in the Y direction as the target leg base 22 moves downward in the first direction Z. In this embodiment, the gap is continuously decreasing, but the gap may be decreasing in two or more stages or three or more stages.

[0028] Each of the multiple power supply units 41 is positioned so as to overlap with the power receiving unit 31 in a first-direction view along the first direction Z when the target leg bottom 22 is fitted into the fitting unit 51. Examples of arrangements of the multiple fitting units 51 include a grid pattern, a staggered pattern, and a linear arrangement on the walking surface 11. The positive electrode 41d and the negative electrode 41e may be positioned in a passage set on the walking surface 11, or at a point where the walking device 13 temporarily stops.

[0029] Furthermore, each of the multiple power supply electrodes (positive electrode 41d, negative electrode 41e) arranged along the walking surface 11 may be configured to switch between positive and negative poles in accordance with the opposing power receiving electrodes (first electrode 31d, second electrode 31e) that are aligned by the alignment mechanism 50. Also, each of the power receiving electrodes (first electrode 31d, second electrode 31e) arranged on the multiple target leg soles 22 may be configured to switch between positive and negative poles in accordance with the opposing power supply electrodes (positive electrode 41d, negative electrode 41e) of the power supply unit 41 that are aligned by the alignment mechanism 50.

[0030] In this embodiment, each of the multiple fitting portions 51 is formed to fit with one target leg base portion 22. Alternatively, multiple fitting portions 51 may be formed to fit with one target leg base portion 22.

[0031] In this embodiment, power is supplied from the power supply unit 41 to the power receiving unit 31 when the target leg base 22 and the fitting portion 51 are fitted together. In this embodiment, power is not supplied from the power supply unit 41 to the power receiving unit 31 when the target leg base 22 and the fitting portion 51 are not fitted together. However, it is also possible to configure the system so that power is supplied from the power supply unit 41 to the power receiving unit 31 even when the target leg base 22 and the fitting portion 51 are not fitted together.

[0032] The walking system 10 includes a power supply status output unit 70 that outputs the power supply efficiency to the power receiving unit 31. In this embodiment, the power supply status output unit 70 outputs the power supply efficiency for each of the multiple power receiving coils 31c. Alternatively, the power supply status output unit 70 may be configured to output the power supply efficiency for each walking device 13 and each target leg 21. Power supply efficiency is indicated, for example, by power (W), the ratio of power supplied to maximum power supplied (%), etc. Examples of power supply efficiency output include color, sound, symbols, numbers, etc.

[0033] The power supply status output unit 70 is provided on the walking device 13. In this embodiment, the power supply status output unit 70 is provided on the target leg 21. In this embodiment, the power supply status output unit 70 has a screen that visually outputs the power supply efficiency to the power receiving unit 31.

[0034] [Second Embodiment] The following description will focus on the differences between the second embodiment and the first embodiment. Unless otherwise specified, the second embodiment is the same as the first embodiment. Figure 5 shows an example of the power receiving device 30 and power supply device 40 of this embodiment.

[0035] In this embodiment, the power receiving unit 31 is equipped with a plurality of power receiving electrodes in which positive electrodes (first electrode 31d) and negative electrodes (second electrode 31e) are mixed. In this embodiment, each of the plurality of power supply units 41 is equipped with a plurality of power supply electrodes in which positive electrodes 41d and negative electrodes 41e are mixed.

[0036] In this embodiment, the walking device 13 has multiple target legs 21, and each target leg sole 22 has an equal number of positive electrodes (first electrode 31d) and negative electrodes (second electrode 31e) arranged on it. In this embodiment, each target leg sole 22 has an even number of positive electrodes and an even number of negative electrodes. This makes it easier to make the arrangement of positive and negative electrodes on each target leg sole 22 similar when the walking device 13 has multiple target legs 21.

[0037] Figures 6 and 7 show examples of positive electrodes 41d and negative electrodes 41e arranged on the walking surface 11, respectively. In Figure 6, the positive electrodes 41d and negative electrodes 41e are arranged in a grid pattern. In Figure 7, the positive electrodes 41d and negative electrodes 41e are arranged in a staggered pattern. Alternatively, the positive electrodes 41d and negative electrodes 41e may be arranged alternately in a single row on the walking surface 11. Furthermore, the positive electrodes 41d and negative electrodes 41e may be placed in pathways set on the walking surface 11, or at locations where the walking device 13 temporarily stops.

[0038] In this embodiment, the arrangement of the positive electrodes (first electrode 31d) and negative electrodes (second electrode 31e) of the multiple power receiving electrodes and the arrangement of the positive electrodes 41d and negative electrodes 41e of the multiple power supply electrodes are set such that, with the power receiving unit 31 and the power supply unit 41 aligned and facing each other by the alignment mechanism 50, the positive electrode (first electrode 31d) of the power receiving electrode and the negative electrode 41e of the power supply electrode face each other, and the negative electrode (second electrode 31e) of the power receiving electrode and the positive electrode 41d of the power supply electrode face each other.

[0039] In this embodiment, each of the power receiving electrodes (first electrode 31d, second electrode 31e) arranged on the base 22 of a plurality of target legs is configured to be switchable between positive and negative electrodes according to the power supply electrodes (positive electrode 41d, negative electrode 41e) of the opposing power supply unit 41, which are aligned by the alignment mechanism 50.

[0040] Furthermore, each of the multiple power supply electrodes (positive electrode 41d, negative electrode 41e) arranged along the walking surface 11 may be configured to switch between positive and negative poles depending on the opposing power receiving electrodes (first electrode 31d, second electrode 31e) that are aligned by the alignment mechanism 50.

[0041] In this embodiment, multiple mating portions 51 are formed to mat with one target leg base portion 22. Alternatively, each of the multiple mating portions 51 may be formed to mat with one target leg base portion 22 equipped with multiple power receiving electrodes. In this embodiment, power is supplied from the power supply device 40 to the power receiving device 30 by an electric field coupling method. [Third Embodiment] The walking system 10 according to the third embodiment will be described below with reference to the drawings. The following description will focus on the differences from the first embodiment. Unless otherwise specified, the same applies as in the first embodiment.

[0042] Figure 8 is an enlarged view showing an example of a power receiving device 30 and a power supply device 40 provided by the walking system 10. Figure 9 is a view showing an example of the upper surface of the power receiving unit 31. The power receiving unit 31 is equipped with a power receiving coil 31c. The power receiving coil 31c is positioned so that its axis is aligned with the first direction Z. The power supply unit 41 is equipped with a power supply coil 41c. The power supply coil 41c is positioned so that its axis is aligned with the first direction Z. In this embodiment, one of the multiple power supply units 41 supplies power while facing one power receiving unit 31.

[0043] The alignment mechanism 50 includes a power receiving unit support mechanism 52. The power receiving unit support mechanism 52 is provided on the power receiving device 30 and supports the power receiving unit 31 so as to be movable in a direction perpendicular to the first direction Z with respect to the target leg base 22. Examples of the power receiving unit support mechanism 52 include a mechanism that supports the power receiving unit 31 so as to be slidable, a mechanism that supports the power receiving unit 31 so as to be movable using a rack and pinion, a mechanism that supports the power receiving unit 31 by suspension, and so on. In this embodiment, each of the multiple power receiving coils 31c is supported by the power receiving unit support mechanism 52.

[0044] The power receiving unit support mechanism 52 supports the power receiving unit 31 so that it is movable with respect to the target leg base 22 in at least the X and Y directions. In this embodiment, the power receiving unit support mechanism 52 includes a biasing member 61 that biases the power receiving unit 31 toward a specific position in the X and Y directions. In this embodiment, the power receiving unit support mechanism 52 supports the power receiving unit 31 so that it is movable with respect to the target leg base 22 in a first direction Z.

[0045] The alignment mechanism 50 includes a power receiving side positioning member 62 positioned in the power receiving section 31. The power receiving side positioning member 62 is positioned in the center of the positioning area of ​​the power receiving coil 31c in the power receiving section 31, in a first-direction view along the first direction Z. The power receiving side positioning member 62 is supported inside the power receiving coil 31c by a power receiving side circular support member 63. In this embodiment, the power receiving side positioning member 62 is a permanent magnet. In this embodiment, the power receiving side circular support member 63 is made of ferrite.

[0046] The alignment mechanism 50 includes a power supply side positioning member 67 located in the power supply unit 41. The power supply side positioning member 67 is located in the center of the positioning area of ​​the power supply coil 41c in the power supply unit 41, in a first-direction view along the first direction Z. The power supply side positioning member 67 is supported inside the power supply coil 41c by a power supply side circular support member 68. In this embodiment, the power supply side positioning member 67 is a permanent magnet. In this embodiment, the power supply side circular support member 68 is made of ferrite.

[0047] The alignment mechanism 50 includes an attraction mechanism 55 configured such that the power receiving side arrangement member 62 and the power supply side arrangement member 67 are attracted to each other by magnetic force. The attraction mechanism 55 is configured such that when the power receiving side arrangement member 62 and the power supply side arrangement member 67 are closest together, the power receiving section 31 and the power supply section 41 overlap in a first view along the first direction Z. In this embodiment, the attraction mechanism 55 is configured such that the central axis of the power receiving coil 31c and the central axis of the power supply coil 41c overlap in a first view.

[0048] The suction mechanism 55 is configured such that the power supply efficiency to the power receiving section 31 is highest when the power receiving side member 62 and the power supply side member 67 are closest together. In this embodiment, the state in which the power receiving side member 62 and the power supply side member 67 are closest together is when the bottom surface of the target leg bottom 22 is in contact with the walking surface 11.

[0049] In this embodiment, one power receiving coil 31c is provided on each of the multiple target leg bases 22. Alternatively, multiple power receiving coils 31c may be provided on each of the multiple target leg bases 22. In this embodiment, the walking device 13 has at least two target legs 21. One of the target legs 21 is designated as the first leg 21a, and the other as the second leg 21b. In the illustrated example, one power receiving coil 31c is provided on the bottom 22a of the first leg 21a, and one power receiving coil 31c is provided on the bottom 22a of the second leg 21b. In this embodiment, power is supplied from the power supply device 40 to the power receiving device 30 by electromagnetic induction.

[0050] The alignment mechanism 50 may also include a plurality of fitting portions 51 arranged on the walking surface 11. Alternatively, for example, each of the plurality of power supply units 41 may be arranged such that, when the target foot base 22 is fitted into the fitting portion 51, it overlaps with the center of the power receiving unit 31 in a first-direction view. Alternatively, for example, each of the plurality of power supply units 41 may be arranged such that, when the target foot base 22 is fitted into the fitting portion 51, the center of the arrangement area of ​​the power receiving coil 31c in a first-direction view overlaps with the center of the arrangement area of ​​the power supply coil 41c in a first-direction view.

[0051] [Fourth Embodiment] The following description of the walking system 10 according to the fourth embodiment will be given with reference to the drawings. The following description will focus on the differences from the third embodiment. Points that are not specifically described will be the same as in the third embodiment. Figure 10 is a diagram showing an example of the power receiving device 30 and power supply device 40 of this embodiment. Figure 11 is a diagram showing the top view of the power receiving unit 31 of this embodiment.

[0052] In this embodiment, the power receiving unit 31 is equipped with a plurality of (two in the illustrated example) power receiving coils 31c. In this embodiment, a plurality of power receiving coils 31c are provided on each of the plurality of target leg bases 22. Each of the plurality of power receiving coils 31c is supported by a power receiving unit support mechanism 52.

[0053] In this embodiment, the alignment mechanism 50 includes a power supply unit support mechanism 53. The power supply unit support mechanism 53 is provided on the power supply device 40 and supports the power supply unit 41 so as to be movable in a direction perpendicular to the first direction Z with respect to the walking surface 11. Examples of the power supply unit support mechanism 53 include a mechanism that supports the power supply unit 41 so as to be slidable, a mechanism that supports the power supply unit 41 so as to be movable using a rack and pinion, a mechanism that supports the power supply unit 41 by suspension, and so on. In this embodiment, each of the multiple power supply coils 41c is supported by the power supply unit support mechanism 53.

[0054] The power supply unit support mechanism 53 supports the power supply unit 41 so that it can move with respect to the walking surface 11 in at least the X and Y directions. In this embodiment, the power supply unit support mechanism 53 includes a biasing member 66 that biases the power supply unit 41 toward a specific position in the X and Y directions with respect to the walking surface 11.

[0055] [Fifth Embodiment] The following description will focus on the differences between the fifth embodiment and the fourth embodiment. Unless otherwise specified, the same principles apply as in the fourth embodiment. Figure 12 shows the upper surface of the power receiving unit 31 of this embodiment.

[0056] In this embodiment, the power receiving unit 31 includes a pair of annular power receiving coils 31c connected in series and arranged so that the directions of the magnetic flux are opposite to each other. Each of the pair of annular power receiving coils 31c is supported by a power receiving unit support mechanism 52. In the illustrated example, the power receiving unit support mechanism 52 supports the pair of annular power receiving coils 31c so that their positions in the direction perpendicular to the first direction Z are fixed relative to each other.

[0057] In this embodiment, the power supply unit 41 is equipped with a pair of annular power supply coils 41c connected in series and arranged so that the directions of the magnetic flux are opposite to each other. Each of the pair of annular power supply coils 41c is supported by a power supply unit support mechanism 53. In this embodiment, D-PaD (registered trademark) is used in both the power receiving unit 31 and the power supply unit 41.

[0058] [Other Embodiments] Next, other embodiments of the walking system 10 will be described.

[0059] (1) In the above embodiment, a configuration in which the alignment mechanism 50 is provided at least in the power supply device 40 was described as an example (see, for example, Figure 2). However, the embodiment is not limited to such an example, and for example, the alignment mechanism 50 may be provided only in the power receiving device 30. Alternatively, for example, the alignment mechanism 50 may be provided in both the power receiving device 30 and the power supply device 40.

[0060] (2) In the above embodiment, a configuration was described as in which the power supply unit 41 is positioned at a location that overlaps with the power receiving unit 31 in a first-direction view when the target leg base 22 is fitted into the fitting unit 51 (see, for example, Figure 2). However, the invention is not limited to such an example, and for example, the power supply unit 41 may be positioned at a location that overlaps with the power receiving unit 31 in an X-direction view along the X direction or a Y-direction view along the Y direction when the target leg base 22 is fitted into the fitting unit 51.

[0061] (3) In the above embodiment, the fitting portion 51 was described as having a shape that gradually strengthens the restriction of the position of the target leg base 22 in the direction perpendicular to the first direction Z as the target leg base 22 moves in the first direction Z (see, for example, Figure 2). However, the embodiment is not limited to such an example, and for example, the fitting portion 51 may have a shape that does not change the restriction of the position of the target leg base 22 in the direction perpendicular to the first direction Z as the target leg base 22 moves in the first direction Z. Alternatively, for example, the fitting portion 51 may have a shape that gradually weakens the restriction of the position of the target leg base 22 in the direction perpendicular to the first direction Z as the target leg base 22 moves in the first direction Z.

[0062] (4) In the above embodiment, the alignment mechanism 50 was described as having a configuration in which the power receiving device 30 is provided with a power receiving unit support mechanism 52 that supports the power receiving unit 31 so as to be movable in a direction perpendicular to the first direction Z with respect to the target leg bottom 22 (see, for example, Figure 8). However, the embodiment is not limited to such an example, and for example, the alignment mechanism 50 may have a configuration in which only the power supply unit support mechanism 53 is provided instead of the power receiving unit support mechanism 52. Alternatively, for example, the alignment mechanism 50 may have a configuration in which both the power supply unit support mechanism 53 and the power receiving unit support mechanism 52 are provided. Alternatively, for example, the alignment mechanism 50 may have a configuration in which neither the power receiving unit support mechanism 52 nor the power supply unit support mechanism 53 are provided.

[0063] (5) In the above embodiment, a configuration was described as comprising a power receiving side arrangement member 62 arranged on the power receiving unit 31 and a power supply side arrangement member 67 arranged on the power supply unit 41, and an attraction mechanism 55 configured such that the power receiving side arrangement member 62 and the power supply side arrangement member 67 are attracted to each other by magnetic force (see, for example, Figure 8). However, the configuration is not limited to such an example, and for example, a configuration comprising only a fitting part 51 instead of an attraction mechanism 55 may be provided. Also, for example, a configuration in which the alignment mechanism 50 comprises both a fitting part 51 and an attraction mechanism 55 may be provided.

[0064] (6) In the above embodiment, the suction mechanism 55 was described as having a configuration in which the power receiving section 31 and the power supply section 41 overlap in a first-direction view when the power receiving section member 62 and the power supply section member 67 are in their closest proximity (see, for example, Figure 8). However, the invention is not limited to such an example, and for example, the suction mechanism 55 may have a configuration in which the power receiving section 31 and the power supply section 41 overlap in an X-direction view along the X direction or a Y-direction view along the Y direction when the power receiving section member 62 and the power supply section member 67 are in their closest proximity.

[0065] (7) In the above embodiment, the power receiving unit 31 is provided with a power receiving coil 31c whose axis is aligned with the first direction Z, and the power supply unit 41 is provided with a power supply coil 41c whose axis is aligned with the first direction Z, as an example (see, for example, Figure 8). However, the embodiment is not limited to such an example, and for example, the power receiving coil 31c and the power supply coil 41c may be arranged such that the axis of the power receiving coil 31c and the axis of the power supply coil 41c are aligned with the X direction or the Y direction.

[0066] (8) In the above embodiment, the power receiving side arrangement member 62 is arranged in the center of the arrangement area of ​​the power receiving coil 31c in the power receiving unit 31 when viewed in a first direction, and the power supply side arrangement member 67 is arranged in the center of the arrangement area of ​​the power supply coil 41c in the power supply unit 41 when viewed in a first direction (see, for example, Figure 8). However, the embodiment is not limited to such an example, and for example, in the first direction view, multiple power receiving side arrangement members 62 may be arranged outside the arrangement area of ​​the power receiving coil 31c, and multiple power supply side arrangement members 67 may be arranged outside the arrangement area of ​​the power supply coil 41c.

[0067] (9) In the above embodiment, a configuration in which the power receiving side member 62 and the power supply side member 67 are permanent magnets was described as an example (see, for example, Figure 8). However, the embodiment is not limited to such an example, and for example, the power receiving side member 62 or the power supply side member 67 may be an electromagnet. Also, for example, the power receiving side member 62 or the power supply side member 67 may be a magnetic material such as an iron plate.

[0068] (10) In the above embodiment, a configuration was described as in which each of the power receiving electrodes (first electrode 31d, second electrode 31e) or each of the power supply electrodes (first electrode 31d, second electrode 31e) is configured to be switchable between positive and negative poles (see, for example, Figure 2). However, the embodiment is not limited to such an example, and for example, the power receiving electrodes and the power supply electrodes may be configured not to be switchable between positive and negative poles.

[0069] (11) In the above embodiment, a configuration in which the power receiving device 30 is equipped with a power storage device 35 was described as an example (see, for example, Figure 1). However, the invention is not limited to such an example, and for example, the power receiving device 30 may not be equipped with a power storage device 35, and the power receiving device 30 may be configured to supply power to each part of the walking device 13 without charging.

[0070] (12) In the above embodiment, a configuration in which the walking surface 11 is the floor surface, the first direction Z is the direction from top to bottom, and the direction perpendicular to the first direction Z is the horizontal direction was described as an example (see, for example, Figure 1). However, the invention is not limited to such an example, for example, the walking surface 11 may be provided on the ceiling and the first direction Z may be the direction from bottom to top. Also, for example, the first direction Z may be one of the horizontal directions. Also, for example, the walking surface 11 may be provided on the ceiling, wall surface and floor surface. In such cases, the orientation of the first direction Z with respect to the vertical direction changes as the walking device 13 walks.

[0071] (13) The configurations disclosed in the embodiments described above can be applied in combination with configurations disclosed in other embodiments, as long as no inconsistencies arise. With regard to other configurations, the embodiments disclosed herein are merely illustrative in all respects. Therefore, various modifications can be made as appropriate without departing from the spirit of this disclosure.

[0072] [Summary of the above embodiments] The walking system related to this disclosure will be described below.

[0073] In one embodiment, the walking system comprises a walking device having a plurality of legs and walking on a walking surface using the plurality of legs, a power receiving device provided on the walking device, and a power supply device provided on the walking surface and supplying power to the power receiving device, wherein the power receiving device includes a power receiving unit located at the bottom of a target leg which is at least one of the plurality of legs, the power supply device includes a plurality of power supply units arranged along the walking surface, each of the plurality of power supply units configured to supply power to the power receiving unit while facing the power receiving unit, and at least one of the power receiving device and the power supply device is provided with an alignment mechanism for aligning the power receiving unit and the power supply unit.

[0074] In this configuration, when the walking device walks on the walking surface using multiple legs, the power receiving unit moves together with the target leg and aligns itself with one of the multiple power supply units arranged along the walking surface. Therefore, the positional relationship between the opposing power supply units and power receiving units can be brought closer to an appropriate positional relationship, making it easier to improve the power supply efficiency from the power supply unit to the power receiving unit.

[0075] In one embodiment, the alignment mechanism comprises a plurality of fitting portions arranged on the walking surface, each of the plurality of fitting portions being formed with a concave and convex shape that matches the shape of the target foot sole so that the target foot sole fits into it, and the power supply unit is positioned at a location corresponding to each of the plurality of fitting portions such that the power supply efficiency to the power receiving unit is higher when the target foot sole is fitted into the fitting portion than when the target foot sole is not fitted into the fitting portion.

[0076] According to this configuration, when the walking device walks on the walking surface using multiple legs, the power supply unit and the power receiving unit can be positioned opposite each other in an appropriate positional relationship that enhances power supply efficiency by fitting together the soles of the legs with the uneven shapes of the walking surface.

[0077] In one embodiment, the direction from the target foot sole toward the walking surface is defined as the first direction, and the fitting portion is shaped to gradually increase the restriction on the position of the target foot sole in a direction perpendicular to the first direction as the target foot sole moves in the first direction.

[0078] With this configuration, the position of the target leg base can be guided toward the correct position as the target leg base moves in the first direction. Therefore, even if the position in which the target leg base contacts the walking surface is slightly off, the engagement between the target leg base and the fitting part can be performed appropriately.

[0079] In one embodiment, the power receiving unit is provided with a plurality of power receiving electrodes having a mixture of positive and negative electrodes, and each of the plurality of power supply units is provided with a plurality of power supply electrodes having a mixture of positive and negative electrodes, and the arrangement of the positive and negative electrodes of the plurality of power receiving electrodes and the arrangement of the positive and negative electrodes of the plurality of power supply electrodes are set such that when the power receiving unit and the power supply unit are aligned and facing each other by the alignment mechanism, the positive electrode of the power receiving electrode faces the negative electrode of the power supply electrode, and the negative electrode of the power receiving electrode faces the positive electrode of the power supply electrode.

[0080] According to this configuration, the power receiving unit located on the sole of the target foot is equipped with multiple power receiving electrodes containing both positive and negative electrodes. Compared to the case where the power receiving unit located on the sole of the target foot is equipped with only one power receiving electrode, it is easier to reduce the area of ​​each of the multiple power supply electrodes. Therefore, the degree of freedom in arranging the multiple power supply electrodes on the walking surface can be increased.

[0081] In one embodiment, the walking device has at least two target legs, one of which is designated as a first leg and the other as a second leg, the power receiving unit located at the bottom of the first leg is equipped with a first electrode which is a positive electrode, the power receiving unit located at the bottom of the second leg is equipped with a second electrode which is a negative electrode, and the walking surface is equipped with a plurality of negative electrodes to face the first electrode and a plurality of positive electrodes to face the second electrode.

[0082] This configuration allows for a reduction in the number of electrodes on the target leg, thus reducing the number of wires connected to the electrodes and lowering the cost of the walking system. Furthermore, because the electrodes on the target leg and the walking surface can be made larger, the power supply efficiency is less likely to decrease even if the positions of the power receiving unit and the power supply unit are slightly misaligned.

[0083] In one embodiment, the direction from the target foot sole toward the walking surface is defined as the first direction, and the alignment mechanism comprises at least one of the following: a power receiving unit support mechanism provided in the power receiving device that supports the power receiving unit so as to be movable in a direction perpendicular to the first direction with respect to the target foot sole; and a power supply unit support mechanism provided in the power supply device that supports the power supply unit so as to be movable in a direction perpendicular to the first direction with respect to the walking surface.

[0084] According to this configuration, when the walking device walks on a walking surface using multiple legs, the position of at least one of the power receiving unit and the power supply unit can be moved in a direction perpendicular to the first direction. This makes it easier to improve the power supply efficiency from the power supply unit to the power receiving unit by moving the power supply unit and the power receiving unit, which are facing each other during walking, to an appropriate positional relationship.

[0085] In one embodiment, the alignment mechanism comprises a power receiving side arrangement member arranged in the power receiving section and a power supply side arrangement member arranged in the power supply section, and an attraction mechanism configured such that the power receiving side arrangement member and the power supply side arrangement member attract each other by magnetic force, wherein the attraction mechanism is configured such that when the power receiving side arrangement member and the power supply side arrangement member are closest together, the power receiving section and the power supply section overlap in a first view along the first direction.

[0086] According to this configuration, when the walking device walks on the walking surface using multiple legs, the power receiving side member and the power supply side member attract each other, causing at least one of the power receiving and power supply units to move in a direction perpendicular to the first direction by at least one of the power receiving support mechanism and the power supply support mechanism, thereby bringing the relative positions of the opposing power supply unit and power receiving unit closer to an appropriate relative position. This makes it easier to improve the power supply efficiency from the power supply unit to the power receiving unit.

[0087] In one embodiment, the power receiving unit includes a power receiving coil whose axis is arranged along the first direction, the power supply unit includes a power supply coil whose axis is arranged along the first direction, the power receiving side arrangement member is located at the center of the arrangement area of ​​the power receiving coil in the power receiving unit in a view in the first direction, and the power supply side arrangement member is located at the center of the arrangement area of ​​the power supply coil in the power supply unit in a view in the first direction.

[0088] With this configuration, the receiving-side configuration member and the supplying-side configuration member attract each other, bringing the axial positions of the receiving coil and the supplying coil closer together, and bringing the positional relationship between the supplying and receiving sections closer to an appropriate positional relationship. This makes it easier to improve the power supply efficiency from the supplying device to the receiving device.

[0089] The walking system described herein only needs to achieve at least one of the effects described above. The technical features of the walking system described herein are also applicable to walking methods and walking programs. [Explanation of symbols]

[0090] 10: Walking System 11: Walking surface 13: Walking device 20: Legs 21: Target leg 21a: 1st leg 21b: 2nd leg 22: Target foot base 22a: Bottom of the first leg (target leg bottom) 22b: Bottom of the second leg (target leg bottom) 30: Power receiving device 31: Power receiving section 31c: Power receiving coil 31d: 1st electrode 31e: 2nd electrode 40: Power supply device 41: Power supply unit 41c: Power supply coil 41d: Positive electrode 41e: Negative electrode 50: Alignment mechanism 51: Fitting part 52: Power receiving unit support mechanism 53:Power supply part support mechanism 55: Suction mechanism 62: Power receiving side arrangement member 67: Power supply side arrangement member

Claims

1. A walking device having multiple legs and using the multiple legs to walk on a walking surface, A power receiving device provided in the aforementioned walking device, A power supply device provided on the walking surface and supplying power to the power receiving device, A walking system comprising, The power receiving device comprises a power receiving unit located at the bottom of a target leg, which is at least one of the multiple legs, The power supply device comprises a plurality of power supply units arranged along the walking surface, Each of the multiple power supply units is configured to supply power to the power receiving unit while facing the power receiving unit. A walking system wherein at least one of the power receiving device and the power supply device is provided with an alignment mechanism for aligning the power receiving unit and the power supply unit.

2. The alignment mechanism comprises a plurality of fitting parts arranged on the walking surface, and each of the plurality of fitting parts is formed such that the target foot sole fits into the shape of the target foot sole with its corresponding concave and convex shape. The walking system according to claim 1, wherein the power supply unit is positioned at a location corresponding to each of the plurality of fitting units, such that the power supply efficiency to the power receiving unit is higher when the target foot sole is fitted to the fitting unit than when the target foot sole is not fitted to the fitting unit.

3. The direction from the sole of the target foot toward the walking surface is defined as the first direction. The walking system according to claim 2, wherein the fitting portion is shaped to gradually increase the restriction on the position of the target foot sole in a direction perpendicular to the first direction as the target foot sole moves in the first direction.

4. The power receiving unit is equipped with a plurality of power receiving electrodes in which positive electrodes and negative electrodes are mixed. Each of the multiple power supply units is equipped with multiple power supply electrodes in which positive electrodes and negative electrodes are mixed. The walking system according to any one of claims 1 to 3, wherein the arrangement of the positive and negative electrodes of a plurality of power receiving electrodes and the arrangement of the positive and negative electrodes of a plurality of power supply electrodes are set such that, when the power receiving unit and the power supply unit are aligned and facing each other by the alignment mechanism, the positive electrode of the power receiving electrode and the negative electrode of the power supply electrode face each other, and the negative electrode of the power receiving electrode and the positive electrode of the power supply electrode face each other.

5. The walking device has at least two of the target leg portions, One of the aforementioned target legs will be designated as the first leg, and the other as the second leg. The power receiving unit located at the bottom of the first leg is equipped with a first electrode which is a positive electrode. The power receiving section located at the bottom of the second leg is equipped with a second electrode which is a negative electrode. The walking system according to any one of claims 1 to 3, wherein a plurality of negative electrodes for facing the first electrode and a plurality of positive electrodes for facing the second electrode are arranged on the walking surface.

6. The direction from the sole of the target foot toward the walking surface is defined as the first direction. The walking system according to any one of claims 1 to 3, wherein the alignment mechanism comprises at least one of a power receiving unit support mechanism provided in the power receiving device that supports the power receiving unit so as to be movable in a direction perpendicular to the first direction with respect to the target foot sole, and a power supply unit support mechanism provided in the power supply device that supports the power supply unit so as to be movable in a direction perpendicular to the first direction with respect to the walking surface.

7. The alignment mechanism comprises a power receiving side arrangement member arranged in the power receiving section and a power supply side arrangement member arranged in the power supply section, and includes an attraction mechanism configured such that the power receiving side arrangement member and the power supply side arrangement member attract each other by magnetic force. The walking system according to claim 6, wherein the suction mechanism is configured such that the power receiving unit and the power supply unit overlap in a first-direction view along the first direction when the power receiving unit and the power supply unit are in the closest proximity to each other.

8. The power receiving unit includes a power receiving coil whose axis is arranged along the first direction, The power supply unit includes a power supply coil whose axis is arranged along the first direction, The power receiving side arrangement member is positioned in the center of the arrangement area of ​​the power receiving coil in the power receiving section, in a first-direction view. The walking system according to claim 7, wherein the power supply side arrangement member is arranged in the center of the arrangement area of ​​the power supply coil in the power supply section in the first direction view.

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