Charging unit

Abstract

To provide a charging unit in which a space for arranging a closing member in a casing can be made small such that the casing is downsized.SOLUTION: A charging station 50 includes a power supply connection part 60 that is movable in a width direction D13, a first closure plate 81 that is movable in the width direction D13 together with the power supply connection part 60, a second closure plate 82 that is supported by the first closure plate 81 so as to be movable in the width direction D13 with respect to the first closure plate 81, and a restriction part 515 and a side wall 51B that restrict movement of the second closure plate 82. The second closure plate 82 has an opening 811 for allowing movement of the power supply connection part 60 in the width direction D13, and a closure part 824 that, in a state where the second closure plate 82 is located in a restricted position, closes a gap between the first closure plate 81 and edges (511A, 511B) on the opposite side in the opening 511.SELECTED DRAWING: Figure 12

Description

[Technical field]

[0001] The present invention relates to a charging unit for charging a battery mounted on an autonomous driving device capable of autonomous driving. [Background technology]

[0002] Conventionally, there is known a type of cleaning robot (autonomous mobile device) that runs autonomously on a battery. This cleaning robot autonomously runs on a surface to be cleaned, such as a floor, while sucking in air from a suction port of a suction nozzle directed at the surface to be cleaned and sucking in dust on the surface to be cleaned, thereby cleaning the surface to be cleaned. In recent years, industrial autonomous cleaning robots have been increasingly introduced in wide-area spaces, such as concourses at stations and airports, and shopping malls.

[0003] Also, a charging station (charging unit) for charging the battery of an autonomous cleaning robot is known (see Patent Document 1). When the charge level of the battery of the cleaning robot becomes low, the cleaning robot automatically returns to the charging station and automatically connects to the power supply terminal of the charging station to charge the battery.

[0004] When the cleaning robot returns to the charging station and connects to the power supply terminal of the charging station, the power receiving terminal of the cleaning robot and the power supply terminal of the charging station may become misaligned. To eliminate this misalignment, the charging station is provided with a terminal connection part that is supported so as to be slidable in the width direction. When the cleaning robot docks with the charging station, the terminal connection part receives a force in the width direction and slides, thereby aligning the power supply terminal with the power receiving terminal. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Utility Model Registration No. 3206660 Summary of the Invention [Problem to be solved by the invention]

[0006] In a charging station having a structure in which the terminal connection part including the power supply terminal protrudes from an opening formed in a casing (housing), a gap occurs between the opening and the terminal connection part. This gap is blocked by a plate-shaped blocking member inside the casing to prevent foreign objects such as dust and dirt, or moisture, from entering, and to prevent a finger from being inserted and receiving an electric shock. This blocking member is provided so as to be movable in the same direction as the sliding movement of the terminal connection part. When the terminal connection part slides to one side in the width direction, the gap on the other side of the opening is expanded. For this reason, conventionally, the blocking member is formed in a long shape in the sliding direction of the terminal connection part so as to be able to block the gap that is expanded to the maximum. However, when the blocking member is formed in a long shape, it is necessary to secure an arrangement space including the movement range of the blocking member inside the casing, and the casing must be made large in the width direction, which hinders the compactification of the charging station.

[0007] An object of the present invention is to provide a charging unit that can reduce the space required for disposing a closing member inside a housing, thereby making it possible to reduce the size of the housing. [Means for solving the problem]

[0008] (1) A charging unit according to one aspect of the present invention is for charging a battery mounted on an autonomous driving device. The charging unit includes a housing having an opening on a side surface, a terminal connection section, a plate-shaped first blocking member, a plate-shaped second blocking member, and a restricting section. The terminal connection section is provided inside the housing so as to be movable in a first direction along the side surface, has a terminal for supplying power to be connected to the autonomous driving device, and protrudes outward from the opening. The first blocking member is provided on the terminal connection section, is movable in the first direction together with the terminal connection section, and is configured to be able to partially block the opening within a range of movement of the terminal connection section. The second blocking member is formed to be longer in the first direction than the first blocking member, and is supported by the first blocking member so as to be movable in the first direction relative to the first blocking member. The restricting section abuts against an end of the second blocking member in the first direction to restrict movement of the second blocking member. The second blocking member has an insertion opening through which the terminal connection portion is inserted and which allows movement of the terminal connection portion in the first direction, and a blocking portion which blocks the gap between the opening edge portion on the opposite side to the movement direction of the terminal connection portion in the opening and the first blocking member when the second blocking member moves in the same direction as the terminal connection portion moves and is positioned at a restricting position where it is restricted by the restricting portion.

[0009] Because of this configuration, when a pressing force in the first direction is applied to the terminal connection part when the charging connection part of the autonomous driving device is connected to the terminal connection part, the terminal connection part moves in the pressed direction, and at that time the first blocking member also moves. In addition, the second blocking member supported by the first blocking member also moves in the same direction. If the terminal connection part and the first blocking member continue to move in the same direction due to the pressing force even after the second blocking member stops, a gap is generated between the opening edge part on the opposite side to the movement direction of the terminal connection part in the opening and the first blocking member. In this case, since the movement of the second blocking member is stopped by the restricting part, the blocking part of the second blocking member closes the gap when in the restricted position by the restricting part.

[0010] Since such a first blocking member and a second blocking member are provided, the width size of each blocking member in the charging unit can be reduced, and the arrangement space for each blocking member in the housing can be reduced in the first direction compared to a conventional structure, which results in the housing being reduced in size in the first direction.

[0011] (2) In the charging unit, the first blocking member has a support portion that supports the second blocking member so as to generate a frictional force that moves the second blocking member in the movement direction when the terminal connection portion is moved.

[0012] Because of this configuration, when the terminal connection portion and the first blocking member move, the frictional force generated between the first blocking member and the second blocking member can move the second blocking member in the same direction as the terminal connection portion.

[0013] (3) The charging unit further includes a biasing member that biases the terminal connection portion to elastically maintain the terminal connection portion at a central position of the opening.

[0014] Because of this configuration, when the pressing force applied when the charging connection portion of the autonomous driving device is connected to the terminal connection portion is released, the terminal connection portion is returned to the central position by the biasing force.

[0015] (4) In the charging unit, the first closing member and the second closing member are formed of a hard plate member.

[0016] Because of this configuration, even if each of the blocking members is strongly pressed inward, the blocking members are prevented from bending inward, which makes it difficult for gaps to form between the openings and the blocking members, thereby making it possible to prevent the intrusion of foreign matter.

[0017] (5) In the charging unit, the second closing member is disposed on an inner side of the first closing member, and the first closing member supports the second closing member such that an outer surface of the second closing member contacts an inner surface of the first closing member.

[0018] With this configuration, a gap is less likely to occur between the first closing member and the second closing member, and the frictional force is more likely to occur.

[0019] (6) The terminal connection portion has a conversion portion that converts a force received from the autonomous driving device in a direction perpendicular to the side surface into a force in the first direction.

[0020] With this configuration, the terminal connection portion can be smoothly slid in the first direction. Effect of the Invention

[0021] According to the present invention, it is possible to reduce the space required for disposing the blocking member inside the housing, thereby reducing the size of the housing. [Brief description of the drawings]

[0022] [Figure 1] FIG. 1 is a perspective view showing the external appearance of the front side of a cleaning device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a schematic diagram showing the internal configuration of the cleaning device. [Diagram 3] FIG. 3 is a perspective view showing the appearance of the cleaning device from the rear side. [Figure 4] FIG. 4 is a cross-sectional view showing the configuration of a charging terminal portion included in the cleaning device. [Diagram 5] FIG. 5 is a front view of the cleaning device. [Figure 6] FIG. 6 is a diagram for explaining the operation of the cleaning device when it returns to the charging station, and shows a state in which the cleaning device detects the charging station and stops. [Figure 7]FIG. 7 is a diagram for explaining the operation of the cleaning device when returning to the charging station, showing the state in which the cleaning device has been rotated 180°. [Figure 8] FIG. 8 is a diagram for explaining the operation of the cleaning device when returning to the charging station, and shows a state in which the cleaning device moves backward and is connected to the charging station. [Figure 9] FIG. 9 is a perspective view showing the configuration of a charging station according to an embodiment of the present invention. [Figure 10] FIG. 10 is an enlarged view showing the configuration of a power supply terminal portion provided in the charging station. [Figure 11A] FIG. 11A is a diagram showing a state in which the guide roller is guided toward the recess of the charging terminal portion. [Figure 11B] FIG. 11B is a diagram showing a state in which the guide roller is housed in the recess of the charging terminal portion. [Figure 12] FIG. 12 is a schematic cross-sectional view showing the internal configuration of the charging station. [Figure 13] FIG. 13 is a perspective view showing the rear part of the power supply connection part. [Figure 14] FIG. 14 is a perspective view showing the front side of the power supply connection portion. [Figure 15] FIG. 15 is a cross-sectional view taken along the cutting plane XV-XV of FIG. [Figure 16A] FIG. 16A is a diagram showing a state in which the power supply terminal portion has been slid to one side in the width direction. [Figure 16B] FIG. 16B is a diagram showing a state in which the power supply terminal portion has been further slid to one side in the width direction. [Figure 17A] FIG. 17A is a diagram showing a state in which the power supply terminal portion has been slid to the other side in the width direction. [Figure 17B] FIG. 17B is a diagram showing a state in which the power supply terminal portion has been further slid to the other side in the width direction. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. Note that the following embodiment is an example of the present invention, and is not intended to limit the technical scope of the present invention.

[0024] [Cleaning device 10] Fig. 1 is a perspective view showing the external appearance of the front side of an autonomously traveling cleaning device 10 (one example of an autonomously traveling device of the present invention) according to an embodiment of the present invention, and Fig. 2 is a schematic diagram showing the internal structure of the cleaning device 10. In the following description, the up-down direction D1, the front-rear direction D2, and the left-right direction D3 shown in each figure are used.

[0025] The cleaning device 10 is an autonomous mobile device that moves autonomously on a floor surface 23 (see FIG. 3) of a concourse in an airport, a station, a shopping mall, etc., and is also called a mobile robot. While moving autonomously, the cleaning device 10 sucks up debris such as dust and dirt on the floor surface 23, separates the debris using a filter, and collects it in a collection box 16 (see FIG. 2). The cleaning device 10 automatically cleans the floor surface 23 while traveling based on various cleaning information such as a travel route, a cleaning area, a time period for cleaning, and a return position for charging that have been input in advance.

[0026] Note that cleaning device 10 is merely one example of the autonomous mobile device of the present invention, and the present invention is also applicable to, for example, a cleaning device that autonomously travels while cleaning indoor floor surface 23, or a cleaning device that autonomously travels while cleaning road surfaces such as outdoor walkways and roads. Of course, the present invention is also applicable to autonomous mobile robots that do not have a cleaning function and are intended for other purposes, such as autonomous mobile robots that can travel autonomously, such as security robots, care robots, baggage transport robots, and display and guidance robots.

[0027] 2, the cleaning device 10 includes a device main body 11 and various functional parts provided in the device main body 11. Specifically, the device main body 11 includes a traveling unit 12, a motor 13, a battery 14, an air intake unit 15, a collection box 16, a support holder 17, an air intake nozzle 18, an extension nozzle 19 (see FIG. 3), an operation unit 20, a display panel 21, an operation handle 22, a charging connection unit 30 (see FIG. 3), and a control unit 40.

[0028] As shown in Fig. 1, device body 11 has an exterior cover 11A that constitutes the exterior of the device body. Also, as shown in Fig. 2, device body 11 has a chassis 11B at its lower part. Chassis 11B is provided approximately parallel to floor surface 23. Also, a support frame for supporting each of the above-mentioned functional parts is appropriately provided inside device body 11.

[0029] 2, the running unit 12 is provided at the bottom of the device body 11. The running unit 12 transmits a conveying force in the forward direction to the floor surface 23 while maintaining the traveling posture of the device body 11, and is attached to the chassis 11B. The running unit 12 has a pair of wheels 121 and four casters 122 for traveling.

[0030] The wheel 121 is located in the center of the front-rear direction of the chassis 11B, and is rotatably supported at both ends in the left-right direction D3 (width direction). The four casters 122 are for maintaining the traveling posture of the device body 11, and are rotatably supported at both ends of the front end of the chassis 11B and both ends of the rear end of the chassis 11B. When the cleaning device 10 is placed on the floor surface 23, the outer circumferential surfaces of the wheels 121 and casters 122 are supported by the floor surface 23. This allows the device body 11 to be maintained in the traveling posture shown in FIG. 1 or FIG. 2.

[0031] An output shaft of the motor 13 is connected to the rotation shaft of the wheel 121 via a transmission mechanism such as a reduction gear. Therefore, when the motor 13 is driven and its rotational driving force is output from the output shaft, the rotational driving force of the motor 13 is transmitted to the wheel 121. In this embodiment, a motor 13 is provided for each of the pair of wheels 121. Therefore, the rotational speed of each wheel 121 is controlled by individually driving and controlling each motor 13. For example, when the rotational speeds of the wheels 121 are controlled to be uniform, the cleaning device 10 moves straight, and when the rotational speeds of the wheels 121 are controlled to be different, the cleaning device 10 turns toward the wheel 121 with the slower rotational speed.

[0032] The intake unit 15 is provided inside the device body 11, above the battery 14 described below. The intake unit 15 generates a suction force that draws in air from an intake nozzle 18, and has multiple intake fans 151. A flexible hose 24 is connected to an intake port 154 of the intake unit 15. When the intake fan 151 is driven, air is sucked in from an intake port at the tip of the flexible hose 24, and the air passes through the flexible hose 24, the inside of the intake unit 15, and an exhaust pipe (not shown) before being discharged to the outside.

[0033] The battery 14 is provided in the center of the device body 11. The battery 14 supplies the motor 13 and the intake fan 151 with driving power.

[0034] Fig. 3 is a perspective view showing the exterior of the rear side of the cleaning device 10. As shown in Figs. 2 and 3, the collection box 16 is provided on the rear surface of the device body 11. A support holder 17 is provided on the rear surface of the device body 11, which covers the rear surface and detachably supports the collection box 16. A recess 171 extending in the up-down direction D1 is formed in the center of the support holder 17 in the left-right direction D3 (width direction), and the collection box 16 is detachably attached to the recess 171.

[0035] 2, the support holder 17 is provided with an intake port 174 extending forward from the bottom surface of the recess 171. The intake port 174 is connected to an exhaust port provided at the top of the collection box 16. An end of the flexible hose 24 is connected to the intake port 174.

[0036] As shown in Fig. 3, an air suction nozzle 18 is provided at the bottom of the support holder 17, and an extension nozzle 19 is provided at the side of the support holder 17. A pair of rotating brushes 26 (see Fig. 2) arranged side by side in the front-to-rear direction are rotatably provided on the air suction nozzle 18. Each rotating brush 26 rotates when a rotational driving force is transmitted from a motor (not shown). When the motor is driven by the control unit 40 while the cleaning device 10 is traveling, the rotating brushes 26 are rotated, and dirt on the floor surface 23 is efficiently collected.

[0037] As shown in Fig. 3, the extension nozzle 19 is provided on the left side of the support holder 17. A storage section 176 is provided on the left side of the support holder 17, and the extension nozzle 19 can be stored in the storage section 176. The extension nozzle 19 is supported by the support holder 17. Specifically, the extension nozzle 19 is supported by the support holder 17 so as to be able to change its position between a storage position (position shown in Figs. 1 and 3) in which it is stored in the storage section 176 and a side cleaning position (not shown) in which it is tilted leftward from the storage section 176 and can clean the floor surface 23 on the left side of the device main body 11.

[0038] The operation unit 20 is provided on the upper part of the back surface of the device body 11. The operation unit 20 is attached to the exterior cover 11A. The operation unit 20 is a device operated by an operator, and is, for example, a terminal device having a touch panel that allows touch operation. Various registration information for the cleaning device 10 (information such as travel route, cleaning area, cleaning time period, and return position information) can be input from the operation unit 20. The input registration information is transferred to the control unit 40 and used for travel control by the control unit 40.

[0039] The display panel 21 is provided on the front surface of the device body 11. The display panel 21 is, for example, a liquid crystal panel. Various types of announcement information are displayed on the display panel 21 by the control unit 40 during cleaning. The announcement information is, for example, information indicating that cleaning is in progress, guidance information regarding the floor being cleaned, and the like.

[0040] The operating handle 22 is provided at the top of the back surface of the device body 11. The operating handle 22 is attached to the exterior cover 11A. The operating handle 22 is an operating member that is held by an operator when the operator manually drives and operates the cleaning device 10 to clean, or when the operator performs a teaching operation (teaching operation) to teach the cleaning device 10 a travel path. As shown in FIG. 3, the operating handle 22 is provided with various operation buttons that accept driving operations from the operator. Operation information for the operation buttons is transferred to the control unit 40 and used for travel control by the control unit 40.

[0041] As shown in FIG. 2, the control unit 40 is provided on the upper part of the device main body 11. The control unit 40 controls the travel of the cleaning device 10, the drive of the intake fan 151 of the intake unit 15, the screen display of the display panel 21, the return to the charging station 50 described later, and the like. The control unit 40 has, for example, control devices such as a CPU, a ROM, and a RAM, a storage device such as a HDD or a flash memory, a GPS receiver, and the like. The CPU is a processor that executes various arithmetic processing. The ROM is a non-volatile memory in which control programs such as a BIOS and an OS for causing the CPU to execute various processes are stored in advance. The RAM is a volatile or non-volatile memory that stores various information, and is used as a temporary storage memory (work area) for various processes executed by the CPU. The control unit 40 controls the travel of the cleaning device 10, the drive of the intake fan 151, the screen display of the display panel 21, the return to the charging station 50, and the like by executing, with the CPU, various control programs stored in advance in the ROM or the storage device.

[0042] As shown in Fig. 3, the support holder 17 is provided with a charging connection part 30 used when charging the battery 14. The charging connection part 30 has three power receiving terminals 31 connected to three power supply terminals 61 (see Fig. 10) provided on the charging station 50. The three power receiving terminals 31 are arranged vertically in the up-down direction D1. The charging connection part 30 is provided on the right side of the back surface of the support holder 17, specifically, on the right side of the recess 171. A recess 172 is formed on the back surface of the support holder 17, and the charging connection part 30 is provided in the recess 172.

[0043] Fig. 4 is a diagram showing the configuration of the charging connection unit 30 of the cleaning device 10, and is a cross-sectional view of a horizontal section passing directly above the power receiving terminal 31 arranged on the uppermost side. As shown in Fig. 4, a base 311 protruding from the bottom surface 172A is provided at the center in the width direction of the bottom surface 172A of the recess 172. The base 311 has a truncated quadrangular pyramid shape that is long in the up-down direction D1. Three power receiving terminals 31 are provided lined up vertically on the side surface of the base 311 in the protruding direction.

[0044] Inside the recess 172, on the upper side of the base 311, a recess 173 is provided which is formed deeper from the bottom surface 172A and has a smaller width than the recess 172. In addition, an inclined surface 172B is formed in a portion from each of the inner walls of the recess 172 in the width direction to each of the inner walls of the recess 173 in the width direction. Each inclined surface 172B is inclined from each of the inner walls of the recess 172 toward the recess 173. Each inclined surface 172B is an inclined guide surface that guides a guide roller 63 (see 10) of the power supply connection part 60 described later to move toward the recess 173. In addition, the recess 173 accommodates the guide roller 63 guided by the inclined surface 172B and positions the guide roller 63 inside it.

[0045] Fig. 5 is a front view of the cleaning device 10. As shown in Fig. 5, a front laser sensor 41 and a sonar sensor 42 are provided on the front side of the cleaning device 10.

[0046] The front laser sensor 41 is provided in a groove 175 extending in the width direction formed in the lower part of the front surface of the device body 11. The front laser sensor 41 is arranged in the center inside the groove 175. The front laser sensor 41 includes a laser emitting element, a laser driver for driving the laser emitting element, a light receiving element, a light receiving processing circuit for converting the output of the light receiving element into a digital signal, and the like. The front laser sensor 41 is connected to the control unit 40 and is controlled by the control unit 40. The front laser sensor 41 scans a pulsed laser light forward in the width direction (horizontal direction) within a range of a predetermined scanning angle (for example, 120°). When the front laser sensor 41 receives a pulse wave reflected and returned by the irradiated object (target object), the control unit 40 measures the time until the pulse wave returns and calculates the distance to the object at each scanning position based on the measured value. This allows the control unit 40 to grasp the distance and position to an object present on the front side (traveling direction side) of the cleaning device 10, and the shape and size of the object in the width direction.

[0047] The sonar sensors 42 are provided below the display panel 21. Four sonar sensors 42 are provided lined up in the width direction on the front side of the device body 11. The sonar sensors 42 are connected to and controlled by the control unit 40. The sonar sensors 42 detect objects using sound waves, and measure the distance to the object based on the time it takes for the sound waves to reflect off the object and return.

[0048] As shown in Figs. 1 and 3, a side laser sensor 45 is provided on each of both sides of the device body 11. The side laser sensor 45 is configured in a manner similar to that of the front laser sensor 41, and includes a laser emitting element, a laser driver for driving the laser emitting element, a light receiving element, a light receiving processing circuit for converting the output of the light receiving element into a digital signal, and the like. The side laser sensor 45 is connected to the control unit 40 and is controlled by the control unit 40. The side laser sensor 45 scans a pulsed laser beam from the front to the bottom and then to the rear within a range of a predetermined scanning angle (for example, 180°). When the side laser sensor 45 receives a pulse wave reflected and returned by an irradiated object (target object), the control unit 40 measures the time it takes for the pulse wave to return, and calculates the distance to the object at each scanning position based on the measured value. This allows the control unit 40 to grasp the distance and position of objects present on the front side (traveling direction side) of the cleaning device 10, steps and obstacles present on the floor surface 23, and their shapes and sizes in the scanning direction.

[0049] 6 to 8 are diagrams showing the operation of the cleaning device 10 when it returns to the charging station 50 to charge the battery 14. As described above, information such as the travel route, cleaning area, and cleaning time period is registered in the cleaning device 10, and information on the return position to return to charge (return position information) is also registered. The return position information is, for example, position information obtained by GPS. Therefore, when the charge level of the battery 14 falls below a predetermined level, the cleaning device 10 stops cleaning and returns to the position indicated by the return position information.

[0050] As shown in Fig. 6, when the cleaning device 10 moves to the vicinity of the position indicated by the return position information and the charging station 50 comes within the detection range of the front laser sensor 41, the cleaning device 10 can identify the exact distance to the charging station 50 and its position. When the cleaning device 10 then travels to the front of the charging station 50 (see Fig. 6), the control unit 40 controls the drive of each wheel 121 to cause the cleaning device 10 to turn 180° (see Fig. 7), and the charging connection unit 30 is positioned in front of the power supply connection unit 60 of the charging station 50. Then, when the control unit 40 moves the cleaning device 10 toward the charging station 50, the charging connection unit 30 and the power supply connection unit 60 of the charging station 50 are connected (see Fig. 8).

[0051] [Charging Station 50] Fig. 9 is a perspective view showing the configuration of a charging station 50 according to an embodiment of the present invention, and Fig. 10 is an enlarged view of a power supply connection portion 60 provided in the charging station 50. In the following description, the up-down direction D11, the depth direction D12, and the width direction D13 shown in each figure will be used.

[0052] The charging station 50 is a charging unit (charging device) for charging the battery 14 mounted on the autonomously traveling cleaning device 10. As described above, when the cleaning device 10 returns to the charging station 50 and docks with the charging station 50, the charging connection part 30 of the cleaning device 10 is connected to the power supply connection part 60, and power is supplied from the charging station 50 to the battery 14.

[0053] Charging station 50 is used by being installed on floor surface 23 with its back surface joined to wall surface 91. Note that charging station 50 may also be installed so as to be embedded in wall surface 91.

[0054] As shown in FIG. 9, the charging station 50 includes a casing 51 (an example of a housing of the present invention) and a power supply connection portion 60 (an example of a terminal connection portion of the present invention).

[0055] The casing 51 is formed in a generally rectangular parallelepiped shape, and is formed so that the size in the depth direction D12 is smaller than the size in the up-down direction D11 and the width direction D13 as a whole. A rectangular opening 511 is formed in a side wall 51A on one side (opposite the wall surface 91) of the casing 51. The opening 511 is formed in the side wall 51A near an end on one side in the width direction D13 (the right side of the paper in FIG. 9), that is, near the side wall 51B.

[0056] At the corners of both ends of the side wall 51A of the casing 51 in the width direction D13, recesses 512 are formed inwardly. Each recess 512 is formed at the same height as the front laser sensor 41 of the cleaning device 10. As a result, when the charging station 50 is within the detection range of the front laser sensor 41, when the laser light horizontally emitted forward from the front laser sensor 41 is scanned horizontally at a predetermined scanning angle, the laser light is irradiated so as to cross the recess 512 in the horizontal direction. When a signal corresponding to the reflected light at this time is received from the front laser sensor 41, the control unit 40 of the cleaning device 10 can obtain the position and shape of each of the two recesses 512, the distance from the cleaning device 10, the widthwise interval (width interval) of each recess 512, and the like. Identification information for identifying the charging station 50, such as the shape and width interval of each recess 512, is stored (registered) in advance in the ROM or the storage device of the cleaning device 10. Therefore, the control unit 40 compares the information obtained based on the signal from the front laser sensor 41 with the identification information, and if the comparison is consistent, it can determine that the object in front is a charging station 50.

[0057] As shown in Fig. 9, the power supply connection part 60 is provided inside the casing 51 and protrudes from inside the casing 51 to the outside of the side wall 51A through the opening 511. In this embodiment, the power supply connection part 60 is provided inside the casing 51 near the side wall 51B on one side in the width direction D13 (the right side in the plane of Fig. 9). In this embodiment, the power supply connection part 60 is supported inside the casing 51 so as to be slidable in the width direction D13. The width direction D13 corresponds to the first direction in the present invention.

[0058] 10, the power supply connection unit 60 has power supply terminals 61 for supplying power that are connected to the power receiving terminals 31 (see FIG. 3) of the charging connection unit 30 of the cleaning device 10. In this embodiment, the power supply connection unit 60 has three power supply terminals 61 that correspond one-to-one to the three power receiving terminals 31, respectively.

[0059] The power supply connection part 60 has a holding part 62 for holding the power supply terminal 61. The holding part 62 is formed in a rectangular parallelepiped shape that is long in the depth direction D12, and partially protrudes outward from the opening 511. A recess 603 having a bottom surface 604 is formed at an end (protruding end) in the protruding direction of the holding part 62. The three power supply terminals 61 are provided on the bottom surface 604 so as to protrude perpendicularly outward from the bottom surface 604. On the bottom surface 604, the three power supply terminals 61 are arranged vertically along the up-down direction D11. The protruding length of each power supply terminal 61 is set to a length that does not protrude outward from the recess 603.

[0060] In this embodiment, the power supply connection part 60 is disposed at the same height as the charging connection part 30 of the cleaning device 10. This allows the power receiving terminals 31 of the charging connection part 30 to be connected to the power supply terminals 61 of the power supply connection part 60 when the cleaning device 10 is docked to the charging station 50.

[0061] The power supply connection part 60 is provided with a disk-shaped guide roller 63. The guide roller 63 is provided above the power supply terminals 61. A support plate 64 is integrally formed with the holding part 62 on the upper surface of the holding part 62, and the guide roller 63 is rotatably supported by a tip part 65 of the support plate 64. The tip part 65 of the support plate 64 is formed in a tapered shape and protrudes outward beyond the recessed part 603 at the protruding end part of the holding part 62. Therefore, the guide roller 63 is supported at a position spaced outward beyond the power supply terminals 61.

[0062] Guide roller 63 also serves to convert the vertical force received from charging connection part 30 into a pressing force in width direction D13 when charging connection part 30 is connected to power supply connection part 60. In this case, guide roller 63 functions as a cam follower, and each inclined surface 172B (see FIG. 4) of charging connection part 30 functions as an inclined cam. Guide roller 63 is an example of a conversion part of the present invention.

[0063] In this embodiment, when the charging connection part 30 is connected to the power supply connection part 60, the guide roller 63 is supported at the same height as the recessed part 173 and the inclined surface 172B so that the guide roller 63 is guided to the recessed part 173. Specifically, for example, when the charging connection part 30 and the power supply connection part 60 do not face each other directly but are shifted in the width direction D13, as shown in FIG. 11A, when the charging connection part 30 approaches the power supply connection part 60 and is pressed against it as the cleaning device 10 moves, one of the inclined surfaces 172B formed in the recessed part 172 comes into contact with the guide roller 63. At this time, the guide roller 63 receives a force in a direction perpendicular to the moving direction of the cleaning device 10, that is, a pressing force in a direction toward the recessed part 173 (width direction D13). In other words, guide roller 63 converts the force in the movement direction of cleaning device 10 into a force in a direction perpendicular to the movement direction, that is, a pressing force in a direction toward recess 173 (width direction D13). This pressing force acts as a force that slides power supply connection part 60 toward the center of recess 172 in the width direction. When charging connection part 30 is further pressed toward power supply connection part 60, power supply connection part 60 receives the pressing force and slides further toward the center and is accommodated in recess 173 (see FIG. 11B). In this state, guide roller 63 is positioned at the center of charging connection part 30 in the width direction by recess 173.

[0064] FIG. 12 is a diagram showing the internal configuration of the charging station 50, and is a schematic cross-sectional view of the upper part of the casing 51 cut horizontally. As shown in FIG. 12, the inside of the casing 51 is provided with a housing support part 67 that houses the power supply connection part 60 and supports the power supply connection part 60 so as to be movable in the depth direction D12. The housing support part 67 has a pair of side parts 67A separated in the width direction D13 and a rear part 67B on the rear side D121, and the power supply connection part 60 is housed in an internal space surrounded by the side parts 67A and the rear part 67B. In this embodiment, the housing support part 67 supports the power supply connection part 60 so as to be movable in the depth direction D12 by a known rack-pinion mechanism.

[0065] The housing support portion 67 is provided with an elastic member 66. The elastic member 66 elastically supports the holding portion 62 in the depth direction D12 in a state in which the power supply connection portion 60 is housed inside the housing support portion 67. The elastic member 66 is a spring member such as a coil spring, and connects a surface (back surface) of the rear side D121 of the holding portion 62 of the power supply connection portion 60 to a rear portion 67B of the housing support portion 67, and elastically supports the holding portion 62 in the depth direction D12. Because the housing support portion 67 and the elastic member 66 are provided, even if the charging connection portion 30 (see FIG. 3) is pressed against the power supply connection portion 60, the power supply connection portion 60 can be retracted against the elastic force of the elastic member 66 in the pressing direction, while the elastic force of the elastic member 66 can bring the power supply terminal 61 and the power receiving terminal 31 into contact with each other with an appropriate pressing force. The elastic member 66 is not limited to a spring member such as a coil spring, but any member that has elasticity in the depth direction D12 and can elastically support the holding portion 62 in the depth direction D12 can be used.

[0066] As described above, in this embodiment, the power supply connection portion 60 is supported so as to be slidable in the width direction D13. Specifically, a pair of rails 68, 69 that support the accommodating support portion 67 so as to be slidable in the width direction D13 are provided inside the casing 51. The accommodating support portion 67 is supported so as to be slidable in the width direction D13 with the power supply connection portion 60 accommodated therein. In other words, the power supply connection portion 60 is slidable in the width direction D13 together with the accommodating support portion 67.

[0067] The rails 68, 69 are formed long in the width direction D13. The rails 68 and 69 are provided at a predetermined interval in the depth direction D12. The rail 68 is provided on the inner surface of the side wall 51C on the rear side D121 of the casing 51, and the rail 69 is provided on the inner surface of the side wall 51A on the front side of the casing 51. The lower end of the housing support portion 67 is supported by the rails 68, 69, so that the power supply connection portion 60 can slide in the width direction D13.

[0068] Further, a support shaft 72 is provided on the upper side of the power supply connection part 60 to support the housing support part 67 so as to be slidable in the width direction D13. The support shaft 72 is a round bar-shaped member that is long in the width direction D13. The support shaft 72 is provided so as to span the upper side of the power supply connection part 60 in the width direction D13. One end of the support shaft 72 is attached to a side wall 51B on one side in the width direction D13 (the right side of the paper surface in FIG. 12). The other end of the support shaft 72 is attached to a support bracket 513 provided on the casing 51. At the upper end of each of the side parts 67A on both sides in the width direction D13 of the housing support part 67, shaft support parts 71A and 71B that protrude upward from the upper end are provided. A through hole through which the support shaft 72 is inserted is formed in the shaft support parts 71A and 71B. The support shaft 72 is inserted into the through hole. The shaft support portions 71A and 71B of the housing support portion 67 are supported so as to be suspended by the support shaft 72. This allows the power supply connection portion 60 to slide by the support shaft 72 in the width direction D13.

[0069] In addition, the sliding support mechanism that supports the power supply connection portion 60 so that it can slide in the width direction D13 is not limited to the support mechanism of the accommodating support portion 67 using the rails 68, 69 and the spindle 72 described above, and it is also possible to apply, for example, a mechanism that supports the accommodating support portion 67 using a rack-pinion mechanism.

[0070] As shown in Fig. 12, coil springs 73A and 73B (one example of the biasing member of the present invention) are attached to the support shaft 72. The coil springs 73A and 73B apply a biasing force to the power supply connection part 60 to elastically maintain the power supply connection part 60 at the center position P0 of the opening 511. In this embodiment, the coil springs 73A and 73B apply a biasing force to the power supply connection part 60 via the housing support part 67. The coil spring 73A is attached to the shaft part 72A of the support shaft 72 between the shaft support part 71A and the side wall 51B. The coil spring 73B is attached to the shaft part 72B of the support shaft 72 between the shaft support part 71B and the support bracket 513. The coil springs 73A, 73B are so-called compression springs that are mounted in a compressed state, and by maintaining a balanced state of the spring forces of the coil springs 73A, 73B, the power supply connection part 60 is disposed at the central position P0.

[0071] In the charging station 50 configured as described above, a part of the power supply connection part 60 protrudes from the opening 511 of the casing 51, so that a gap is generated between the opening 511 and the power supply connection part 60. Since the power supply connection part 60 is configured to be movable in the width direction D13, a large gap is generated in the opening 511 on the outer side of the power supply connection part 60 in the width direction D13. For this reason, in this embodiment, a first closing plate 81 and a second closing plate 82 are provided inside the casing 51. This closes the gap, so that foreign matter such as dust or dirt, or moisture, etc., can be prevented from entering the inside through the gap, and also prevents a person's finger from being inserted and receiving an electric shock.

[0072] Figures 13 and 14 are perspective views showing the power supply connection part 60. Figure 13 is a perspective view seen from the back side where it is arranged inside the casing 51, and Figure 14 is a perspective view seen from the front side.

[0073] 13 and 14, the power supply connection part 60 is provided with a plate-shaped first closing plate 81 (one example of a first closing member of the present invention). The first closing plate 81 is formed of a hard plate member, for example, a resin plate formed of a hard resin, or a metal plate formed of sheet metal. The first closing plate 81 is attached to the power supply connection part 60, and is thereby movable in the width direction D13 together with the power supply connection part 60. In addition, the first closing plate 81 is formed to have a size that allows it to partially close the opening 511 within the movement range of the power supply connection part 60.

[0074] Further, a plate-shaped second closing plate 82 (one example of the second closing member of the present invention) is attached to the first closing plate 81. The second closing plate 82 is formed of a hard plate member and is formed of the same material as the first closing plate 81, for example, a resin plate formed of a hard resin, or a metal plate formed of sheet metal. By being attached to the first closing plate 81, the second closing plate 82 is slidable in the width direction D13 relative to the first closing plate 81. In other words, the second closing plate 82 is supported by the first closing plate 81 so as to be slidable in the width direction D13.

[0075] As shown in Fig. 13, an opening 811 is formed in the center of the first closing plate 81 in the width direction D13. The opening 811 is formed to a size and shape corresponding to the outer dimensions of the holding part 62, and in this embodiment, is formed in a vertically long rectangle. The power supply connection part 60 is inserted into the opening 811, and the holding part 62 and the first closing plate 81 are connected in a state in which the power supply terminal 61 and the guide roller 63 protrude to the outside of the casing 51. Specifically, brackets 621 formed integrally with the side surfaces on both sides of the holding part 62 are provided, and the brackets 621 are fixed to the rear surface 815A of the first closing plate 81 by screws 622.

[0076] The first blocking plate 81 may be sized to cover the opening 511 when the power supply connection portion 60 is disposed at the central position P0 (see FIG. 12), or may be sized not to cover the opening 511, but is sized to block the gap on one side of the opening 511 when the power supply connection portion 60 moves to one side in the width direction D13, and to leave the other side of the opening 511 unblocked by the first blocking plate 81. Specifically, when the power supply connection portion 60 moves to the direction D132 shown in FIG. 12, the first blocking plate 81 is sized to block the gap on the direction D132 side of the opening 511 (the gap between the edge portion 511A and the power supply connection portion 60) and to leave the gap (the gap between the edge portion 511B and the power supply connection portion 60) that expands to the opposite direction D131 side of the opening 511 open.

[0077] Further, the first closing plate 81 is formed with support portions 813, 814 for supporting the second closing plate 82. A support portion 813 is provided at each of both ends of the upper end portion 81A of the first closing plate 81, and a support portion 814 is provided at each of both ends of the lower end portion 81B of the first closing plate 81. The support portions 813, 814 support the second closing plate 82 so as to generate a frictional force that moves the second closing plate 82 in either direction in the width direction D13 when the power supply connection portion 60 is moved in the same direction.

[0078] In this embodiment, the second closing plate 82 is disposed closer to the inside of the casing 51 than the first closing plate 81 .

[0079] Fig. 15 is a cross-sectional view taken along the cutting plane XV-XV in Fig. 14, and shows the configuration of the support parts 813, 814. As shown in Fig. 15, the first closing plate 81 has a plate-shaped main body part 815 constituting its front surface, an upper end part 81A bent from the upper end of the main body part 815 to the rear side D121, and a lower end part 81B bent from the lower end of the main body part 815 to the rear side D121. The upper end part 81A has a bent part 816 bent downward at the end of the rear side D121, and the lower end part 81B has a bent part 817 bent upward at the end of the rear side D121.

[0080] The support portion 813 has a main body portion 815, an upper end portion 81A, and a rotating roller 85 arranged inside the bent portion 816. The rotating roller 85 is rotatably supported on the upper end portion 82A of the second closing plate 82. The rotating roller 85 has, for example, a roller portion 851 made of an elastic member having elasticity. In this embodiment, the rotating roller 85 is supported on the upper end portion 82A of the second closing plate 82 with the outer circumferential surface of the roller portion 851 in pressing contact with the back surface 816A of the bent portion 816 and separated from the back surface 815A of the main body portion 815.

[0081] The support portion 814 also has a rotating roller 86 disposed inside the main body portion 815, the lower end portion 81B, and the bent portion 817. The rotating roller 86 is rotatably supported on the lower end portion 82B of the second closing plate 82. The rotating roller 86 has, for example, a roller portion 861 made of an elastic member having elasticity. In this embodiment, the rotating roller 86 is supported on the lower end portion 82B of the second closing plate 82 with the outer circumferential surface of the roller portion 861 in pressing contact with the back surface 817A of the bent portion 817 and separated from the back surface 815A of the main body portion 815.

[0082] Since such support portions 813, 814 are provided on the first closure plate 81, the second closure plate 82 is pressed toward the first closure plate 81 by the rotating rollers 85, 86, and the front surface 825A (an example of an outer surface of the present invention) of the second closure plate 82 comes into contact with the back surface 815A (an example of an inner surface of the present invention) of the first closure plate 81. In this state, when the power supply connection portion 60 is moved in the width direction D13, a frictional force due to contact friction is generated between the back surface 815A of the first closure plate 81 and the front surface 825A of the second closure plate 82, and this frictional force allows the second closure plate 82 to move in the same moving direction as the power supply connection portion 60.

[0083] 13, the second closure plate 82 is formed to be longer in the width direction D13 than the first closure plate 81. The second closure plate 82 has an opening 821 (an example of an insertion hole of the present invention) through which the power supply connection portion 60 is inserted when the second closure plate 82 is supported by the supports 813, 814 of the first closure plate 81.

[0084] The opening 821 is formed in the center of the second closure plate 82 in the width direction D13. The opening 821 allows the power supply connection portion 60 to pass through and allows the power supply connection portion 60 to move in the width direction D13. For this reason, the opening 821 is formed to be larger in size than the opening 811 of the first closure plate 81 in the width direction D13 and also in the up-down direction D11.

[0085] Further, blocking portions 824 are provided at both ends in the width direction D13 of the second blocking plate 82. The blocking portions 824 are portions that extend from the edge of the opening 821 in the width direction D13 to the end of the second blocking plate 82 in the width direction D13. When the power supply connection portion 60 moves to one side in the width direction D13, the blocking portions 824 block a gap (non-blocking portion) that occurs between the edge of the opening 511 on the opposite side to the movement direction and the first blocking plate 81.

[0086] 12, a restricting portion 515 that restricts movement of the second closing plate 82 is provided inside the casing 51. When the second closing plate 82 moves in the direction D131 shown in FIG. 12 in conjunction with the movement of the power supply connection portion 60 in the same direction, the restricting portion 515 restricts further movement of the second closing plate 82 at a predetermined first restricting position.

[0087] 12 (toward the side wall 51B), the second closing plate 82 abuts against the side wall 51B at a predetermined second restricting position, and further movement is restricted by the side wall 51B. In this case, the side wall 51B serves as a restricting portion of the present invention.

[0088] As described above, the charging station 50 of this embodiment includes a casing 51 having an opening 511 in a side wall 51A, a power supply connection portion 60 provided inside the casing 51 so as to be movable in the width direction D13 along the side wall 51A, having a power supply terminal 61 for supplying power connected to the power receiving terminal 31 of the cleaning device 10, and a portion of which protrudes outward from the opening 511, a first blocking plate 81 provided on the power supply connection portion 60, movable in the width direction D13 together with the power supply connection portion 60, and capable of partially blocking the opening 511 within the movement range of the power supply connection portion 60, a second blocking plate 82 formed longer in the width direction D13 than the first blocking plate 81 and supported by the first blocking plate 81 so as to be movable in the width direction D13 relative to the first blocking plate 81, and a regulating portion 515 and side wall 51B that abut against an end portion of the second blocking plate 82 in the width direction D13 to regulate further movement of the second blocking plate 82. In addition, the second closure plate 82 has an opening 811 through which the power supply connection portion 60 is inserted and which allows movement of the power supply connection portion 60 in the width direction D13, and a closure portion 824 which closes the gap between the edge portion (511A, 511B) on the opposite side to the movement direction of the power supply connection portion 60 at the opening 511 and the first closure plate 81 when the second closure plate 82, which moves in the same direction as the power supply connection portion 60, is positioned in a regulating position where it is regulated by the regulating portion 515 or the side wall 51B.

[0089] Therefore, when the charging connection part 30 of the cleaning device 10 is connected to the power supply connection part 60 with the power supply connection part 60 disposed at the central position P0, a pressing force in one direction of the width direction D13 is applied to the power supply connection part 60, and the power supply connection part 60 moves in the pressed direction. At that time, the first closing plate 81 also moves in the same direction. In addition, the second closing plate 82 supported by the first closing plate 81 also moves in the same direction. When the second closing plate 82 reaches the restricted position, the end of the second closing plate 82 abuts against the side wall 51B, and further movement is restricted. On the other hand, even after the second closing plate is stopped, the power supply connection part 60 and the first closing plate 81 move in the same direction due to the pressing force. In this case, a gap is generated between the opposite edge of the opening 511 and the first closing plate 81, but this gap is blocked by the opposite closing part 824 of the stopped second closing plate 82.

[0090] For example, as shown in FIG. 16A, when the charging connection part 30 is connected to the power supply connection part 60, if a pressing force F1 is applied to the guide roller 63 of the power supply connection part 60, the power supply connection part 60 and the first closing plate 81 move in the direction D132, and the second closing plate 82 also moves in the same direction. Then, when the power supply connection part 60 moves to the position P1 (second restricting position) shown in FIG. 16A, the second closing plate 82 abuts against the side wall 51B and stops moving. After that, as shown in FIG. 16B, only the power supply connection part 60 and the first closing plate 81 continue to move in the direction D132. Then, when the charging connection part 30 is completely connected to the power supply connection part 60, the power supply connection part 60 is disposed at a position P2 further toward the direction D132 side than the position P1. In this case, a gap T11 occurs between the edge 511B of the opening 511 and the first closing plate 81, but this gap T11 is closed by the closing portion 824 on the direction D131 side of the stopped second closing plate 82.

[0091] 17B, ​​when a pressing force F2 is applied to the guide roller 63 of the power supply connection part 60 when the charging connection part 30 is connected to the power supply connection part 60, the power supply connection part 60 and the first closing plate 81 move in the direction D131, and the second closing plate 82 also moves in the same direction. When the power supply connection part 60 moves to position P3 (first restricting position) shown in FIG. 17A, the second closing plate 82 abuts against the restricting part 515 and stops moving. After that, as shown in FIG. 17B, only the power supply connection part 60 and the first closing plate 81 continue to move in the direction D131. When the charging connection part 30 is completely connected to the power supply connection part 60, the power supply connection part 60 is disposed at position P4, which is further toward the direction D131 than position P3. In this case, a gap T12 occurs between the edge 511A of the opening 511 and the first closing plate 81, but this gap T12 is closed by the closing portion 824 on the direction D132 side of the stopped second closing plate 82.

[0092] Since the first closing plate 81 and the second closing plate 82 are provided in the charging station 50, the gap is closed, preventing foreign matter such as dust and dirt, or moisture from entering the inside through the gap, and also preventing a person's finger from being inserted and receiving an electric shock. Furthermore, in the charging station 50, the width size of each of the closing plates 81, 82 can be reduced, and the arrangement space for each of the closing plates 81, 82 in the casing 51 can be reduced in the width direction D13 compared to a conventional structure having only one closing member. As a result, the size of the casing 51 can be reduced in the width direction D13.

[0093] In this embodiment, the coil springs 73A, 73B are provided to urge the power supply connection part 60 to elastically maintain it at the central position P0 of the opening 511, so that when the connection with the charging connection part 30 is released, the power supply connection part 60 and the first closing plate 81 are returned to the central position P0 by the urging forces of the coil springs 73A, 73B. At this time, the second closing plate 82 also moves toward the central position P0 together with the power supply connection part 60.

[0094] In this embodiment, the power supply connection part 60 is provided with a guide roller 63 that functions as a cam follower by operating together with the inclined surface 172B of the charging connection part 30. This allows the power supply connection part 60 to smoothly slide in the width direction D13.

[0095] In the above embodiment, a configuration in which two closing plates 81, 82 are provided inside the casing 51 has been exemplified, but the present invention is not limited to this configuration. For example, the charging station 50 can be configured to have a first closing plate 81 attached to the power supply connection portion 60, a second closing plate 82 movably supported by the first closing plate 81, and a third closing plate movably supported in the width direction D13 relative to the second closing plate 82. In other words, the charging station 50 may be configured to include at least the first closing plate 81 and the second closing plate 82.

[0096] In the above embodiment, the second closing plate 82 is disposed on the inner side D121 of the first closing plate 81, but the present invention is not limited to this configuration. The charging station 50 may be configured such that the second closing plate 82 is disposed closer to the opening 511 than the first closing plate 81. [Explanation of symbols]

[0097] 10: cleaning device; 30: charging connection portion; 31: power receiving terminal; 50: charging station; 51: casing; 51A, 51B, 51C: side walls; 60: power supply connection portion; 61: power supply terminal; 62: holding portion; 63: guide roller; 64: support plate; 66: elastic member; 67: storage support portion, 67A: side portion, 67B: inner portion, 71A, 71B: Shaft support part, 72: Support shaft, 72A, 72B: Shaft part, 73A, 73B: coil springs; 81: first closing plate; 82: second closing plate; 85, 86: rotating rollers; 511: opening; 511A: edge portion, 511B: edge portion, 512: recessed portion, 513: Support bracket; 515: Restriction portion; 811: Opening; 813,814:Support part

Claims

1. A charging unit for charging a battery mounted on an autonomous driving device, A housing having an opening on a side surface; a terminal connection portion provided inside the housing so as to be movable in a first direction along the side surface, the terminal connection portion having a terminal for supplying power to be connected to the autonomous driving device and protruding outward from the opening; a plate-like first closing member provided on the terminal connection portion, movable together with the terminal connection portion in the first direction, and capable of partially closing the opening within a movement range of the terminal connection portion; a plate-shaped second closing member that is longer than the first closing member in the first direction and is supported by the first closing member so as to be movable in the first direction relative to the first closing member; a restricting portion that restricts movement of the second closing member by contacting an end portion of the second closing member in the first direction, The second blocking member is an insertion opening through which the terminal connection portion is inserted and which allows movement of the terminal connection portion in the first direction; The charging unit has a blocking portion that blocks the gap between the opening edge portion on the opposite side to the movement direction of the terminal connection portion in the opening and the first blocking member when the second blocking member, which moves in the same direction as the movement of the terminal connection portion, is positioned at a restricting position restricted by the restricting portion.

2. The first blocking member is The charging unit according to claim 1 , further comprising a support portion that supports the second closing member so as to generate a frictional force that moves the second closing member in the movement direction when the terminal connection portion is moved.

3. The charging unit according to claim 1 or 2, further comprising a biasing member that biases the terminal connection portion to elastically maintain the terminal connection portion at a central position of the opening.

4. The charging unit according to claim 1 , wherein the first closing member and the second closing member are formed of a hard plate member.

5. The second closing member is disposed on an inner side of the first closing member, The charging unit according to claim 1 , wherein the first closing member supports the second closing member such that an outer surface of the second closing member contacts an inner surface of the first closing member.

6. The charging unit according to claim 1 , wherein the terminal connection portion has a conversion portion that converts a force received from the autonomous driving device in a direction perpendicular to the side surface into a force in the first direction.

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