CHARGING CONTROL SYSTEM, CHARGING STATION, AUTONOMOUSLY DRIVERED WORK MACHINE, AND CONTROL METHOD FOR CHARGING CONTROL SYSTEM

Abstract

The charging control system 100 includes a lawnmower 2 having a battery 17 that performs lawn mowing while autonomously traveling, and a charging station 3 that charges the battery 17. The lawnmower 2 includes a superimposing unit 203 that superimposes a current indicating period information DP that defines a cutoff period PC of the supply power PS supplied from the charging station 3 onto a charging current JB. The charging station 3 includes a current detector 311A ​​that detects the charging current JB, an information acquirer 311B that acquires the period information DP based on the detection results of the current detector 311A, a switch 312 that cuts off the supply power PS, and a cutoff controller 311C that controls the operation of the switch 312. The cutoff controller 311C resumes the cutoff of the power supply to the lawnmower 2 based on the period information DP acquired by the information acquirer 311B. This reduces the power consumption of the lawnmower 2.

Description

[Technical field]

[0001] The present invention relates to a charge control system, a charging station, an autonomously traveling work machine, and a control method for a charge control system. [Background technology]

[0002] 2. Description of the Related Art As one type of autonomously traveling work machine that performs work while traveling autonomously, a lawnmower that autonomously travels through a lawn area and mows the grass is known (see, for example, Patent Document 1). The lawnmower described in Patent Document 1 is driven by a battery, and the battery is charged by connecting it to a charging station. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-10161 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the lawnmower described in Patent Document 1 has room for reducing power consumption. In the lawnmower, for example, even when the battery is fully charged, the battery remains connected to the charging station, which can result in power consumption. An object of the present invention is to provide a charge control system, a charging station, an autonomous mobile work machine, and a control method for a charge control system that are capable of reducing power consumption. [Means for solving the problem]

[0005] The present invention provides a charge control system comprising an autonomously traveling work machine having a battery and performing a predetermined task while traveling autonomously, and a charging station for charging the battery, the autonomously traveling work machine comprising a superimposing unit for superimposing a current indicating period information defining a cut-off period of the supply power supplied from the charging station onto a charging current, the cut-off period indicating a period from a point in time when charging of the battery is started to a point in time when the supply power is cut off when charging of the battery is completed, and then when the cut-off of the supply power is released, the charging station comprising a current detection unit for detecting the charging current, an information acquisition unit for acquiring the period information based on a detection result of the current detection unit, a cut-off unit for cutting off the supply power, and a cut-off control unit for controlling the operation of the cut-off unit, the cut-off control unit comprising: cutting off the power supply when charging of the battery is completed; The power supply is released from interruption based on the period information acquired by the information acquisition unit.

[0006] In the present invention, in the charging control system, the autonomous traveling work machine includes a calculation unit that calculates the cut-off period based on a current time and a date and time when the predetermined work is to be started.

[0007] In the above-mentioned charging control system of the present invention, the autonomously traveling work machine is equipped with a first calculation unit that calculates a charging time required to complete charging of the battery based on the remaining charge of the battery, and a second calculation unit that calculates the cut-off period based on the charging time and the date and time when the specified work is to be started.

[0008] The present invention provides a charging control system, wherein the superimposing unit superimposes, on the charging current, a current indicating the period information by at least one of a current value, a pulse width, and a pulse number of the charging current.

[0009] The present invention provides a charging control system in which the autonomous working machine is provided with a regulation control unit that regulates the current value of the charging current, and the superimposition unit causes the regulation control unit to regulate the current value of the charging current, and superimposes a current indicating the period information by at least one of the current value, pulse width, and pulse number of the charging current onto the charging current.

[0010] In the charging control system according to the present invention, when charging of the battery is completed, the cut-off control unit cuts off the supply of power.

[0011] In the charging control system according to the present invention, when the cutoff period has elapsed, the cutoff control unit releases the cutoff of the supplied power.

[0012] The present invention provides a charging control system in which the autonomously traveling work machine includes a transition unit that transitions the autonomously traveling work machine from a normal state to a power saving state when charging of the battery is completed.

[0013] In the present invention, in the charging control system, when the cutoff period has elapsed, the transition unit transitions the autonomously traveling work machine from the power saving state to the normal state.

[0014] In the above-mentioned charging control system, the present invention provides an autonomously traveling work machine that includes an internal power supply circuit that generates operating power for the autonomously traveling work machine based on the stored power of the battery, and the transition unit cuts off the supply of power from the battery to the internal power supply circuit when charging of the battery is completed.

[0015] In the above-mentioned charging control system, the present invention is configured to be able to supply power from the charging station to the internal power supply circuit, and when power supply from the charging station to the internal power supply circuit is started during a period when power supply from the battery is cut off, the internal power supply circuit generates power to operate the transition section using the power supplied from the charging station.

[0016] The present invention relates to a charging station for charging a battery of an autonomously traveling work machine which performs a specified task while traveling autonomously, the charging station comprising: a current detection unit which detects a charging current in which a signal indicating period information specifying a cut-off period of the supply power supplied to the autonomously traveling work machine is superimposed by the autonomously traveling work machine; an information acquisition unit which acquires the period information based on a detection result of the current detection unit; a cut-off unit which cuts off the supply power; and a cut-off control unit which controls the operation of the cut-off unit, the cut-off period indicating the period from the time when charging of the battery is started to the time when the supply power is cut off when charging of the battery is completed, and the cut-off control unit cutting off the power supply when charging of the battery is completed; The power supply is released from interruption based on the period information acquired by the information acquisition unit.

[0017] The present invention relates to an autonomously traveling work machine that has a battery and performs a predetermined task while traveling autonomously, and includes a superimposing unit that superimposes a signal indicating period information defining a cut-off period of power supply supplied from a charging station onto the charging current, the cut-off period indicating a period from a point in time when charging of the battery is started to a point in time when the supply power is released after being cut off when charging of the battery is completed, and the charging station detects the charging current, obtains the period information based on the detection result of the charging current, and releases the cut-off of the supply power based on the period information. The autonomously navigating work machine is provided with a transition unit that transitions the autonomously navigating work machine from a normal state to a power-saving state when charging of the battery is completed, and when the cut-off period has elapsed, the transition unit transitions the autonomously navigating work machine from the power-saving state to the normal state.

[0018] The present invention relates to a control method for a charging control system including an autonomously traveling work machine having a battery and performing a predetermined task while traveling autonomously, and a charging station for charging the battery, the control method including a superimposing step in which the autonomously traveling work machine superimposes on the charging current a signal indicating period information that specifies a cutoff period of the supply power supplied from the charging station, a current detection step in which the charging station detects the charging current, an information acquisition step in which the charging station acquires the period information based on the detection result in the current detection step, and When the battery is fully charged,The method includes a cutting step of cutting off the supply power, and a releasing step of the charging station releasing the cut-off of the supply power based on the period information acquired in the information acquisition step, wherein the cut-off period indicates the period from the time when charging of the battery begins to the time when the supply power is released after cutting off the supply power when charging of the battery is completed. Effect of the Invention

[0019] According to the present invention, power consumption can be reduced. [Brief description of the drawings]

[0020] [Figure 1] FIG. 1 is a diagram showing an example of the configuration of an unmanned lawnmowing system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a side view showing an example of the configuration of the autonomous traveling work machine. [Diagram 3] FIG. 3 is a diagram illustrating an example of a power supply path of a battery. [Figure 4] FIG. 4 is a diagram illustrating an example of the configuration of a charging control system. [Diagram 5] FIG. 5 is a diagram illustrating an example of the configuration of the first control unit and the configuration of the second control unit. [Figure 6] FIG. 6 is a diagram illustrating an example of a charging current. [Figure 7] FIG. 7 is a timing chart showing an example of the operation of the switch. [Figure 8] FIG. 8 is a flowchart illustrating an example of the process of the first control unit. [Figure 9] FIG. 9 is a flowchart illustrating an example of the process of the second control unit. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Hereinafter, an embodiment will be described with reference to the drawings.

[0022] [1. Configuration of the unmanned lawn mowing system] [1-1. Overall configuration of the unmanned lawn mowing system] FIG. 1 is a diagram showing the configuration of an unmanned lawnmowing system 1 according to this embodiment. The unmanned lawnmower system 1 comprises a robotic lawnmower 2, a boundary wire 5 that defines a mowing area AR within which mowing work is to be carried out, and a charging station 3. The robotic lawnmower 2 is an autonomous working machine that cuts grass while autonomously traveling unmanned within the mowing area AR. The boundary wire 5 is a member that is laid along the boundary A of the mowing area AR by a contractor or the like to enable the robotic lawnmower 2 to detect the boundary A. In this embodiment, the laid boundary wire 5 is magnetic, and the robotic lawnmower 2 detects the magnetism of the boundary wire 5 to detect the boundary A of the mowing area AR. The robotic lawnmower 2 corresponds to an example of an "autonomous working machine".

[0023] The charging station 3 has a control board 31 that charges the robotic lawnmower 2, and is installed in the mowing area AR. The control board 31 will be described in detail with reference to FIG. 4. The charging station 3 also serves as a standby location for the robotic lawnmower 2 when it is not working. When the robotic lawnmower 2 has finished mowing, it returns to the charging station 3 by autonomous driving and is configured to be charged at the charging station 3 as appropriate.

[0024] [1-2. Configuration of the robot lawnmower] FIG. 2 is a side view showing an example of the configuration of the robot lawnmower 2 according to this embodiment. The robotic lawnmower 2 may be referred to as the lawnmower 2 in the following description. The lawnmower 2 comprises a housing 11, left and right front wheels 12 provided at the front of the housing 11, left and right rear wheels 13 provided at the rear of the housing 11, and a working unit 14 provided at the lower center of the housing 11. The working unit 14 is a blade disc provided with a cutting blade, and the blade disc is driven to rotate to cut grass.

[0025] The lawnmower 2 is equipped with left and right travel motors 15, a working unit drive motor 16, a battery 17, a wheel speed sensor 18, and a first control unit 20. The housing 11 accommodates the left and right travel motors 15, the working unit drive motor 16, the battery 17, the wheel speed sensor 18, and the first control unit 20. The left and right traction motors 15 each drive the left and right rear wheels 13 individually. The traction motors 15 drive the rear wheels 13 in accordance with instructions from the first control unit 20, causing the lawnmower 2 to travel. The working unit drive motor 16 drives the working unit 14. The working unit drive motor 16 drives the working unit 14 in accordance with instructions from the first control unit 20, thereby performing lawn mowing work. The battery 17 supplies operating power to each component of the lawnmower 2. The wheel speed sensor 18 detects the rotation speed of the left and right rear wheels 13, which are the drive wheels. A detection signal from the wheel speed sensor 18 is transmitted to the first control unit 20.

[0026] The first control unit 20 controls the operation of each part of the lawnmower 2. The first control unit 20 has, for example, a processor such as a CPU (Central Processing Unit) and memory such as a RAM (Random Access Memory) and a ROM (Read Only Memory). The memory stores data such as map data relating to the work area and control programs. The first control unit 20 will be described in detail with reference to Figs. 4 and 5.

[0027] [1-3. Configuration of charging control system] FIG. 3 is a diagram showing an example of a power supply path of the battery 17 in the charge control system 100. As shown in FIG. The charging control system 100 includes a conversion device 4, a charging station 3, and a robotic lawnmower 2. The charging control system 100 controls the charging of the battery 17 of the robotic lawnmower 2. As shown in FIG. 3, power supplied from a commercial power source is supplied to a battery 17 via a conversion device 4 and a charging station 3. The conversion device 4 includes a connection plug 41 and an ACDC adapter 42. The connection plug 41 is connected to a commercial power source. The ACDC adapter 42 converts AC voltage supplied from the commercial power source into DC voltage. The connection plug 41 and the ACDC adapter 42 are connected by a power line PW1.

[0028] The charging station 3 includes a control board 31, a connection unit 32, and a mounting base 33. A second control unit 311 is mounted on the control board 31. The second control unit 311 controls the operation of the charging station 3. The second control unit 311 includes, for example, a processor such as a CPU, and memories such as a RAM and a ROM. Data such as a control program is stored in the memory. The second control unit 311 will be described in detail with reference to Figs. 4 and 5. The conversion device 4 and the charging station 3 are connected by a power line PW2.

[0029] The connection unit 32 connects the charging station 3 and the lawnmower 2 so that electricity can be exchanged. The lawnmower 2 is placed on the mounting base 33. The connection unit 32 is configured to connect the charging station 3 and the lawnmower 2 so that electricity can be exchanged when the lawnmower 2 is placed on the mounting base 33. That is, when the lawnmower 2 is placed on the mounting base 33, power can be supplied from the charging station 3 to the lawnmower 2. When the lawnmower 2 is placed on the mounting base 33, the connection unit 32 and the battery 17 are connected by the power line PW3. That is, when the lawnmower 2 is placed on the mounting base 33, power can be supplied from the charging station 3 to the battery 17.

[0030] Fig. 4 is a diagram showing an example of the configuration of the charging control system 100. In Fig. 4, paths for supplying power are indicated by solid lines, and paths for transmitting signals are indicated by dashed lines.

[0031] The control board 31 of the charging station 3 is equipped with a second control unit 311, a third switch 312, and a current detection circuit 313. The current detection circuit 313 is disposed between the ACDC adapter 42 and the connection unit 32. The current detection circuit 313 detects the current value of the charging current JB supplied from the ACDC adapter 42 to the battery 17. A fourth signal SG4 indicating the current value detected by the current detection circuit 313 is transmitted to the second control unit 311. The third switch 312 is disposed between the current detection circuit 313 and the connection unit 32. The third switch 312 is switched between ON and OFF in accordance with a fifth signal SG5 from the second control unit 311. When the third switch 312 is ON, power can be supplied from the charging station 3 to the lawnmower 2. The third switch 312 corresponds to an example of a "shutoff unit".

[0032] The lawnmower 2 includes a first control unit 20, a charge control IC (Integrated Circuit) 22, a first switch 23, a second switch 24, and an internal power supply circuit 25. The charging control IC 22 is disposed between the connection unit 32 and the battery 17. The charging control IC 22 regulates the charging current JB in accordance with a second signal SG2 from the first control unit 20. The charging current JB indicates a current supplied from the charging station 3 to the battery 17 during charging.

[0033] The first switch 23 is disposed between the charging control IC 22 and the battery 17. The first switch 23 is switched between ON and OFF in accordance with a first signal SG1 from the first control unit 20. When the third switch 312 is ON and the first switch 23 is ON, power can be supplied from the charging station 3 to the battery 17. In other words, the battery 17 can be charged. The second switch 24 is disposed between the battery 17 and the internal power supply circuit 25. The second switch 24 is switched between ON and OFF in accordance with a third signal SG3 from the first control unit 20. When the second switch 24 is ON, power can be supplied from the battery 17 to the internal power supply circuit 25. In this case, power can be supplied from the internal power supply circuit 25 to each component of the lawnmower 2.

[0034] The internal power supply circuit 25 is connected to the connection portion 32, and is also connected to the battery 17 via the second switch 24. When the second switch 24 is ON, power is supplied from the battery 17 to the internal power supply circuit 25 via the second switch 24. The internal power supply circuit 25 supplies power to each part of the lawnmower 2. For example, the internal power supply circuit 25 supplies a DC voltage of 3V to the first control unit 20. Also, for example, the internal power supply circuit 25 supplies a DC voltage of 5V to the charging control IC 22. That is, the internal power supply circuit 25 generates DC voltages of multiple voltage values ​​from the DC voltage supplied from the battery 17, and supplies DC voltages of voltage values ​​suitable for the operation of each part to each part of the lawnmower 2. Also, since the internal power supply circuit 25 is connected to the connection part 32, when the third switch 312 is ON, power is supplied to the internal power supply circuit 25 from the charging station 3. The internal power supply circuit 25 will be further described with reference to FIG. 5.

[0035] [1-4. Configuration of the first control unit and the second control unit] FIG. 5 is a diagram showing an example of the configuration of the first control unit 20 and the configuration of the second control unit 311. As shown in FIG. The first control unit 20 includes a first calculation unit 201, a second calculation unit 202, a superimposition unit 203, a restriction control unit 204, and a transition unit 205. Specifically, the processor of the first control unit 20 executes a control program stored in the memory, thereby functioning as the first calculation unit 201, the second calculation unit 202, the superimposition unit 203, the restriction control unit 204, and the transition unit 205.

[0036] The second control unit 311 includes a current detection unit 311A, an information acquisition unit 311B, and a cutoff control unit 311C. Specifically, the processor of the second control unit 311 executes a control program stored in the memory, thereby functioning as the current detection unit 311A, the information acquisition unit 311B, and the cutoff control unit 311C.

[0037] The first calculation unit 201 calculates a charging time TF required to complete charging of the battery 17 based on the remaining charge QR of the battery 17. For example, the first calculation unit 201 detects a battery voltage VB of the battery 17, and calculates the remaining charge QR of the battery 17 based on the battery voltage VB. Then, the first calculation unit 201 calculates a charging time TF required to complete charging of the battery 17 based on the remaining charge QR of the battery 17. In this embodiment, the first calculation unit 201 detects the battery voltage VB and calculates the remaining charge QR of the battery 17 based on the battery voltage VB, but the present invention is not limited to this. It is sufficient that the first calculation unit 201 calculates the remaining charge QR of the battery 17. For example, the first calculation unit 201 may calculate the remaining charge QR of the battery 17 based on the charging current JB.

[0038] The second calculation unit 202 calculates the cut-off period PC based on the charging time TF and the date and time when mowing work starts. The cut-off period PC specifies the period during which the supply power PS is cut off. Specifically, the cut-off period PC indicates the period from the time when charging starts to the date and time when mowing work starts. In other words, the cut-off period PC indicates the period from the time when charging starts to the time when the cut-off of the supply power PS is released. Mowing work corresponds to an example of a "predetermined work". The date and time when mowing work starts is stored in advance in the memory of the first control unit 20. The "supply power PS" indicates the power supplied from the charging station 3 to the lawnmower 2.

[0039] The superimposing unit 203 superimposes a current JA indicating period information DP by at least one of the current value, pulse width, and number of pulses of the charging current JB on the charging current JB. The period information DP specifies a cutoff period PC of the supply power PS. Specifically, the superimposing unit 203 causes the regulation control unit 204 to regulate the current value of the charging current JB, and superimposes a current JA indicating period information DP by at least one of the current value, pulse width, and pulse number of the charging current JB, on the charging current JB. For example, the superimposing unit 203 causes the regulation control unit 204 to regulate the current value of the charging current JB, and superimposes the current JA indicating the period information DP on the charging current JB according to the number of pulses of the charging current JB. An example of the charging current JB on which the current JA indicating the period information DP is superimposed will be described in detail with reference to FIG. 6. In this embodiment, the superimposing unit 203 causes the regulation control unit 204 to regulate the current value of the charging current JB, and superimposes the current JA indicating the period information DP on the charging current JB by the number of pulses of the charging current JB, but the present invention is not limited to this. The superimposing unit 203 may cause the regulation control unit 204 to regulate the current value of the charging current JB, and superimpose the current JA indicating the period information DP on the charging current JB by at least one of the current value, pulse width, and number of pulses of the charging current JB.

[0040] The regulation control unit 204 regulates the current value of the charging current JB. Specifically, the regulation control unit 204 transmits a second signal SG2 to the charging control IC to instruct the charging control IC to regulate the current value of the charging current JB. Then, the charging control IC regulates the current value of the charging current JB according to the instruction by the second signal SG2 from the regulation control unit 204. Specifically, the charging control IC reduces the current value of the charging current JB to a current value less than the current value of the normal charging current JB. The "current value of the normal charging current JB" refers to the current value of the charging current JB when the regulation control unit 204 does not regulate the current value of the charging current JB.

[0041] The transition unit 205 transitions the lawnmower 2 from the normal state to the power saving state when charging of the battery 17 is complete. The transition unit 205 also transitions the lawnmower 2 from the power saving state to the normal state when the cutoff period PC has elapsed. The "normal state" refers to a state in which the lawnmower 2 is capable of performing lawn mowing work. For example, the "normal state" refers to a state in which power is supplied from the battery 17 to the internal power supply circuit 25, and power is supplied from the internal power supply circuit 25 to each component of the lawnmower 2. The "power saving state" refers to a state in which the lawnmower 2 consumes less power compared to the "normal state." For example, the "power saving state" refers to a state in which power is not supplied from the charging station 3 to the battery 17, and power is not supplied from the battery 17 to the internal power supply circuit 25. In this case, power is not supplied from the internal power supply circuit 25 to each component of the lawnmower 2. In this embodiment, the "power saving state" is a so-called shutdown state.

[0042] Specifically, when charging of the battery 17 is completed, the transition unit 205 transmits a first signal SG1 to the first switch 23 to instruct it to be turned "OFF." The first switch 23 turns OFF in accordance with the instruction of the first signal SG1 from the transition unit 205. When the first switch 23 turns OFF, the supply of power from the charging station 3 to the battery 17 is cut off. Furthermore, when charging of the battery 17 is completed, the transition unit 205 transmits a third signal SG3 to the second switch 24 to instruct it to be turned "OFF." The second switch 24 turns OFF in accordance with the instruction of the third signal SG3 from the transition unit 205. By turning OFF the second switch 24, the supply of power from the battery 17 to the internal power supply circuit 25 is cut off.

[0043] When the cutoff period PC has elapsed, the transition unit 205 transmits a third signal SG3 to the second switch 24 to instruct it to be "ON". The second switch 24 turns ON in accordance with the instruction of the third signal SG3 from the transition unit 205. Since the second switch 24 is turned ON, power is supplied from the battery 17 to the internal power supply circuit 25. Furthermore, when the cutoff period PC has elapsed, the transition unit 205 transmits a first signal SG1 instructing the first switch 23 to be turned "ON." The first switch 23 turns ON in accordance with the instruction from the transition unit 205 by the first signal SG1.

[0044] The current detection unit 311A ​​detects the charging current JB. Specifically, the current detection unit 311A ​​detects the current value of the charging current JB based on a fourth signal SG4 from the current detection circuit 313. The fourth signal SG4 indicates the current value of the charging current JB.

[0045] The information acquiring section 311B acquires period information DP based on the detection result of the current detecting section 311A. The period information DP specifies a cutoff period PC of the supplied power PS. For example, when the superimposing unit 203 causes the regulation control unit 204 to regulate the current value of the charging current JB and superimposes the current JA indicating the period information DP based on the number of pulses of the charging current JB on the charging current JB, the information acquiring unit 311B acquires the period information DP as follows: That is, the information acquiring unit 311B acquires the number of pulses of the charging current JB as the period information DP based on the detection result of the current detecting unit 311A.

[0046] The cut-off control unit 311C cuts off the supply power PS supplied from the charging station 3 to the lawnmower 2 when charging of the battery 17 is complete. Specifically, the cut-off control unit 311C determines whether charging of the battery 17 is complete or not based on the detection result of the current detection unit 311A. More specifically, the cut-off control unit 311C determines that charging of the battery 17 is complete when the current value of the charging current JB is equal to or less than a threshold value. Furthermore, when it is determined that charging of the battery 17 is completed, the cutoff control unit 311C transmits a fifth signal SG5 to the third switch 312 to instruct it to turn "OFF." The third switch 312 turns OFF in accordance with the instruction of the fifth signal SG5 from the cutoff control unit 311C. Because the third switch 312 turns OFF, the supply power PS supplied from the charging station 3 to the lawnmower 2 is cut off. As a result, the supply of power from the charging station 3 to the internal power supply circuit 25 is cut off.

[0047] The cutoff control unit 311C also releases the cutoff of the supply power PS supplied from the charging station 3 to the lawnmower 2 based on the period information DP acquired by the information acquisition unit 311B. Specifically, the cutoff control unit 311C determines whether or not the cutoff period PC indicated by the period information DP has elapsed. If it determines that the cutoff period PC has elapsed, the cutoff control unit 311C transmits a fifth signal SG5 to the third switch 312 to instruct it to turn "ON". The third switch 312 turns ON in accordance with the instruction of the fifth signal SG5 from the cutoff control unit 311C. Because the third switch 312 turns ON, the cutoff of the supply power PS supplied from the charging station 3 to the lawnmower 2 is released. That is, the supply power PS is supplied from the charging station 3 to the lawnmower 2. As a result, power is supplied from the charging station 3 to the internal power supply circuit 25.

[0048] When the supply of power from the battery 17 is cut off and the supply of power from the charging station 3 to the internal power supply circuit 25 begins, the internal power supply circuit 25 generates power to operate the transition unit 205 from the power supplied from the charging station 3. Specifically, when charging of the battery 17 is completed and the cut-off period PC has elapsed, the internal power supply circuit 25 generates power to operate the first control unit 20 from the power supplied from the charging station 3, and supplies the power to the first control unit 20. That is, when charging of the battery 17 is completed, the second switch 24 is turned OFF in accordance with an instruction from the transition unit 205. Furthermore, when the cutoff period PC has elapsed, the third switch 312 is turned ON in accordance with an instruction from the cutoff control unit 311C. Therefore, when charging of the battery 17 is completed and the cutoff period PC has elapsed, power supply from the charging station 3 to the internal power supply circuit 25 is started during the period when the power supply from the battery 17 is cut off. In this way, when the supply of power from the charging station 3 to the internal power supply circuit 25 begins, the internal power supply circuit 25 generates power for operating the transition unit 205 from the power supplied from the charging station 3, and the transition unit 205 becomes operable. Then, when the cutoff period PC has elapsed, the transition unit 205 transitions the lawnmower 2 from the power saving state to the normal state. As a result, the lawnmower 2 becomes capable of performing mowing work.

[0049] [2. Specific examples of charging current] 6 is a diagram showing an example of a charging current JB superimposed with a current JA indicating period information DP. In this embodiment, a case will be described in which the current JA indicating the period information DP is superimposed on the charging current JB depending on the number of pulses of the charging current JB. The horizontal axis of FIG. 6 represents time T, and the vertical axis represents the current value of the charging current JB.

[0050] At time T1, the lawnmower 2 is placed on the stand 33, and the connection unit 32 electrically connects the charging station 3 and the lawnmower 2. As a result, the charging current JB changes from zero to a first current value JB1, and charging of the battery 17 begins. The first current value JB1 represents the current value of the charging current JB when the regulation control unit 204 is not regulating the current value of the charging current JB. Next, at time T2, the regulation control unit 204 regulates the current value of the charging current JB. As a result, the charging current JB changes from the first current value JB1 to the second current value JB2. The second current value JB2 is smaller than the first current value JB1 by the current value of the current JA. The second current value JB2 indicates the current value of the charging current JB when the regulation control unit 204 regulates the current value of the charging current JB. Next, at time T3, the regulation control unit 204 releases the regulation of the current value of the charging current JB. As a result, the charging current JB changes from the second current value JB2 to the first current value JB1. In this way, the superimposing unit 203 causes the regulation control unit 204 to regulate the current value of the charging current JB, and superimposes the first pulse P1 on the charging current JB. The first pulse P1 indicates that the first control unit 20 starts transmitting period information DP to the second control unit 311. The first pulse P1 corresponds to an example of a "charging start signal." The "charging start signal" is a signal indicating that charging has started. The "charging start signal" is also a signal for notifying the second control unit 311 that a cutoff period signal will be transmitted.

[0051] Next, at time T4, the second control unit 311 generates a second pulse P2 indicating that the first pulse P1 has been detected. Specifically, the second control unit 311 transmits a fifth signal SG5 to the third switch 312 to instruct it to turn OFF, and turns OFF the third switch 312. As a result, the charging current JB becomes zero. Next, at time T5, the second control unit 311 transmits a fifth signal SG5 to the third switch 312 to instruct it to turn on, and turns on the third switch 312. As a result, the charging current JB becomes the first current value JB1. In this manner, the information acquisition unit 311B generates the second pulse P2. The second pulse P2 corresponds to an example of a “reception response signal.” The “reception response signal” is a signal indicating that the second control unit 311 has received the charging start signal.

[0052] Next, from time T6 to time T11, the superimposing unit 203 causes the regulation control unit 204 to regulate the current value of the charging current JB, and superimposes the current JA indicating the period information DP on the charging current JB by the number of pulses of the charging current JB. Specifically, at time T6, the regulation control unit 204 regulates the current value of the charging current JB. As a result, the charging current JB changes from the first current value JB1 to the second current value JB2. Next, at time T7, the regulation control unit 204 releases the regulation of the current value of the charging current JB. As a result, the charging current JB changes from the second current value JB2 to the first current value JB1. In this manner, the superimposing unit 203 generates the third pulse P3. Next, at time T8, the regulation control unit 204 regulates the current value of the charging current JB. As a result, the charging current JB changes from the first current value JB1 to the second current value JB2. Next, at time T9, the regulation control unit 204 releases the regulation of the current value of the charging current JB. As a result, the charging current JB changes from the second current value JB2 to the first current value JB1. In this manner, the superimposing unit 203 generates the fourth pulse P4. Next, at time T10, the regulation control unit 204 regulates the current value of the charging current JB. As a result, the charging current JB changes from the first current value JB1 to the second current value JB2. Next, at time T11, the regulation control unit 204 releases the regulation of the current value of the charging current JB. As a result, the charging current JB changes from the second current value JB2 to the first current value JB1. In this manner, the superimposing unit 203 generates the fifth pulse P5. The third pulse P3 to the fifth pulse P5 indicate the period information DP. That is, the number of pulses of the charging current JB is "3". For example, the superimposing unit 203 determines the number of pulses of the charging current JB according to the cutoff period PC indicated by the period information DP. For example, one pulse indicates two hours. In this case, the third pulse P3 to the fifth pulse P5 indicate that the cutoff period PC is six hours (=2 hours×3). The third pulse P3 to the fifth pulse P5 correspond to an example of a "cutoff period signal". The "cutoff period signal" is a signal that indicates the cutoff period PC.

[0053] [3. Examples of switch operation] FIG. 7 is a timing chart showing an example of the operations of the first switch 23, the second switch 24, and the third switch 312. In FIG. 7, the upper part shows a timing chart of the first switch 23, the middle part shows a timing chart of the second switch 24, and the lower part shows a timing chart of the third switch 312. The horizontal axis of each timing chart is time T, and the vertical axis indicates whether the switch is ON or OFF.

[0054] First, at time TA, the lawnmower 2 is placed on the stand 33, and the connection unit 32 connects the charging station 3 and the lawnmower 2 so that electricity can be conducted between them. The second control unit 311 detects that the charging station 3 and the lawnmower 2 have been connected so that electricity can be conducted between them, and transmits a fifth signal SG5 to the third switch 312, instructing it to turn "ON". The third switch 312 turns ON in accordance with the instruction of the fifth signal SG5 from the second control unit 311. By turning the third switch 312 ON, charging of the battery 17 begins.

[0055] Next, at time TB, the transition unit 205 determines that charging of the battery 17 is complete, and the transition unit 205 transitions the lawnmower 2 from the normal state to the power saving state. Specifically, the transition unit 205 transmits a first signal SG1 to the first switch 23 to instruct it to turn "OFF." The first switch 23 turns OFF in accordance with the instruction of the first signal SG1 from the transition unit 205. By turning OFF the first switch 23, the supply of power from the charging station 3 to the battery 17 is cut off. Furthermore, at time TB, the transition unit 205 transmits a third signal SG3 to the second switch 24 to instruct it to be turned "OFF." The second switch 24 turns OFF in accordance with the instruction of the third signal SG3 from the transition unit 205. By turning OFF the second switch 24, the supply of power from the battery 17 to the internal power supply circuit 25 is cut off.

[0056] Next, at time TC, the cutoff control unit 311C determines that charging of the battery 17 is complete, and transmits a fifth signal SG5 to the third switch 312 to instruct it to turn "OFF." The third switch 312 turns OFF in accordance with the instruction of the fifth signal SG5 from the cutoff control unit 311C. By turning OFF the third switch 312, the supply power PS supplied from the charging station 3 to the lawnmower 2 is cut off.

[0057] Next, at time TD, the cutoff control unit 311C determines that the cutoff period PC has elapsed, and transmits a fifth signal SG5 to the third switch 312 instructing it to turn "ON." The third switch 312 turns ON in accordance with the instruction of the fifth signal SG5 from the cutoff control unit 311C. By turning ON the third switch 312, the cutoff of the supply power PS supplied from the charging station 3 to the lawnmower 2 is released. In other words, the supply power PS is supplied from the charging station 3 to the lawnmower 2.

[0058] Next, at time TE, the transition unit 205 determines that the cut-off period PC has elapsed, and transmits a first signal SG1 to the first switch 23 to instruct it to turn "ON." The first switch 23 turns ON in accordance with the instruction of the first signal SG1 from the transition unit 205. When the first switch 23 turns ON, power is supplied from the charging station 3 to the battery 17. In addition, the transition unit 205 transmits a third signal SG3 to instruct the second switch 24 to be turned "ON". The second switch 24 turns ON in accordance with the instruction of the third signal SG3 from the transition unit 205. When the second switch 24 turns ON, power is supplied from the battery 17 to the internal power supply circuit 25.

[0059] [4. Processing of the first control unit and the second control unit] FIG. 8 is a flowchart showing an example of the process of the first control unit 20. In the initial state of FIG. 8, the case will be described where the first switch 23, the second switch 24 and the third switch 312 are all ON. 8, first, in step SA101, the first control unit 20 determines whether charging of the battery 17 has started. The first control unit 20 determines whether charging of the battery 17 has started, for example, depending on whether a charging current JB flows through the charging control IC. If the first control unit 20 determines that charging of the battery 17 has not started (step SA101: NO), the process goes to a standby state. If the first control unit 20 determines that charging of the battery 17 has started (step SA101: YES), the process proceeds to step SA103. Then, in step SA103, the first control unit 20 transmits a charging start signal SGA to the second control unit 311. The charging start signal SGA is a signal indicating that charging has started, and corresponds to, for example, the first pulse P1 shown in FIG.

[0060] Next, in step SA105, the first control unit 20 determines whether or not the reception response signal SGB is detected. The reception response signal SGB is a signal indicating that the second control unit 311 has received the charging start signal SGA, and corresponds to, for example, the second pulse P2 shown in FIG. If the first control section 20 determines that the reception response signal SGB has not been detected (step SA105: NO), the process proceeds to step SA107. Then, in step SA107, the first control unit 20 determines whether or not the first control unit 20 has transmitted the charging start signal SGA a predetermined number of times to the second control unit 311. The predetermined number of times is, for example, three times. If the first control unit 20 determines that the charging start signal SGA has been transmitted to the second control unit 311 the predetermined number of times (step SA107: YES), the process ends. If the first control unit 20 determines that the charging start signal SGA has not been transmitted to the second control unit 311 the predetermined number of times (step SA107: NO), the process returns to step SA103. If the first control section 20 determines that the reception response signal SGB has been detected (step SA105: YES), the process proceeds to step SA109. Then, in step SA109, the first calculation unit 201 calculates a charging time TF required for charging of the battery 17 to be completed, based on the remaining charge QR of the battery 17.

[0061] Next, in step SA111, the second calculation unit 202 calculates the cutoff period PC based on the charging time TF and the date and time when mowing work starts. The cutoff period PC indicates the period from the start of charging to the release of the cutoff of the supply power PS. Next, the superimposing unit 203 superimposes the current JA indicating the period information DP on the charging current JB according to the number of pulses of the charging current JB. As a result, the superimposing unit 203 transmits a cutoff period signal SGC to the second control unit 311. The cutoff period signal SGC is a signal indicating the period information DP, and corresponds to, for example, the third pulse P3 to the fifth pulse P5 shown in FIG. 6. Next, in step SA115, the transition unit 205 determines whether charging of the battery 17 is completed and the supply power PS is interrupted. The transition unit 203 determines whether the supply power PS is interrupted, for example, based on the charging current JB. Specifically, the transition unit 203 determines that the supply power PS is interrupted when the charging current JB is zero. If the transition unit 205 determines that the supply power PS is not interrupted (step SA115: NO), the process goes to a standby state. If the transition unit 205 determines that the supply power PS is interrupted (step SA115: YES), the process proceeds to step SA117. Then, in step SA117, the transition unit 205 transitions the lawnmower 2 from the normal state to the power saving state. Specifically, the transition unit 205 turns the first switch 23 OFF and the second switch 24 OFF.

[0062] Next, in step SA119, the internal power supply circuit 25 determines whether or not the supply of power from the charging station 3 to the internal power supply circuit 25 has started. If the internal power supply circuit 25 determines that the supply of power from the charging station 3 to the internal power supply circuit 25 has not started (step SA119: NO), the process goes to a standby state. If the internal power supply circuit 25 determines that the supply of power from the charging station 3 to the internal power supply circuit 25 has started (step SA119: YES), the process proceeds to step SA121. Then, in step SA121, the internal power supply circuit 25 generates power for operating the first control unit 20 from the power supplied from the charging station 3, and supplies the power to the first control unit 20. Then, the transition unit 205 starts supplying power from the battery 17 to the internal power supply circuit 25. Specifically, the transition unit 205 starts supplying power from the battery 17 to the internal power supply circuit 25 by turning on the second switch 24. Next, in step SA123, the transition unit 205 transitions the lawnmower 2 from the power saving state to the normal state, and the process ends. Specifically, the transition unit 205 turns the first switch 23 ON.

[0063] FIG. 9 is a flowchart showing an example of the process of the second control unit 311. In the initial state of FIG. 9, the case will be described where the first switch 23, the second switch 24 and the third switch 312 are all ON. First, in step SB101, the second control unit 311 determines whether or not it has detected a connection to the lawnmower 2. For example, the second control unit 311 determines whether or not it has detected a connection to the lawnmower 2 by detecting continuity at the connection unit 32. If the second control unit 311 determines that a connection with the lawnmower 2 has not been detected (step SB101: NO), the process goes to a standby state. If the second control unit 311 determines that a connection with the lawnmower 2 has been detected (step SB101: YES), the process proceeds to step SB103.

[0064] Next, the second control unit 311 starts charging the battery 17 in step SB103. Next, in step SB105, the second control unit 311 determines whether or not a charging start signal SGA is detected. The charging start signal SGA indicates that the first control unit 20 starts transmitting the period information DP to the second control unit 311. The charging start signal SGA corresponds to, for example, the first pulse P1 in FIG. 6. When the second control unit 311 determines that the charging start signal SGA has not been detected (step SB105: NO), the process goes into a standby state. When the second control unit 311 determines that the charging start signal SGA has been detected (step SB105: YES ), the process proceeds to step SB107. Then, in step SB107, the second control unit 311 transmits a reception response signal SGB to the first control unit 20. The reception response signal SGB indicates that the charging start signal SGA has been detected. The reception response signal SGB corresponds to, for example, the second pulse P2 in FIG. 6.

[0065] Next, in step SB109, the information acquisition unit 311B determines whether or not the cutoff period signal SGC is detected. The cutoff period signal SGC indicates the period information DP. The cutoff period signal SGC corresponds to, for example, the third pulse P3 to the fifth pulse P5 in FIG. If the information acquiring unit 311B determines that the cutoff period signal SGC has not been detected (step SB109: NO), the process goes to a standby state. If the information acquiring unit 311B determines that the cutoff period signal SGC has been detected (step SB109: YES), the process proceeds to step SB111. Then, in step SB111, information acquisition unit 311B acquires period information DP based on the detection result of current detection unit 311A. Period information DP specifies a cutoff period PC of supply power PS. Cutoff period PC indicates a period from the start of charging to the release of cutoff of supply power PS. Next, in step SB113, cutoff control unit 311C starts counting cutoff period PC.

[0066] Next, in step SB115, cutoff control unit 311C determines whether charging of battery 17 has been completed. If the cutoff control unit 311C determines that charging of the battery 17 is not complete (step SB115: NO), the process goes to a standby state. If the cutoff control unit 311C determines that charging of the battery 17 is complete (step SB115: YES), the process proceeds to step SB117. In other words, the cutoff control unit 311C cuts off the supply of power from the charging station 3 to the battery 17 and the internal power supply circuit 25 in step SB117.

[0067] Next, in step SB119, cutoff control unit 311C determines whether cutoff period PC has elapsed. If the cutoff control unit 311C determines that the cutoff period PC has not elapsed (step SB119: NO), the process goes to a standby state. If the cutoff control unit 311C determines that the cutoff period PC has elapsed (step SB119: YES), the process proceeds to step SB121. Then, in step SB121, the cutoff control unit 311C releases the cutoff of the supply power PS. In other words, the cutoff control unit 311C starts the supply of power from the charging station 3 to the battery 17 and the internal power supply circuit 25. Then, the process ends.

[0068] Step SA113 in Fig. 8 corresponds to an example of a "superimposing step". Step SB109 in Fig. 9 corresponds to an example of a "current detecting step". Step SB111 in Fig. 9 corresponds to an example of an "information acquiring step". Step SB117 in Fig. 9 corresponds to an example of a "disconnecting step". Steps SB119 and SB121 in Fig. 9 correspond to examples of a "releasing step".

[0069] [5. Effects of this embodiment] As described above, in this embodiment, charging control system 100 includes lawnmower 2, which has battery 17 and performs lawn mowing work while traveling autonomously, and charging station 3, which charges battery 17. Lawnmower 2 includes superimposing unit 203, which superimposes a current indicating period information DP that specifies a cutoff period PC of supply power PS supplied from charging station 3, on charging current JB. Charging station 3 includes current detection unit 311A ​​that detects charging current JB, information acquisition unit 311B that acquires period information DP based on the detection result of current detection unit 311A, and cutoff control unit 311C that cuts off supply power PS. Cutoff control unit 311C releases the cutoff of power supply to lawnmower 2 based on period information DP acquired by information acquisition unit 311B. That is, the superimposing unit 203 superimposes a current indicating period information DP defining the cut-off period PC of the supply power on the charging current JB, the current detection unit 311A ​​detects the charging current JB, and the information acquisition unit 311B acquires the period information DP based on the detection result of the current detection unit 311A. Thus, the period information DP can be transmitted from the lawnmower 2 to the charging station 3 by the charging current JB. In addition, the cut-off control unit 311C cuts off the supply power PS, and releases the cut-off of the supply power PS based on the period information DP acquired by the information acquisition unit 311B. This makes it possible to reduce the power consumption of the lawnmower 2. For example, when charging is completed, the cutoff control unit 311C cuts off the supply power PS, and when the cutoff period PC has elapsed, the cutoff control unit 311C resumes the cutoff of the supply power PS. In this case, the power consumption of the lawnmower 2 can be effectively reduced.

[0070] Furthermore, the charging station 3, the lawnmower 2, and the control method for the charging control system 100 according to this embodiment can achieve the same effects as those described above.

[0071] The lawnmower 2 also includes a first calculation unit 201 that calculates the charging time TF required for the battery 17 to be fully charged based on the remaining charge of the battery 17, and a second calculation unit that calculates the cut-off period PC based on the charging time TF and the date and time when mowing work is to begin. Therefore, an appropriate cutoff period PC can be calculated, and the power consumption of the lawnmower 2 can be effectively reduced.

[0072] Moreover, the superimposing unit 203 superimposes a current indicating the period information DP by at least one of the current value, the pulse width, and the number of pulses of the charging current JB, on the charging current JB. Therefore, since the period information DP is represented by at least one of the current value, pulse width, and number of pulses of the charging current JB, the information acquisition section 311B can easily acquire the period information DP based on the detection result of the current detection section 311A.

[0073] The lawnmower 2 also includes a regulation control unit 204 that regulates the current value of the charging current JB. The superimposing unit 203 causes the regulation control unit 204 to regulate the current value of the charging current JB, and superimposes on the charging current JB a current indicating the period information DP by at least one of the current value, pulse width, and number of pulses of the charging current JB. Therefore, by having the regulation control unit 204 regulate the current value of the charging current JB, the current indicating the period information DP is superimposed on the charging current JB, so that the current indicating the period information DP can be superimposed on the charging current JB with a simple configuration.

[0074] Furthermore, when charging of the battery 17 is completed, the cutoff control unit 311C cuts off the supply of power PS. Therefore, power consumption can be effectively reduced.

[0075] Furthermore, when cutoff period PC has elapsed, cutoff control unit 311C releases the cutoff of supply power PS. Therefore, with a simple configuration, it is possible to notify the lawnmower 2 that the cut-off period PC has elapsed, and therefore the lawnmower 2 can be started at the appropriate time.

[0076] The lawnmower 2 also includes a transition unit 205 that transitions the lawnmower 2 from the normal state to the power saving state when charging of the battery 17 is complete. Therefore, when charging of the battery 17 is completed, the lawnmower 2 transitions from the normal state to the power saving state, thereby reducing the power consumption of the lawnmower 2.

[0077] Furthermore, when the cut-off period PC has elapsed, the transition unit 205 transitions the lawnmower 2 from the power saving state to the normal state. Therefore, the lawnmower 2 is maintained in the power saving state until the cut-off period PC has elapsed, thereby reducing the power consumption of the lawnmower 2. Furthermore, when the cut-off period PC has elapsed, the lawnmower 2 is transitioned from the power saving state to the normal state, so that the lawnmower 2 can be brought into an operable state at the appropriate time.

[0078] The lawnmower 2 also includes an internal power supply circuit 25 that generates operating power for the lawnmower 2 based on the stored power of the battery 17. The transition unit 205 cuts off the supply of power from the battery 17 to the internal power supply circuit 25 when charging of the battery 17 is complete. Therefore, when charging of battery 17 is complete, the supply of power from battery 17 to internal power supply circuit 25, which generates operating power for the lawnmower 2, is cut off, reducing the consumption of stored power in battery 17. As a result, the power consumption of the lawnmower 2 can be reduced.

[0079] Also, the internal power supply circuit 25 can be supplied with power from the charging station 3. When the supply of power from the battery 17 is interrupted and the supply of power from the charging station 3 to the internal power supply circuit 25 starts, the internal power supply circuit 25 generates power for operating the transition unit 205 using the power supplied from the charging station 3. Therefore, even during a period when the supply of power from the battery 17 to the internal power supply circuit 25 is cut off, the transition unit 205 can be operated by the power supplied from the charging station 3. Therefore, even during a period when the supply of power from the battery 17 to the internal power supply circuit 25 is cut off, the transition unit 205 can be operated. As a result, the power consumption of the lawnmower 2 during a period when the supply of power from the battery 17 to the internal power supply circuit 25 is cut off can be reduced.

[0080] 6. Other embodiments The present invention is not limited to the configurations of the above-described embodiments, and can be embodied in various forms without departing from the spirit and scope of the present invention. For example, in this embodiment, the "autonomous running work machine" is the robotic lawnmower 2, but the present invention is not limited to this. The "autonomous running work machine" may perform a predetermined task while running autonomously. For example, the "autonomous running work machine" may be a security robot that performs surveillance work while running autonomously.

[0081] Furthermore, in this embodiment, the "power saving state" is a so-called shutdown state, but the present invention is not limited to this. The "power saving state" may also be a so-called sleep state. In this case, the configuration of the lawnmower 2 can be simplified. Specifically, the second switch 24 of the lawnmower 2 becomes unnecessary. Furthermore, even when the supply power PS is cut off, power is supplied to the internal power supply circuit 25 from the battery 17, so the lawnmower 2 can easily transition to the "normal state". As a result, the processing of the first control unit 20 can be simplified.

[0082] In this embodiment, the cutoff control unit 311C controls the cutoff of the power supply to the lawnmower 2 when charging of the battery 17 is completed and the cutoff period PC has elapsed. release However, the present invention is not limited to this. The power supply to the lawnmower 2 can then be released based on the cutoff period PC. For example, the supply of power to the lawnmower 2 may be cut off when the amount of stored power in the battery 17 reaches a predetermined amount. The predetermined amount may be, for example, 80% of the amount of stored power when fully charged. In this case, the power consumption supplied from the charging station 3 to the lawnmower 2 can be effectively reduced. Also, in this case, the first calculation unit 201 does not need to calculate the charging time TF. In this case, the second calculation unit 202 calculates the cutoff period PC based on the date and time when mowing work starts. For example, the "date and time when mowing work will begin" is stored in the memory of the first control unit 20 of the lawnmower 2 by input from the user. The memory stores, for example, the work time periods when mowing work will begin for each day of the week. There may be multiple work time periods in a day. The second calculation unit 202 may then calculate the time from the "current time" to the "next work time period of the multiple work time periods" stored in the memory as the "cut-off period PC." Alternatively, for example, the supply of power to the lawnmower 2 may be cut off until a predetermined time before the cutoff period PC elapses. The predetermined time is, for example, the time required to start up the lawnmower 2. In this case, the lawnmower 2 can be operated immediately when the cutoff period PC elapses.

[0083] Furthermore, at least a portion of the functional blocks shown in Figures 2 to 4, etc. may be realized by hardware, or may be realized by a combination of hardware and software, and is not limited to a configuration in which independent hardware resources are arranged as shown in the figures. The control programs executed by each of the first control unit 20 and the second control unit 311 may be stored in another storage unit in the memory. Also, a configuration may be adopted in which a control program stored in an external device is acquired via a communication unit or the like and executed.

[0084] Also, the charging current JB shown in Fig. 6 is merely an example and is not limited thereto. For example, the cutoff period signal SGC corresponds to the third pulse P3 to the fifth pulse P5 shown in Fig. 6, but the cutoff period signal SGC may be any signal indicating the period information DP. Also, the reception response signal SGB corresponds to the second pulse P2 shown in Fig. 6, but the reception response signal SGB may be any signal indicating that the second control unit 311 has received the charging start signal.

[0085] Also, the timing chart shown in Fig. 7 is merely an example and is not limited thereto. For example, in Fig. 7, the first switch 23 is OFF, the second switch 24 is OFF, and the third switch 312 is OFF from time TB to time TC, but is not limited thereto. The first switch 23 may be OFF, the third switch 312 may be OFF, and the second switch 24 may be OFF.

[0086] 8 and 9 are divided according to the main processing contents in order to facilitate understanding of the processing of the first control unit 20 and the second control unit 311. The embodiment is not limited by the manner of division or names of the processing units shown in the flowcharts shown in FIGS. 8 and 9. Furthermore, the processing of the first control unit 20 and the second control unit 311 can be divided into more processing units according to the processing contents, or one processing unit can be divided to include more processes. Furthermore, the processing order of the above flowcharts is not limited to the example shown in the figures. Moreover, when the first calculation unit 201 does not calculate the charging time TF, step SA109 in Fig. 8 and step SB105 in Fig. 9 are unnecessary. Moreover, in Fig. 8, the processes of steps SA103 to SA107 may be executed after step SA113. Moreover, the process of step SB107 in Fig. 9 may be executed after step SB111. [Explanation of symbols]

[0087] 100 Charging control system 2 Robot lawn mower, lawn mower (autonomous mobile work machine) 17 Battery 20 First Control Section 201 1st Calculation Section 202 Second Calculation Section 203 Overlapped section 204 Regulation Control Section 205 Transition section 22 Charging control IC 23 First Switch 24 Second Switch 25 Internal power circuit 3. Charging Station 31 Control Board 311 Second Control Section 311A Current detection unit 311B Information acquisition section 311C Shutdown control unit 312 Third switch (cutoff section) 32 Connection 4. Conversion Device 42 ACDC adapter DP Period Information JB charging current PC Blocking Period PS supply power SGA charging start signal SGB ​​reception response signal SGC Shutdown Period Signal TF charging time VB Battery voltage

Claims

1. A charging control system including an autonomously traveling work machine having a battery and performing a predetermined task while traveling autonomously, and a charging station for charging the battery, the autonomous traveling work machine includes a superimposition unit that superimposes a current indicating period information that specifies a cutoff period of the supply power supplied from the charging station on a charging current, the cut-off period indicates a period from a time when charging of the battery is started to a time when the supply of power is released after the supply of power is cut off when charging of the battery is completed, The charging station includes: A current detection unit that detects the charging current; an information acquisition unit that acquires the period information based on a detection result of the current detection unit; A cutoff unit that cuts off the supply of power; A cutoff control unit that controls the operation of the cutoff unit, The cutoff control unit cuts off the supply of power when charging of the battery is completed, and releases the cutoff of the supply of power based on the period information acquired by the information acquisition unit.

2. The charging control system according to claim 1 , wherein the autonomously traveling work machine includes a calculation unit that calculates the cutoff period based on a current time and a date and time when the predetermined work is to be started.

3. The autonomous traveling work machine includes: a first calculation unit that calculates a charging time required to complete charging of the battery based on a remaining amount of the battery; The charging control system according to claim 1 , further comprising: a second calculation unit that calculates the cutoff period based on the charging time and a date and time when the predetermined work is to be started.

4. The charging control system according to claim 1 , wherein the superimposing unit superimposes, on the charging current, a current indicating the period information by at least one of a current value, a pulse width, and a pulse number of the charging current.

5. The autonomous traveling work machine includes a regulation control unit that regulates a current value of the charging current, 5. The charging control system according to claim 4, wherein the superimposing unit causes the regulation control unit to regulate a current value of the charging current, and superimposes a current indicating the period information by at least one of a current value, a pulse width, and a pulse number of the charging current, on the charging current.

6. The charging control system according to claim 1 , wherein the cutoff control unit cuts off the supply of power when charging of the battery is completed.

7. The charging control system according to claim 1 , wherein the cutoff control unit releases the cutoff of the supply of power when the cutoff period has elapsed.

8. The autonomous traveling work machine includes: The charging control system according to claim 1 , further comprising a transition unit that transitions the autonomously traveling work machine from a normal state to a power saving state when charging of the battery is completed.

9. The charging control system according to claim 8 , wherein the transition unit transitions the autonomously traveling work machine from the power saving state to the normal state when the cutoff period has elapsed.

10. The autonomous traveling work machine includes: an internal power supply circuit that generates operating power for the autonomous mobile work machine based on the stored power of the battery; The transition portion is 10. The charging control system according to claim 8, further comprising: a power supply circuit for supplying power from the battery to the internal power supply circuit when charging of the battery is completed.

11. a charging station configured to supply power to the internal power supply circuit, 11. The charging control system of claim 10, wherein when power supply from the charging station to the internal power circuit is started during a period in which the supply of power from the battery is cut off, the internal power circuit generates power to operate the transition section using the power supplied from the charging station.

12. A charging station for charging a battery of an autonomous mobile work machine that performs a predetermined task while traveling autonomously, a current detection unit that detects a charging current on which a signal indicating period information that specifies a cutoff period of power supplied to the autonomously traveling work machine is superimposed by the autonomously traveling work machine; an information acquisition unit that acquires the period information based on a detection result of the current detection unit; A cutoff unit that cuts off the supply of power; A cutoff control unit that controls the operation of the cutoff unit, the cut-off period indicates a period from a time when charging of the battery is started to a time when the supply of power is released after the supply of power is cut off when charging of the battery is completed, The cut-off control unit cuts off the supply of power when charging of the battery is completed, and releases the cut-off of the supply of power based on the period information acquired by the information acquisition unit.

13. An autonomous mobile work machine having a battery and performing a predetermined task while traveling autonomously, a superimposing unit that superimposes a signal indicating period information that specifies a cutoff period of power supplied from the charging station on the charging current; the cut-off period indicates a period from a time when charging of the battery is started to a time when the supply of power is released after the supply of power is cut off when charging of the battery is completed, the charging station detects the charging current, acquires the period information based on a detection result of the charging current, and releases the interruption of the supply of power based on the period information; a transition unit that transitions the autonomous traveling work machine from a normal state to a power saving state when charging of the battery is completed; When the disconnection period has elapsed, the transition unit transitions the autonomously navigating work machine from a power saving state to a normal state.

14. A control method for a charging control system including an autonomously traveling work machine having a battery and performing a predetermined task while traveling autonomously, and a charging station that charges the battery, comprising: a superimposing step in which the autonomous traveling work machine superimposes, on a charging current, a signal indicating period information that specifies a cutoff period of the supply power supplied from the charging station; a current detection step in which the charging station detects the charging current; an information acquiring step of the charging station acquiring the period information based on a detection result in the current detecting step; a cutting step of cutting off the supply of power by the charging station when charging of the battery is completed; a releasing step of the charging station releasing the interruption of the supply of power based on the period information acquired in the information acquiring step; Including, A control method for a charging control system, wherein the cut-off period indicates a period from a time when charging of the battery is started to a time when the supply power is released after the supply power is cut off when charging of the battery is completed.

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