Transfer device, charging system, and charging method

Abstract

A purpose of the present disclosure is to suppress a worsening in electrical contact resistance between a charging device and a transport device. A power storage unit of a transport device (1) is charged by charging current input via a power receiving connection unit (12). A main body unit (100) holds the power receiving connection unit (12) and the power storage unit. A cover member (105) is held by the main body unit (100) and is movable between a first position of covering the power receiving connection unit (12) and a second position of exposing the power receiving connection unit (12). When the main body unit (100) is moved to a position at which a power supply connection unit of the charging device and the power receiving connection unit (12) can make contact, the cover member (105) moves to the second position to expose the power receiving connection unit (12).

Description

Technical Field

[0001] The present disclosure relates to a conveying device, a charging system, and a charging method. More specifically, the present disclosure relates to a conveying device for conveying an object to be conveyed, a charging system for charging the conveying device, and a charging method.

Background Art

[0002] Patent Document 1 discloses a mobile robot charging system including a charger and a charge control device. The charger (charging device) charges the batteries (power storage units) of a plurality of mobile robots (conveying devices). The charge control device acquires information indicating the remaining charge amount of the battery from the mobile robot, and automatically drives the mobile robot that needs charging to the charger to perform a charging operation.

[0003] Patent Document 1 discloses a mobile robot charging system including a charger and a charge control device. The charger (charging device) charges the batteries (power storage units) of a plurality of mobile robots (conveying devices). The charge control device acquires information indicating the remaining charge amount of the battery from the mobile robot, and automatically drives the mobile robot that needs charging to the charger to perform a charging operation. Here, when the charger charges the battery of the mobile robot via the power supply connection part and the power reception connection part in a state where the power supply connection part of the charger and the power reception connection part of the mobile robot are in electrical contact, there is a desire to reduce the electrical contact resistance between the power supply connection part and the power reception connection part.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

[0005] An object of the present disclosure is to provide a conveying device, a charging system, and a charging method capable of suppressing deterioration of electrical contact resistance between a charging device and a conveying device.

[0006] A transport device according to one aspect of the present disclosure includes a power receiving connection portion connectable to a power supply connection portion of a charging device, a power storage portion, a movable main body portion, and a cover member. The power storage portion is charged by a charging current input via the power receiving connection portion. The main body portion holds the power receiving connection portion and the power storage portion. The cover member is held by the main body portion and is movable between a first position covering the power receiving connection portion and a second position exposing the power receiving connection portion. When the main body portion moves to a charging position where the power supply connection portion and the power receiving connection portion are connectable, the cover member moves to the second position to expose the power receiving connection portion. The main body part has a gripping mechanism for gripping the object to be conveyed when conveying the object to be conveyed. The cover member is a part of the gripping mechanism. A conveying device according to an aspect of the present disclosure includes a power receiving connection part connectable to a power feeding connection part of a charging device, a power storage part, a movable main body part, a cover member, a lifting body on which an object to be conveyed is placed, and a lifting part for lifting and lowering the lifting body. The power storage part is charged by a charging current input through the power receiving connection part. The main body part holds the power receiving connection part and the power storage part. The cover member is held by the main body part and is movable between a first position covering the power receiving connection part and a second position exposing the power receiving connection part. When the main body part moves to a charging position where the power feeding connection part and the power receiving connection part can be connected, the cover member moves to the second position to expose the power receiving connection part. The lifting part holds the object to be conveyed by moving the lifting body to an ascending position where the lifting part lifts the object to be conveyed placed on the lifting body. The cover member is a part of the lifting body. A conveying device according to an aspect of the present disclosure includes a power receiving connection part connectable to a power feeding connection part of a charging device, a power storage part, a movable main body part, a cover member, and an opening / closing element connected between the power receiving connection part and the power storage part. The power storage part is charged by a charging current input through the power receiving connection part. The main body part holds the power receiving connection part and the power storage part. The cover member is held by the main body part and is movable between a first position covering the power receiving connection part and a second position exposing the power receiving connection part. When the main body part moves to a charging position where the power feeding connection part and the power receiving connection part can be connected, the cover member moves to the second position to expose the power receiving connection part. With the cover member in the second position, the opening / closing element is switched from an off state to an on state. The conveying device according to one aspect of the present disclosure includes a power receiving connection portion connectable to a power supply connection portion of a charging device, a power storage portion, a movable main body portion, and a cover member. The power storage portion is charged by a charging current input through the power receiving connection portion. The main body portion holds the power receiving connection portion and the power storage portion. The cover member is held by the main body portion and is movable between a first position covering the power receiving connection portion and a second position exposing the power receiving connection portion. When the main body portion moves to a charging position where the power supply connection portion and the power receiving connection portion can be connected, the cover member moves to the second position to expose the power receiving connection portion. In a state of conveying an object to be conveyed, the power receiving connection portion is provided on a side surface of a portion of the main body portion that is located below the object to be conveyed.

[0007] A charging system according to one aspect of the present disclosure includes one or more of the above-described transport devices and a charging device. The charging device has the power supply connection portion connectable to the power receiving connection portion included in the one or more transport devices.

[0008] A charging method according to one aspect of the present disclosure includes a lowering step and a raising step. The transport device has a gripping mechanism including a mounting table for mounting an object to be transported and a power receiving connection portion connectable to a power supply connection portion of a charging device. In the lowering step, the cover member, which is a part of the gripping mechanism, is moved to a first position covering the power receiving connection portion by moving the gripping mechanism of the transport device to a lowering position away from the object to be transported. In the raising step, when the transport device moves to a charging position, the cover member is moved to a second position exposing the power receiving connection portion by moving the gripping mechanism to a raising position for lifting the object to be transported. The charging position is a position where the power supply connection portion and the power receiving connection portion are connectable.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

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DETAILED DESCRIPTION OF THE INVENTION

[0010] The embodiments described below are merely one of various embodiments of the present disclosure. The embodiments of the present disclosure are not limited to the following embodiments and may include other embodiments as well. Further, the following embodiments can be variously modified according to the design and the like as long as they do not deviate from the technical idea of the present disclosure.

[0011] (Embodiment) (1) Overview As shown in FIGS. 1 to 4, the transport device 1 of the present embodiment includes a power reception connection portion 12, a power storage portion 14, a movable main body portion 100, and a cover member 105.

[0012] The power reception connection portion 12 can be electrically connected to a power supply connection portion 22 included in a charging device 2 (see FIGS. 2 and 4 to 9).

[0013] The power storage portion 14 is electrically connected to the power reception connection portion 12 and is charged by a charging current input through the power reception connection portion 12.

[0014] The main body portion 100 holds the power reception connection portion 12 and the power storage portion 14.

[0015] The cover member 105 is held by the main body portion 100. The cover member 105 is movable between a first position (the position of the cover member 105 in FIG. 3) that covers the power reception connection portion 12 and a second position (the position of the cover member 105 in FIG. 1) that exposes the power reception connection portion 12.

[0016] When the main body portion 100 moves to a position where the power supply connection portion 22 (see FIG. 6) of the charging device 2 and the power reception connection portion 12 can be connected, the cover member 105 moves to the second position to expose the power reception connection portion 12.

[0017] Here, the "covering" of the power receiving connection portion 12 by the cover member 105 means a state in which the power receiving connection portion 12 is hidden by the cover member 105 at least when viewed from the connection direction (left - right direction). The "connection direction" is the direction in which the power supply connection portion 22 and the power receiving connection portion 12 are connected. Also, the position of the transport device 1 (main body portion 100) where the power supply connection portion 22 and the power receiving connection portion 12 can be connected (hereinafter also referred to as the charging position) includes the position of the transport device 1 when the power supply connection portion 22 and the power receiving connection portion 12 are connected. Further, when the power supply connection portion 22 is provided to be movable with respect to the charging device 2, the "charging position" may include the position of the transport device 1 in a state where the power receiving connection portion 12 and the power supply connection portion 22 can be electrically connected by moving the power supply connection portion 22 with respect to the charging device 2.

[0018] In the transport device 1 of the present embodiment, when the transport device 1 moves to the charging position, the cover member 105 moves to the second position to expose the power receiving connection portion 12, and the power supply connection portion 22 can be electrically connected to the power receiving connection portion 12 to charge the transport device 1. On the other hand, except during charging, by moving the cover member 105 to the first position, the cover member 105 can cover the power receiving connection portion 12. Therefore, it is possible to suppress dust or the like from adhering to and soiling the contact point of the power receiving connection portion 12 that comes into electrical contact with the power supply connection portion 22, and to suppress the occurrence of rust due to moisture adhering to the contact point, and there is an advantage that it is possible to suppress the deterioration of the electrical contact resistance between the charging device 2 and the transport device 1.

[0019] Also, the transport device 1 (mobile body) of the present embodiment further includes a detection unit 15. The main body portion 100 moves by the electrical energy stored in the power storage unit 14. The detection unit 15 uses one or more optical sensors (in this embodiment, the measurement range sensor 151) to detect the surrounding situation related to the electrical connection between the power receiving connection portion 12 and the power supply connection portion 22. The one or more optical sensors (measurement range sensor 151) are also used as sensors for detecting the existing position of the main body portion.

[0020] Here, the ambient situation regarding the electrical connection between the power receiving connection part 12 and the power feeding connection part 22 may include the ambient situation when the power receiving connection part 12 and the power feeding connection part 22 are electrically connected, and the ambient situation when the power feeding connection part 22 is not electrically connected to the power receiving connection part 12. The ambient situation mentioned here is the situation of an object that affects the electrical connection between the power receiving connection part 12 and the power feeding connection part 22 within the area AR1 (see FIG. 9) including the power receiving connection part 12 of the moving body. The area AR1 at least includes the range where the charging device 2 exists in a state where the power receiving connection part 12 and the power feeding connection part 22 are electrically connected. Further, the above object includes the power receiving connection part 12 and the power feeding connection part 22, and is an object other than the power receiving connection part 12 and the power feeding connection part 22, and may include an object (foreign matter, human body, dust, etc. existing around the moving body) that may enter between the power receiving connection part 12 and the power feeding connection part 22. Also, this type of object may include the moving mechanism of the power receiving connection part 12 and / or the power feeding connection part 22 when the power receiving connection part 12 and / or the power feeding connection part 22 is movable.

[0021] In the present embodiment, since the detection unit 15 uses an optical sensor to detect the ambient situation, the ambient situation regarding the electrical connection between the power receiving connection part 12 and the power feeding connection part 22 can be optically detected. Therefore, based on the detection result of the detection unit 15, it becomes possible to grasp whether the electrical connection between the power feeding connection part 22 and the power receiving connection part 12 is normally performed, and there is an advantage that the reliability of the electrical connection between the power feeding connection part 22 and the power receiving connection part 12 can be improved. Also, since the optical sensor is also used as a sensor for detecting the existence position of the main body part 100, there is no need to provide a sensor for detecting the existence position and a sensor for detecting the ambient situation, and there is also an advantage that the moving body (transport device 1) can be downsized.

[0022] Further, as shown in FIG. 2, the charging device 2 of the present embodiment includes a second communication unit (communication unit 21) and a charging unit 230. The second communication unit receives an electrical characteristic value that changes according to the power storage amount of the power storage unit 14 from the first communication unit of the transport device 1 having the power storage unit 14 and the first communication unit (communication unit 11). The charging unit 230 charges the power storage unit 14. When the second communication unit is in a receivable state in which it can receive the electrical characteristic value from the first communication unit, the charging unit 230 controls the charging operation based on the electrical characteristic value received by the second communication unit. When the second communication unit is in a non-receivable state in which it cannot receive the electrical characteristic value from the first communication unit, the charging unit 230 controls the charging operation based on at least past history information.

[0023] Here, the "electrical characteristic value" that changes according to the power storage amount of the power storage unit 14 may include at least one of, for example, the output voltage of the power storage unit 14 (the voltage generated between the positive electrode and the negative electrode) and the charging current supplied to the power storage unit 14. For example, when the power storage unit 14 is charged at a constant voltage, the charging current decreases as the power storage amount increases. Also, when the power storage unit 14 is charged at a constant current, the output voltage of the power storage unit 14 increases as the power storage amount increases. The "past history information" may include, for example, information on the electrical characteristic value when the power storage unit 14 was charged in the past. This power storage unit 14 may be the power storage unit of the transport device 1 during charging, or the power storage unit of another transport device 1. Also, for the charging unit 230 to control the charging operation based on the electrical characteristic value or the past history information means to control at least one of the charging current supplied to the power storage unit 14 and the voltage applied to the power storage unit 14 based on the electrical characteristic value or the past history information. Also, the non-receivable state means a state in which a communication error occurs in at least a part of the communication path between the transport device 1 and the charging device 2, and the second communication unit (communication unit 21) cannot receive the electrical characteristic value from the first communication unit (communication unit 11).

[0024] In the receivable state, the charging unit 230 controls the charging operation based on the electrical characteristic values received by the second communication unit (communication unit 21) from the first communication unit (communication unit 11). Therefore, a charging operation can be performed according to the charging state (e.g., the stored power amount) of the power storage unit 14. Further, when a non-receivable state occurs, the charging unit 230 controls the charging operation based on at least past history information. Thus, the charging operation of the power storage unit 14 can be continued even in the non-receivable state. Therefore, the charging of the power storage unit 14 can be performed stably.

[0025] Moreover, the charging device 2 of the present embodiment further includes a charging circuit 23 and an abnormality detection unit 26. The transport device 1 has a switching element 13 connected between the power receiving connection unit 12 and the power storage unit 14. The charging circuit 23 charges the power storage unit 14 via the power supply connection unit 22 in a connection state where the power receiving connection unit 12 is electrically connected to the power supply connection unit 22. When the switching element 13 is switched from the on state to the off state and the charging circuit 23 has stopped charging the power storage unit 14 in the connection state, the abnormality detection unit 26 detects the presence or absence of an abnormality in the switching element 13 based on the voltage of the power supply connection unit 22.

[0026] Here, the "connection state" where the power receiving connection unit 12 is electrically connected to the power supply connection unit 22 means a state in which the charging circuit 23 can charge the power storage unit 14 via the power supply connection unit 22. The connection state includes a state in which the charging circuit 23 is charging the power storage unit 14 via the power supply connection unit 22 and a state in which the power supply connection unit 22 and the power receiving connection unit 12 are electrically connected but the power storage unit 14 is not being charged. Further, the switching of the switching element 13 from the on state to the off state may include a state in which the switching element 13 has normally switched to the off state and a state in which the switching element 13 has not switched to the off state (i.e., the on state continues) due to welding of the contacts of the switching element 13 or the like.

[0027] In the connected state, if the switching element 13 is in the normal off state, the power receiving connection part 12 and the power storage part 14 are electrically disconnected, so the output voltage of the power storage part 14 is not applied to the power supply connection part 22, and no voltage is generated in the power supply connection part 22. On the other hand, in the connected state, even though the switching element 13 is switched to the off state, if the contacts of the switching element 13 are welded or the like and the power receiving connection part 12 and the power storage part 14 cannot be electrically disconnected, a voltage corresponding to the output voltage of the power storage part 14 is generated in the power supply connection part 22. In the connected state, when the switching element 13 is switched from the on state to the off state and the charging circuit 23 has stopped charging the power storage part 14, the abnormality detection unit 26 detects the presence or absence of an abnormality in the switching element 13 based on the voltage of the power supply connection part 22 and can detect whether the switching element 13 has been switched to the off state. When the abnormality detection unit 26 detects that the switching element 13 has not been switched to the off state, the user can take some action based on the detection result of the abnormality detection unit 26, and there is an advantage that it becomes easier to ensure electrical insulation between the power receiving connection part 12 and the power storage part 14 except during charging. Also, since the abnormality detection unit 26 of the charging device 2 detects the presence or absence of an abnormality in the switching element 13 provided in the transport device 1, there is also an advantage that it is not necessary to provide an abnormality detection unit 26 for each of the plurality of transport devices 1 when there are a plurality of transport devices 1.

[0028] (2) Details Hereinafter, the transport device 1 according to the present embodiment will be described in detail with reference to the drawings. In the following description, unless otherwise specified, the direction orthogonal to the moving surface 300 (see FIGS. 1, 2, and 4) on which the transport device 1 moves (the Z-axis direction in FIG. 1) is defined as the vertical direction, and the side of the transport device 1 as viewed from the moving surface 300 is referred to as "upward", and the opposite side is referred to as "downward". Further, hereinafter, the longitudinal direction of the main body 100 of the transport device 1 (the X-axis direction in FIG. 1) is defined as the front-rear direction, and the direction orthogonal to the vertical direction and the front-rear direction (the Y-axis direction in FIG. 1, which is the lateral direction of the main body 100) is defined as the left-right direction. Note that the definition of these directions is not intended to limit the usage mode of the transport device 1. Also, the arrows indicating the respective directions in the drawings are merely for explanation and do not have an actual entity. Furthermore, the arrows extending from an object (for example, the transport device 1, etc.) in the drawings merely represent the moving direction of the object and do not have an actual entity.

[0029] The transport device 1 is a moving body that moves on the moving surface 300 by a plurality of wheels (drive wheels) 111 (see FIG. 1). The plurality of wheels 111 are arranged, for example, on both sides in the left-right direction of the main body 100. The main body 100 moves along the moving surface 300 by traveling on the wheels 110.

[0030] The transport device 1 of the present embodiment is a moving body for transporting the object to be transported X1 (see FIG. 4). The transport device 1 is introduced into facilities such as, for example, a logistics center (including a distribution center), a factory, an office, a store, a school, and a hospital. The moving surface 300 is the surface on which the transport device 1 moves. When the transport device 1 moves inside the facility, the floor surface of the facility, etc. becomes the moving surface 300, and when the transport device 1 moves outdoors, the ground, etc. becomes the moving surface 300. Hereinafter, the case where the transport device 1 is introduced into a logistics center will be described. The transport device 1 of the present embodiment is a transport device using a moving body, and the main body 100 has a holding part (mounting table 103) for holding the object to be transported X1.

[0031] (2.1) Charging System (Transport System) First, the overall configuration of the charging system (transport system) A1 according to the present embodiment will be described.

[0032] As shown in FIG. 2, the charging system (transport system) A1 according to this embodiment includes one or more transport devices 1 (mobile bodies) and a charging device 2 having a power supply connection part 22 that can be electrically connected to a power reception connection part 12 provided in the transport device 1. The charging device 2 charges the transport device 1 in a connection state where the power supply connection part 22 is electrically connected to the power reception connection part 12 provided in the transport device 1. In this embodiment, the charging system A1 includes a plurality of transport devices 1. Further, the charging system A1 of this embodiment includes a host system 3 that instructs the transport device 1 to execute a charging operation, and a relay device 4 that relays communication between the transport device 1, the charging device 2, and the host system 3. Individual network IDs (for example, IP addresses or MAC addresses, etc.) are assigned to the plurality of transport devices 1, the charging device 2, and the host system 3, and communication is possible between the transport device 1, the charging device 2, and the host system 3 using the network IDs.

[0033] The transport device 1, the charging device 2, and the host system 3 are configured to be able to communicate with each other. In the present disclosure, "able to communicate" means that information can be exchanged directly or indirectly via a communication network NT1, a relay device 4, etc. by an appropriate communication method such as wired communication or wireless communication. That is, the transport device 1, the charging device 2, and the host system 3 can exchange information with each other. In this embodiment, the transport device 1, the charging device 2, and the host system 3 can communicate with each other bidirectionally, and both the transmission of information from the host system 3 to the transport device 1 and the charging device 2 and the transmission of information from the transport device 1 and the charging device 2 to the host system 3 are possible.

[0034] (2.2) Host system In this embodiment, the host system 3 is, for example, a server, and includes a control part 30 and a communication part 31.

[0035] The control unit 30 mainly consists of a computer system having one or more processors and memories. The functions of the control unit 30 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, may be provided through an electrical communication line such as the Internet, or may be provided by being recorded on a non-transitory recording medium such as a memory card.

[0036] The communication unit 31 communicates with the relay device 4 via the communication network NT1. The communication unit 31 communicates with each of one or more transport devices 1 and charging devices 2 via the communication network NT1 and the relay device 4. Here, the communication network NT1 is not limited to the Internet, and for example, a local communication network within the work area or within the operating company of the work area may be applied. As the communication method between the communication unit 31 and the relay device 4, an appropriate communication method of wireless communication or wired communication is adopted. For example, the communication unit 31 communicates with each of the plurality of transport devices 1 periodically (for example, at a cycle of several seconds to several tens of seconds) to obtain information such as the power storage amount of the power storage unit 14 (for example, information on the charging voltage of the power storage unit 14) from each of the plurality of transport devices 1. In FIG. 2, the number of relay devices 4 is one, but the number of relay devices 4 is not limited to one and can be changed as appropriate.

[0037] The control unit 30 monitors the power storage amount of the power storage unit 14 in each of the plurality of transport devices 1 based on, for example, the information on the power storage amount acquired by the communication unit 31. For example, when the power storage amount of the power storage unit 14 in a certain transport device 1 drops below a predetermined first threshold value, the control unit 30 instructs the transport device 1 to execute a charging operation. Also, when the communication unit 31 periodically receives information on the charging voltage of the power storage unit 14 as an electrical characteristic value from the transport device 1 during charging, the control unit 30 transmits the information on the electrical characteristic value received by the communication unit 31 to the charging device 2 that is charging the transport device 1.

[0038] (2.3) Transport device As described above, the transport device 1 includes a power reception connection part 12, a power storage part 14, a main body part 100, and a cover member 105. Further, as shown in FIG. 2, the transport device 1 further includes a control part 10, a communication part 11, an opening / closing element 13, a detection part 15, a drive part 16, and a lifting part 17.

[0039] The transport device 1 autonomously travels on a flat moving surface 300 such as the floor surface of a facility. The transport device 1 of the present embodiment includes a power storage part 14 and operates using the electric energy stored in the power storage part 14. Specifically, an actuator (for example, an electric motor etc.) is mounted on the main body part 100, and the actuator operates using the electric energy stored in the power storage part 14 to move the main body part 100. In the present embodiment, the transport device 1 travels on the moving surface 300 with the object X1 to be transported loaded on the main body part 100. Thereby, the transport device 1 can transport, for example, the object X1 to be transported placed at a certain location within the facility to another location within the facility.

[0040] In the present embodiment, the object X1 to be transported may include a package X11, a product in a manufacturing factory, a product during manufacturing (semi Complete finished product), a pallet, or a pallet with a package X11 placed thereon, etc. That is, in the present embodiment, the object X1 to be transported is the object transported by the transport device 1. The pallet is, for example, a roll box pallet (including a cold roll box pallet) or a flat pallet. Hereinafter, unless otherwise specified, the object X1 to be transported is a roll box pallet with a package X11 placed thereon. Wheels X10 are provided at the four lower corners of the roll box pallet, and the user can push the roll box pallet by hand to move it. Here, the "user" is an operator who performs operations such as loading the package X11 onto the object X1 to be transported which is a roll box pallet, unloading the package X11 from the object X1 to be transported, and moving the object X1 to be transported with the package X11 loaded thereon.

[0041] The main body 100 is in the shape of a rectangular parallelepiped that is longer in the front-rear direction than in the left-right direction and has a smaller dimension in the up-down direction than in the left-right and front-rear directions. Although it will be described in detail later, in this embodiment, as shown in FIG. 4, after the main body 100 enters below the object X1 to be conveyed, the lifting body 102 provided on the main body 100 lifts the object X1 to be conveyed, whereby the object X1 to be conveyed is loaded on the main body 100. Therefore, the dimension of the main body 100 in the up-down direction in the state where the lifting body 102 is lowered is set to be smaller than the height dimension of the space (gap) that can be formed below the object X1 to be conveyed so that the main body 100 fits into the gap generated below the object X1 to be conveyed.

[0042] The main body 100 includes a vehicle body 101 and a lifting body 102 that is placed on top of the vehicle body 101 and is lifted or lowered by a lifting unit 17. In this embodiment, the vehicle body 101 and the lifting body 102 are made of metal, for example, but the vehicle body 101 and the lifting body 102 are not limited to being made of metal and may be made of resin, for example.

[0043] The vehicle body 101 is supported on a moving surface 300 by a plurality (here, two) of wheels 111 and a plurality (here, two) of auxiliary wheels 112 (see FIG. 8).

[0044] The plurality of wheels 111 are arranged at intervals in the width direction (left-right direction) of the vehicle body 101 at the central portion in the longitudinal direction (front-rear direction) of the vehicle body 101. Each of the plurality of wheels 111 can rotate individually by receiving a driving force from the driving unit 16. Each wheel 111 is held by the main body 100 (vehicle body 101) in a rotatable state about a rotation axis R1 (see FIG. 1) extending in the left-right direction.

[0045] The plurality of auxiliary wheels 112 are arranged at intervals in the longitudinal direction (front-rear direction) of the vehicle body 101 at the central portion in the width direction (left-right direction) of the vehicle body 101. Each of the plurality of auxiliary wheels 112 can rotate individually without receiving a driving force from the driving unit 16.

[0046] In this embodiment, all of the plurality of wheels 111 are drive wheels driven by the drive unit 16. By individually driving these plurality of wheels 111 by the drive unit 16, the main body 100 can move in all directions. That is, by rotating the plurality of wheels 111 at different angular velocities from each other, the main body 100 can turn in either the left or right direction, and by rotating at the same angular velocity as each other, it can travel straight. Therefore, the main body 100 can move forward, backward, and turn in the left and right directions (including in-place turning and over-the-ground turning). Further, the main body 100 can also move so as to draw a curved trajectory (that is, a curve).

[0047] The lifting body 102 is disposed above the vehicle body 101 so as to cover the central portion in the longitudinal direction (front-rear direction) of the upper surface of the vehicle body 101. Mounting tables 103 that protrude upward are provided on both sides in the front-rear direction of the lifting body 102. Here, the upper surface of each mounting table 103 serves as a loading surface for placing the object X1 to be conveyed when the object X1 to be conveyed is conveyed by the conveying device 1. At least a part of the upper surface (loading surface) of each mounting table 103 is provided with an anti-slip process. Therefore, the object X1 loaded on each mounting table 103 (holding portion) of the lifting body 102 is less likely to slip with respect to each mounting table 103, and it is possible to suppress the object X1 from slipping off the conveying device 1.

[0048] Here, the lifting body 102 is movable in the vertical direction with respect to the vehicle body 101 by the lifting unit 17 (that is, it can be lifted and lowered). For this reason, when the main body 100 enters below the object X1 to be conveyed and the lifting body 102 rises, the object X1 to be conveyed is lifted by each mounting table 103. In other words, the lifting unit 17 and the lifting body 102 realize a gripping mechanism 18 that grips the object X1 to be conveyed when conveying the object X1 to be conveyed. The main body 100 has a gripping mechanism 18 including the lifting unit 17 and the lifting body 102. Note that when the object X1 to be conveyed is lifted by each mounting table 103, the wheels X10 are in a state of being separated from the moving surface 300.

[0049] On one hand, when each mounting table 103 descends from the state of lifting the object X1 to be conveyed, and when each mounting table 103 moves away from the object X1 to be conveyed, the object X1 to be conveyed is lowered from the conveying device 1.

[0050] In the present embodiment, the power receiving connection portion 12 is disposed at a portion on the side surface of the vehicle body portion 101 that is covered by the lifting body 102 in the state where the lifting body 102 is descending. As shown in FIG. 11, the power receiving connection portion 12 includes a plus-side first contact plate 121 that is electrically connected to the plus electrode 14A of the power storage portion 14, and a minus-side second contact plate 122 that is electrically connected to the minus electrode 14B of the power storage portion 14. The first contact plate 121 and the second contact plate 122 are in the shape of an elongated flat plate in the front-rear direction, and are disposed on the side surface of the vehicle body portion 101 such that the longitudinal direction thereof is along the longitudinal direction of the vehicle body portion 101. Here, the first contact plate 121 and the second contact plate 122 are disposed on the side surface of the vehicle body portion 101 such that the plus-side first contact plate 121 is located on the upper side and the GND-side second contact plate 122 is located on the lower side (see FIG. 1).

[0051] Here, the power receiving connection portion 12 is covered by the side wall 104 of the lifting body 102. That is, a cover member 105 (see FIGS. 1 and 3) that can cover the power receiving connection portion 12 is configured by a portion of the side wall 104 that covers the power receiving connection portion 12. The cover member 105 is held by the main body portion 100 and is movable between a first position (the position of the cover member 105 in FIG. 3) that covers the power receiving connection portion 12 and a second position (the position of the cover member 105 in FIG. 1) that exposes the power receiving connection portion 12.

[0052] As described above, the gripping mechanism 18 has a mounting table 103 for placing the object X1 to be conveyed. By moving the mounting table 103 to the ascending position (the position of the mounting table 103 in FIG. 1) where the object X1 to be conveyed placed on the mounting table 103 is lifted, the object X1 to be conveyed is gripped, and the cover member 105 moves together with the gripping mechanism 18. Therefore, the mechanism for moving the cover member 105 can be shared by the gripping mechanism 18, and there is no need to separately provide a mechanism for moving the cover member 105, so the configuration of the conveying device 1 can be simplified.

[0053] Also, in a state where the mounting table 103 is moving to the raised position, the cover member 105 is located at the second position (a position where the power receiving connection portion 12 is exposed). Specifically, when the main body 100 moves to a position where the power supply connection portion 22 (see FIG. 7) of the charging device 2 and the power receiving connection portion 12 can be connected, the cover member 105 moves to the second position to expose the power receiving connection portion 12. Here, the cover member 105 "covering" the power receiving connection portion 12 means a state where the power receiving connection portion 12 is hidden by the cover member 105, at least when viewed from the connection direction (left - right direction). The "connection direction" is the direction in which the power supply connection portion 22 and the power receiving connection portion 12 are connected. Further, the charging position of the transport device 1 (main body 100) where the power supply connection portion 22 and the power receiving connection portion 12 can be connected includes the position of the transport device 1 in a state where the power supply connection portion 22 and the power receiving connection portion 12 are connected. Also, the "charging position" may include the position of the transport device 1 in a state where, when the power supply connection portion 22 is provided movably with respect to the charging device 2, the power receiving connection portion 12 and the power supply connection portion 22 can be electrically connected by moving the power supply connection portion 22 with respect to the charging device 2.

[0054] On the other hand, in a state where the mounting table 103 is moving to the lowered position (the position of the mounting table 103 shown in FIG. 3), the power receiving connection portion 12 can be covered by the cover member 105, and it is possible to prevent dust, moisture, etc. from adhering to the power receiving connection portion 12. Therefore, it is possible to reduce the possibility of dirt adhering to the power receiving connection portion 12 or rust occurring on the power receiving connection portion 12, and suppress the deterioration of the contact resistance of the electrical connection between the power receiving connection portion 12 and the power supply connection portion 22. Also, in a state where the mounting table 103 is moving to the lowered position, since the power receiving connection portion 12 is covered by the cover member 105, there is also an advantage that the possibility of the user touching the power receiving connection portion 12 can be reduced. Further, a part of the gripping mechanism 18 constitutes the cover member 105, and since the cover member 105 moves together with the gripping mechanism 18, there is no need to separately provide a mechanism for moving the cover member 105, the size increase of the transport device 1 can be suppressed, and the cost can be reduced by reducing the components of the transport device 1.

[0055] Here, in the main body 100 of the transport device 1, a control unit 10, a communication unit 11, a detection unit 15, a drive unit 16, a lifting unit 17, an opening / closing element 13, a power receiving connection unit 12, etc. are mounted.

[0056] The control unit 10 mainly consists of a computer system having one or more processors and a memory. By the processor of the computer system executing a program recorded in the memory of the computer system, the functions of the control unit 10 (for example, the functions of the output unit 19, etc.) are realized. The program may be recorded in the memory, may be provided through a telecommunication line such as the Internet, or may be provided by being recorded on a non-temporary recording medium such as a memory card.

[0057] The communication unit 11 communicates with the upper system 3 (the communication unit 31 of the upper system 3) via the relay device 4 and the communication network NT1. Here, the communication unit 11 communicates with the relay device 4 by a wireless communication method. In this embodiment, the communication unit 11 communicates with the relay device 4 by wireless communication using radio waves as a medium. Therefore, the transport device 1 and the upper system 3 indirectly communicate with each other at least via the communication network NT1 and the relay device 4. Here, for the communication between the communication unit 11 and the relay device 4, wireless communication conforming to standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power wireless (specific low-power wireless) that does not require a communication license is adopted.

[0058] The power storage unit 14 is a secondary battery such as a lithium-ion battery, for example, and is held in the main body 100. The power storage unit 14 is electrically connected to the power receiving connection unit 12 and is charged by the charging current input via the power receiving connection unit 12.

[0059] Here, the power storage unit 14 is electrically connected to the power receiving connection unit 12 via the opening / closing element 13 held by the main body unit 100. That is, the transport device 1 further includes an opening / closing element 13 that is electrically connected between the power receiving connection unit 12 and the power storage unit 14. The opening / closing element 13 is, for example, a relay and is switched between an on state and an off state by the control unit 10. In this embodiment, the contact of the opening / closing element 13 is connected between the first contact plate 121 on the positive side of the power receiving connection unit 12 and the positive electrode 14A of the power storage unit 14. However, the contacts of the opening / closing element 13 may be connected between the first contact plate 121 and the second contact plate 122 and the positive electrode 14A and the negative electrode 14B of the power storage unit 14, respectively. Here, when the power receiving connection unit 12 is electrically connected to the power supply connection unit 22 of the charging device 2 in a state where the opening / closing element 13 is switched to the on state, the power storage unit 14 is charged by the charging current input from the charging device 2 via the power receiving connection unit 12. Thus, in this embodiment, the opening / closing element 13 is electrically connected between the power receiving connection unit 12 and the power storage unit 14, and by switching the opening / closing element 13 to the off state except during charging, the power receiving connection unit 12 and the power storage unit 14 are electrically disconnected. Therefore, even when the lifting body 102 moves to the raised position and the power receiving connection unit 12 is exposed, the possibility of a voltage being generated between the first contact plate 121 and the second contact plate 122 of the power receiving connection unit 12 can be reduced except during charging (for example, during the transport of the object to be transported X1). Thus, the possibility of electric shock or the like occurring can be reduced even if the user touches the power receiving connection unit 12.

[0060] The drive unit 16 drives the drive wheels provided on the vehicle body 101 based on the control signal input from the control unit 10. The drive unit 16 directly or indirectly applies a driving force to the wheels 111 which are the drive wheels. In this embodiment, since all of the plurality of wheels 111 described above are drive wheels, the drive unit 16 applies a driving force to all of the plurality of wheels 111. The drive unit 16 is built into the vehicle body 101. The drive unit 16 includes, for example, an electric motor (motor), and indirectly applies the driving force generated by the electric motor to each wheel 111 via a gearbox, a belt, and the like. Further, the drive unit 16 may be configured to directly apply a driving force to each wheel 111, such as an in-wheel motor. The drive unit 16 drives each of the plurality of wheels 111 at a rotational direction and a rotational speed corresponding to the control signal based on the control signal input from the control unit 10.

[0061] The detection unit 15 detects the power storage amount of the power storage unit 14 based on, for example, the detected value of the output voltage of the power storage unit 14. In other words, the detection unit 15 detects the voltage value of the output voltage (charging voltage) of the power storage unit 14 as an electrical characteristic value that changes according to the power storage amount of the power storage unit 14. Note that the detection unit 15 may detect, as an electrical characteristic value, for example, the current value of the charging current flowing through the power storage unit 14 during charging.

[0062] Further, the detection unit 15 detects the position of the main body unit 100 and the situation around the main body unit 100. The "situation around" in the present disclosure may include the situation of an object such as the object to be conveyed X1 around the main body unit 100. Specifically, the detection unit 15 includes, for example, two ranging sensors 151 such as 2D-LiDAR (Light Detection and Ranging), and uses the two ranging sensors 151 to detect the situation around the main body unit 100. LiDAR is a sensor that measures the distance to an object based on the reflected light from an object (for example, the object to be conveyed X1) around the main body unit 100 using light (laser light). In the present embodiment, as shown in FIG. 9, one ranging sensor 151 is arranged at each of the front end portion on the left side of the main body unit 100 and the rear end portion on the right side of the main body unit 100. That is, when looking at the vehicle body portion 101 from above, one ranging sensor 151 is attached to a position symmetric with respect to the center position of the vehicle body portion 101 (for example, the front end portion on the left side and the rear end portion on the right side).

[0063] Here, the ranging sensor 151 located at the Right rear end of the main body unit 100 detects the situation around the main body unit 100 in a fan-shaped detection area SA1 with a central angle θ1 of approximately 270 degrees between a straight line L11 along the short side of the main body unit 100 and a straight line L12 along the long side of the main body unit 100. The ranging sensor 151 located at the Left front end of the main body unit 100 detects the situation around the main body unit 100 in a fan-shaped detection area SA2 with a central angle θ1 of approximately 270 degrees between a straight line L21 along the short side of the main body unit 100 and a straight line L22 along the long side of the main body unit 100. In FIG. 9, the two detection areas SA1 and SA2 are displayed with dot patterns of different densities, and the area where the detection areas SA1 and SA2 overlap is displayed with the dot pattern having the highest density. Since the two ranging sensors 151 can detect an object within a predetermined detection distance (for example, a distance of several m to several tens of m) within the detection areas SA1 and SA2, the situation around the main body unit 100 can be detected in all circumferential directions by the two ranging sensors 151.

[0064] In other words, the plurality of optical sensors (measurement range sensors 151) are arranged at positions symmetric with respect to the center position P1 of the main body 100 in a plane parallel to the moving surface 300. Since the plurality of optical sensors are arranged at positions symmetric with respect to the center position P1 of the main body 100, one of the plurality of optical sensors can detect an object in a region that is a blind spot of another optical sensor. The detection range can be expanded. Further, since each measurement range sensor 151 detects an object in fan-shaped detection areas SA1 and SA2 with a central angle θ1 of 270 degrees, the two measurement range sensors 151 can detect the surrounding situation in the entire circumferential direction of the main body 100.

[0065] In the present embodiment, two optical sensors (measurement range sensors 151) are arranged on the main body 100. However, the number of optical sensors (measurement range sensors 151) is not limited to two, and three or more optical sensors may be arranged on the main body 100. Each of the three or more optical sensors may detect the presence or absence of an object in a detection area obtained by dividing the peripheral area of the main body 100 by the number of optical sensors.

[0066] Note that the detection unit 15 may include sensors such as a sonar sensor, a radar (RADAR: Radio Detection and Ranging), or an image sensor, and may detect the surrounding situation of the main body 100 with these sensors. The sonar sensor is a sensor that measures the distance to the conveyed object X1 based on the reflected wave at the conveyed object X1 using sound waves such as ultrasonic waves. The radar is a sensor that measures the distance to an object such as the conveyed object X1 based on the reflected wave at the conveyed object X1 using electromagnetic waves (radio waves) such as microwaves. The image sensor has an imaging element such as a CMOS (Complementary Metal Oxide Semiconductor) sensor, for example, and captures the periphery of the conveying device 1 and outputs image data. The control unit 10 detects an object (for example, the conveyed object X1, etc.) existing around the conveying device 1 by performing image processing on the image data input from the image sensor.

[0067] Further, the detection unit 15 estimates the current position of the transport device 1 (main body 100) on the electronic map based on the detection information of surrounding objects by the measurement area sensor 151 and the electronic map information of a predetermined area where the transport device 1 moves. Note that the electronic map information of the predetermined area only needs to be stored in the storage device of the transport device 1.

[0068] Also, the detection unit 15, as the first detection unit, further detects the surrounding situation related to the electrical connection between the power reception connection part 12 and the power supply connection part 22 using one or more optical sensors (for example, the measurement area sensor 151). In the present embodiment, among the two measurement area sensors 151 provided in the main body 100, the measurement area sensor 151 arranged at the rear end part on the right side of the main body 100 can detect the presence or absence of an object in the area AR1 including the power reception connection part 12. Therefore, the detection unit 15 uses the measurement area sensor 151 arranged at the rear end part on the right side of the main body 100 to detect the surrounding situation related to the electrical connection between the power reception connection part 12 and the power supply connection part 22.

[0069] Also, the detection unit 15 of the present embodiment detects the surrounding situation at the timing (first timing) before the power supply connection part 22 is electrically connected to the power reception connection part 12 (that is, before charging), and the surrounding situation at the timing (second timing) when the power supply connection part 22 separates from the power reception connection part 12 after the charging is completed. Note that the detection unit 15 only needs to detect the surrounding situation at at least one of the first timing and the second timing, and may detect the surrounding situation only at either one of the first timing and the second timing.

[0070] For example, at the timing before charging, if the detection unit 15 does not detect an object other than the arm portion 210 of the charging device 2 (foreign object, dust, or human body) within the region AR1 using the ranging sensor 151, it is detected that the surrounding situation is normal. On the other hand, at the timing before charging, if the detection unit 15 detects an object other than the arm portion 210 of the charging device 2 within the region AR1 using the ranging sensor 151, it is determined that there is an object obstructing the connection between the power receiving connection portion 12 and the power feeding connection portion 22, and it is detected that the surrounding situation is abnormal. In this way, the detection unit 15 may detect the surrounding situation at the timing before the power storage unit 14 is charged by the charging device 2, and after confirming that the surrounding situation is normal before charging, the power storage unit 14 can be charged by the charging device 2. Further, when connecting the power receiving connection portion 12 of the transport device 1 to the power feeding connection portion 22 of the charging device 2, the possibility of a foreign object being caught between the power receiving connection portion 12 and the power feeding connection portion 22 can be reduced.

[0071] Also, at the timing after charging is completed (second timing), if the detection unit 15 does not detect the power supply connection part 22 that is connected to the power reception connection part 12 within the area AR1 using the ranging sensor 151, it is determined that the power supply connection part 22 has been normally detached from the power reception connection part 12. If the power supply connection part 22 has been normally detached from the power reception connection part 12, it can be determined that there is no problem with the next connection between the power supply connection part 22 and the power reception connection part 12. Therefore, the detection unit 15 detects that the surrounding situation is normal when the power supply connection part 22 has been normally detached from the power reception connection part 12. On the other hand, at the timing after charging is completed, if the detection unit 15 detects the power supply connection part 22 that is connected to the power reception connection part 12 within the area AR1 using the ranging sensor 151, it is determined that the power supply connection part 22 could not be normally detached from the power reception connection part 12. When the power supply connection part 22 could not be normally detached from the power reception connection part 12, the power supply connection part 22 remaining in the area AR1 may interfere with the conveyance device 1 leaving the charging device 2 or may interfere with the next connection between the power supply connection part 22 and the power reception connection part 12. Therefore, the detection unit 15 detects that the surrounding situation is abnormal when the power supply connection part 22 could not be normally detached from the power reception connection part 12 at the timing after charging is completed. In this way, the detection unit 15 may detect the surrounding situation at the timing after the power storage unit 14 is charged by the charging device 2. By detecting whether the surrounding situation is normal after charging, when it is detected that the surrounding situation is abnormal, for example, the user can be prompted to take measures to make the surrounding situation normal by the next charging.

[0072] Note that the detection unit 15 may also detect the surrounding situation when the power supply connection part 22 and the power reception connection part 12 are electrically connected during charging. For example, during charging, if the detection unit 15 does not detect that the power supply connection part 22 has separated from the power reception connection part 12, the detection unit 15 determines that the surrounding situation is normal. On the other hand, during charging, if the detection unit 15 detects that the power supply connection part 22 has separated from the power reception connection part 12, the detection unit 15 determines that the surrounding situation is abnormal.

[0073] In this way, since the detection unit 15 detects the surrounding situation related to the electrical connection between the power receiving connection unit 12 and the power supply connection unit 22, it is possible to determine whether the electrical connection between the power supply connection unit 22 and the power receiving connection unit 12 is properly made based on the detection result of the detection unit 15. Thereby, in the present embodiment, it is possible to realize the transport device 1 (mobile body) capable of improving the reliability of the electrical connection between the power supply connection unit 22 and the power receiving connection unit 12.

[0074] Here, the control unit 10 causes the communication unit 11 to transmit at a predetermined time interval (for example, an interval of several seconds to several tens of seconds) to the upper system 3 at least the information on the position of the transport device 1 and the information on the remaining charge amount of the power storage unit 14 among the detection results of the detection unit 15. Further, the control unit 10 outputs a control command to the drive unit 16 so that the transport device 1 autonomously travels while avoiding a collision with an object around the transport device 1 based on the detection result of the detection unit 15 (the current position and the surrounding situation of the transport device 1). When the transport device 1 is being charged by the charging device 2, the control unit 10 causes the communication unit 11 to periodically transmit the information on the electrical characteristic value (for example, the voltage value of the output voltage of the power storage unit 14) periodically detected by the detection unit 15 to the upper system 3.

[0075] In addition, when the detection unit 15 detects that there is an abnormality in the surrounding situation, the output unit 19 of the control unit 10 outputs the detection result of the detection unit 15 from the communication unit 11 to an external system (such as the upper system 3). That is, the transport device 1 of the present embodiment further includes an output unit 19 that outputs the detection result of the detection unit 15 when the detection unit 15 detects that there is an abnormality in the surrounding situation.

[0076] As a result, for example, in the upper-level system 3, it is possible to recognize that there is an abnormality in the surrounding situation based on the detection result output by the output unit 19. At this time, the upper-level system 3 can prompt the user to take measures to eliminate the abnormality in the surrounding situation by, for example, transmitting notification information for notifying the abnormality in the surrounding situation to a mobile terminal carried by the user. Based on the notification information for notifying the abnormality in the surrounding situation, the user can remove an object existing between the power supply connection part 22 and the power reception connection part 12, or detach the power supply connection part 22 from the power reception connection part 12 after the charging is completed, thereby eliminating the abnormality in the surrounding situation.

[0077] The elevating unit 17 moves (elevates) the elevating body 102 in the vertical direction between the raised position and the lowered position based on a control command from the control unit 10. The raised position of the elevating body 102 is the position of the elevating body 102 in a state where the carried object X1 is lifted by the mounting table 103 of the elevating body 102, and is the upper limit position of the movable range of the elevating body 102. The lowered position of the elevating body 102 is the position of the elevating body 102 in a state where the mounting table 103 of the elevating body 102 is separated from the carried object X1, and is the lower limit position of the movable range of the elevating body 102. Here, the elevating unit 17 and the elevating body 102 driven by the elevating unit 17 are a gripping mechanism 18 that grips the carried object X1 by lifting the carried object X1. The elevating unit 17 raises or lowers the upper surface (loading surface) of each mounting table 103 by moving the elevating body 102 relative to the vehicle body part 101 in the vertical direction. The elevating unit 17 is is housed in the main body part 100 so as to fit between the vehicle body part 101 and the elevating body 102.

[0078] In addition, in the present embodiment, as shown in FIG. 4, the object X1 to be conveyed is placed on the mounting tables 103 on both sides in the front-rear direction. Therefore, in the state of conveying the object X1 to be conveyed, in the main body 100, the mounting tables 103 on both sides in the front-rear direction and the intermediate portion thereof become the portion B1 (see FIG. 1) located below the object X1 to be conveyed. In the present embodiment, as shown in FIG. 1, on the side surface of the main body 100, the power receiving connection portion 12 is provided at the intermediate portion of the mounting tables 103 on both sides in the front-rear direction. Therefore, the power receiving connection portion 12 is provided on the side surface of the portion B1 located below the object X1 to be conveyed in the main body 100 in the state of conveying the object X1 to be conveyed. Thereby, even in the state of conveying the object X1 to be conveyed, that is, in the state where the elevating body 102 is raised to the raised position, since the object X1 to be conveyed covers the upper side of the power receiving connection portion 12, the possibility that the user contacts the power receiving connection portion 12 can be reduced. Further, since the object X1 to be conveyed covers the upper side of the power receiving connection portion 12, it becomes difficult for dust, moisture, etc. to adhere to the power receiving connection portion 12, and deterioration of the contacts (the first contact plate 121 and the second contact plate 122) of the power receiving connection portion 12 can be suppressed. Also, compared with the width dimension in the left-right direction of the conveying device 1, the width dimension in the left-right direction of the object X1 to be conveyed is is large, so the possibility that an object such as a human body contacts the power receiving connection portion 12 due to the object X1 to be conveyed can be further reduced.

[0079] (2.4) Charging device As shown in FIG. 2, the charging device 2 includes the above-described power supply connection portion 22, a charging circuit 23, and an abnormality detection portion 26. The charging device 2 further includes a control portion 20, a communication portion 21, a drive portion 24, a detection portion 25, a discharge circuit 28 (see FIG. 11), and a storage portion 29. The control portion 20 has the functions of the abnormality detection portion 26, the output portion 27, and the charging control portion 231. Here, the charging portion 230 is constituted by the charging circuit 23 and the charging control portion 231. Also, as shown in FIGS. 5 to 9, the charging device 2 further includes a housing 200.

[0080] The housing 200 is made of, for example, metal and is formed in a rectangular parallelepiped shape. However, the shape and size of the housing 200 can be appropriately changed. The housing 200 holds a power supply connection part 22, a control part 20, a communication part 21, a charging circuit 23, a drive part 24, a detection part 25, a discharge circuit 28, a memory part 29, and the like. In the present embodiment, in the housing 200, the power supply connection part 22 is arranged at the lower part of the side wall 201 along the longitudinal direction. The power supply connection part 22 is provided on an arm part 210 that is movably provided in the moving direction D1 (see FIG. 6) orthogonal to the side wall 201. Further, the power supply connection part 22 is arranged at a height position corresponding to the power reception connection part 12 in a state where the charging device 2 charges the transport device 1. Thereby, by simply moving the power supply connection part 22 along the horizontal direction, the power supply connection part 22 can be connected to the power reception connection part 12. Therefore, compared with the case where the power supply connection part 22 is also moved in the height direction, the mechanism for moving the power supply connection part 22 can be simplified. Also, since it is easier to align the power supply connection part 22 and the power reception connection part 12, the connection state between the power supply connection part 22 and the power reception connection part 12 is stable, and the reliability of the electrical connection between the power supply connection part 22 and the power reception connection part 12 can be improved.

[0081] Specifically, at the lower part of the side wall 201, a rectangular opening 202 is provided whose dimension in the left - right direction parallel to the moving surface 300 is longer than the dimension in the up - down direction orthogonal to the moving surface 300, and the arm part 210 is arranged in this opening 202. The arm part 210 has a square - tube - shaped cylinder body 211 with both ends open in the moving direction D1 and a plate part 212 held on the front side (the end close to the outside of the housing 200) of the cylinder body 211. Here, the arm part 210 can be moved along the moving direction D1 by an actuator such as a cylinder housed in the housing 200. That is, the arm part 210 is movable between a housed position where the entire arm part 210 is housed inside the housing 200 and a protruding position where the front - side part of the arm part 210 protrudes from the housing 200 (the position of the arm part 210 in FIG. 6).

[0082] In addition, on the arm portion 210, there are arranged two plus-side rod-shaped terminals (plus-side terminals) 221 that are electrically connected to the first contact plate 121 of the power receiving connection portion 12, and two minus-side rod-shaped terminals (minus-side terminals) 222 that are electrically connected to the second contact plate 122 of the power receiving connection portion 12. In other words, the power supply connection portion 22 includes a plus-side terminal (rod-shaped terminal 221) that is electrically connected to the plus electrode 14A of the power storage portion 14, and a minus-side terminal (rod-shaped terminal 222) that is electrically connected to the minus electrode 14B of the power storage portion 14. As shown in FIG. 7, the tip portions of these rod-shaped terminals 221 and 222 are inserted into through holes 213 provided in the plate portion 212. Here, the two rod-shaped terminals 221 are arranged at a height position corresponding to the first contact plate 121 and are spaced apart in the longitudinal direction of the housing 200. Also, the two rod-shaped terminals 222 are located below the two rod-shaped terminals 221, at a height position corresponding to the second contact plate 122, and are spaced apart in the longitudinal direction of the housing 200.

[0083] Note that the plate portion 212 is held in a state displaceable with respect to the cylindrical body 211 in the moving direction D1, and the plate portion 212 is pushed forward by an elastic member such as a coil spring. FIGS. 6 and 7 show a state in which the plate portion 212 has moved to the retracted position by being pushed backward against the elastic force of the elastic member.

[0084] Here, when the plate portion 212 is not in contact with the side surface of the conveying device 1, the plate portion 212 receives the elastic force of the elastic member and moves forward, so that the tips of the rod-shaped terminals 221 and 222 are located at positions retracted from the front surface of the plate portion 212. Therefore, the possibility of a user or the like contacting the rod-shaped terminals 221, 222, etc. can be reduced.

[0085] When the plate portion 212 contacts the side surface of the transfer device 1, the plate portion 212 is pushed backward at the portions around the first contact plate 121 and the second contact plate 122 on the side surface of the transfer device 1. As a result, as shown in FIGS. 6 and 7, the tips of the bar-shaped terminals 221 and 222 protrude from the front surface of the plate portion 212, so that the bar-shaped terminals 221 and 222 are electrically connected to the first contact plate 121 and the second contact plate 122, respectively, and the charging device 2 can charge the transfer device 1.

[0086] Further, the arm portion 210 is provided with a detection portion 25 for detecting a state in which the plate portion 212 is in contact with the side surface of the transfer device 1. The detection portion 25 has, for example, as shown in FIG. 7, a contact type touch switch 251 and a non-contact type detection sensor 252. The touch switch 251 detects that the plate portion 212 has moved backward when the button is pushed by the rear surface of the plate portion 212 when the plate portion 212 is pushed by the side surface of the transfer device 1 and moves backward. The detection sensor 252 is, for example, a photo interrupter. A light shielding plate 214 is attached to the rear surface of the plate portion 212, and when the plate portion 212 is pushed by the side surface of the transfer device 1 and moves backward, the detection sensor 252 detects that the plate portion 212 has moved backward by the light shielding plate 214 blocking the optical path of the photo interrupter.

[0087] In this way, the detection portion 25 can detect, using the touch switch 251 and the detection sensor 252, that the plate portion 212 has been pushed by the side surface of the transfer device 1 and has moved backward, that is, that the power receiving connection portion 12 and the power feeding connection portion 22 are connected. In other words, the charging device 2 includes a detection portion 25 (second detection portion) for detecting the connection state between the power receiving connection portion 12 and the power feeding connection portion 22. Note that the detection portion 25, which is the second detection portion, may detect that the power receiving connection portion 12 and the power feeding connection portion 22 are connected by either the touch switch 251 or the detection sensor 252. In this way, the detection portion 25 provided in the charging device 2 can more reliably detect the connection state between the power receiving connection portion 12 and the power feeding connection portion 22.

[0088] Further, the housing 200 is provided with a cover 203 that closes the opening 202 in a state where the arm portion 210 has moved to the storage position. The cover 203 is provided so as to be movable in the vertical direction with respect to the housing 200. The cover 203 is moved in the vertical direction between a position where it closes the opening 202 (the position of the cover 203 in FIG. 5) and a position where it opens the opening 202 (the position of the cover 203 in FIG. 6) by the drive unit 24. In this way, in a state where the arm portion 210 has moved to the storage position, the opening 202 of the housing 200 is closed by the cover 203. Therefore, it is possible to suppress dust or the like from adhering to and soiling the rod-shaped terminals 221 and 222 of the power supply connection portion 22 during non-charging, or moisture from adhering to the rod-shaped terminals 221 and 222 and causing rust, and it is possible to suppress an increase in the electrical contact resistance between the power supply connection portion 22 and the power reception connection portion 12.

[0089] The control unit 20 mainly includes a computer system having one or more processors and a memory. By the processor of the computer system executing a program recorded in the memory of the computer system, the functions of the control unit 20 (for example, the functions of the charge control unit 231, the abnormality detection unit 26, and the output unit 27) are realized. The program may be recorded in the memory, may be provided through an electrical communication line such as the Internet, or may be provided by being recorded on a non-temporary recording medium such as a memory card.

[0090] The communication unit 21 communicates with the upper system 3 (the communication unit 31 of the upper system 3) via the relay device 4 and the communication network NT1. Here, the communication unit 21 communicates with the relay device 4 by means of a wireless communication method. In the present embodiment, the communication unit 21 communicates with the relay device 4 by wireless communication using radio waves as a medium. Therefore, the charging device 2 and the upper system 3 indirectly communicate with each other via at least the communication network NT1 and the relay device 4. Here, for the communication between the communication unit 11 and the relay device 4, wireless communication compliant with standards such as Wi-Fi, Bluetooth, ZigBee, or low-power wireless (specific low-power wireless) that does not require a communication license is adopted. Further, in the present embodiment, while the charging device 2 is charging the transport device 1, the communication unit 21, which is the second communication unit, communicates with the upper system 3, and thereby receives, via the upper system 3, data on the electrical characteristic values of the power storage unit 14 transmitted from the transport device 1 being charged.

[0091] The charging circuit 23 converts, for example, an AC voltage input from an AC power source into a DC voltage in a state where the power supply connection portion 22 is electrically connected to the power reception connection portion 12, and charges the power storage unit 14 by passing a charging current through the power storage unit 14 via the power supply connection portion 22. A capacitor C1 for reducing high-frequency noise included in the output voltage is connected to the output portion of the charging circuit 23 (see FIG. 11).

[0092] The storage unit 29 includes an electrically rewritable non-volatile memory such as an EEPROM (Electrically Erasable and Programmable Read Only Memory). The storage unit 29 stores at least the past history information of the electrical characteristic values of the power storage unit 14. Here, the history information includes information on the electrical characteristic values when the charging device 2 has charged the power storage unit 14 in the past, and includes, for example, information regarding at least one of the output voltage of the power storage unit 14 and the charging current supplied to the power storage unit 14. Specifically, the history information includes, for example, the electrical characteristic values when the charging device 2 has successfully charged the power storage unit 14.

[0093] The charge control unit 231 controls the charging operation of the power storage unit 14 by the charging circuit 23. The charge control unit 231 controls the charging operation in which the charging circuit 23 charges the power storage unit 14 by controlling at least one of, for example, the charging current supplied by the charging circuit 23 to the power storage unit 14 and the voltage applied by the charging circuit 23 to the power storage unit 14. Here, the charging circuit 23 and the charge control unit 231 constitute a charging unit 230 that charges the power storage unit 14.

[0094] When the communication unit 21, which is the second communication unit, is in a receivable state in which it can receive the electrical characteristic value from the communication unit 11, which is the first communication unit, the charge control unit 231 controls the charging operation based on the electrical characteristic value received by the communication unit 21. Further, when the communication unit 21 is in a non-receivable state in which it cannot receive the electrical characteristic value from the communication unit 11, the charge control unit 231 controls the charging operation based on the past history information stored in the storage unit 29. Here, the charge control unit 231 controls the charging operation by adjusting at least one of the charging current supplied by the charging circuit 23 to the power storage unit 14 and the voltage applied to the power storage unit 14 based on the electrical characteristic value received by the communication unit 11 or the past history information.

[0095] As shown in FIG. 11, the discharge circuit 28 is electrically connected between the positive terminal (rod-shaped terminal 221) and the negative terminal (rod-shaped terminal 222). Specifically, the discharge circuit 28 has a resistor R10 electrically connected between the rod-shaped terminal 221 and the rod-shaped terminal 222. Since the capacitor C1 is connected to the output section of the charging circuit 23, a voltage is generated between the rod-shaped terminal 221 and the rod-shaped terminal 222 of the power supply connection section 22 by the electric charge stored in the capacitor C1 even after the charging circuit 23 stops charging. In the present embodiment, the resistor R10 is connected between the rod-shaped terminal 221 and the rod-shaped terminal 222, and the resistor R10 serves as a discharge path for the electric charge stored in the capacitor C1. Therefore, when the charging circuit 23 stops charging, the electric charge stored in the capacitor C1 is discharged through the resistor R10, so that the voltage generated between the rod-shaped terminals 221 and 222 can be reduced in a short time. The resistance value of the resistor R10 is set to a resistance value such that the current flowing through the resistor R10 is about 0.3% or less of the charging current flowing through the power storage section 14 during charging of the power storage section 14. Thereby, while reducing the loss generated in the resistor R10 during charging of the power storage section 14, the electric charge stored in the capacitor C1 can be discharged in a short time.

[0096] When the connection is established, if the switching element 13 is switched from the on state to the off state and the charging circuit 23 has stopped charging the power storage unit 14, the abnormality detection unit 26 detects the presence or absence of an abnormality in the switching element 13 based on the voltage V1 of the power supply connection unit 22. When the charging circuit 23 stops charging the power storage unit 14, the control unit 10 of the transfer device 1 performs control to switch the switching element 13 from the on state to the off state. Therefore, after the control unit 10 performs the process of switching the switching element 13 from the on state to the off state, the abnormality detection unit 26 detects the presence or absence of an abnormality in the switching element 13. The voltage V1 of the power supply connection unit 22 is the voltage generated between the positive terminal (rod-shaped terminal 221) and the negative terminal (rod-shaped terminal 222) of the power supply connection unit 22. The abnormality detection unit 26 detects the presence or absence of an abnormality in the switching element 13 by comparing the magnitude of the voltage V1 of the power supply connection unit 22 with the determination reference value. Here, the determination reference value is set to be higher than the voltage V1 when the switching element 13 is in the off state and lower than the voltage V1 (the voltage across the power storage unit 14) when the switching element 13 is in the on state when the charging circuit 23 has stopped charging the power storage unit 14 in the connected state. If the voltage V1 of the power supply connection unit 22 is lower than the determination reference value, the abnormality detection unit 26 determines that the switching element 13 is normal. On the other hand, if the voltage V1 of the power supply connection unit 22 is equal to or higher than the determination reference value, the abnormality detection unit 26 determines that the switching element 13 is abnormal.

[0097] The output unit 27 outputs detection information for reflecting the detection result of the abnormality detection unit 26 in the operation of the electronic device (transfer device 1). Specifically, the output unit 27 causes the communication unit 21 to transmit the detection information to the upper-level system 3. When the upper-level system 3 receives the detection information indicating that the switching element 13 is abnormal from the charging device 2, it changes the operation of the transfer device 1 based on this detection information. That is, the upper-level system 3 reflects the detection result of the abnormality detection unit 26 in the operation of the electronic device (transfer device 1).

[0098] For example, when the upper system 3 receives detection information indicating that there is an abnormality in the opening / closing element 13, the upper system 3 sends a control command to stop the operation of the conveying device 1 to the conveying device 1 to stop the conveying device 1. Thereafter, when the upper system 3 receives a notification signal indicating that the repair of the opening / closing element 13 is completed from, for example, a mobile terminal carried by the user, the upper system 3 sends a control command to resume the operation of the conveying device 1 to the conveying device 1. Thereby, until the repair of the opening / closing element 13 is completed, the operation of the conveying device 1 can be stopped, and it is possible to avoid the conveying device 1 continuing to operate while the power receiving connection portion 12 is in a live state.

[0099] In addition, when the upper system 3 receives detection information indicating that there is an abnormality in the opening / closing element 13, the upper system 3 may send a repair request to a mobile terminal carried by the user or send a notification command for notifying the conveying device 1 of the abnormality of the opening / closing element 13. Here, when the conveying device 1 receives the notification command from the upper system 3, the conveying device 1 lights a display lamp provided in the main body portion 100 or outputs an audio message or the like from a speaker provided in the main body portion 100 to notify the user of the abnormality of the opening / closing element 13. At this time, while notifying the conveying device 1 or the mobile terminal of the abnormality of the opening / closing element 13, the upper system 3 may cause the conveying device 1 to continue to perform the conveying operation of the object X1 to be conveyed. Thereby, the conveying device 1 can continue to perform the work of conveying the object X1 to be conveyed while notifying the user that a voltage is generated in the power receiving connection portion 12.

[0100] The drive unit 24 moves the arm unit 210 forward or backward in the moving direction D1 by driving an actuator such as a cylinder based on a control command input from the control unit 10. Further, the drive unit 24 moves the cover 203 in the vertical direction by driving an actuator such as a motor or a cylinder.

[0101] Note that a display lamp 205 for optically displaying the operation state and an operation unit 206 such as a power switch and an emergency stop switch are provided on the ceiling of the housing 200.

[0102] (3) Operation Next, the operation of the charging system A1 of this embodiment will be described. First, a basic operation example of the charging system A1 will be described. Here, as shown in FIG. 4, the case where the object to be conveyed X1 (roll box pallet) placed in the pallet storage area is conveyed by the conveying device 1 will be exemplified.

[0103] For example, when the control unit 10 of the conveying device 1 receives a command (conveying command) from the upper system 3 via the communication unit 11, based on the conveying command and the electronic map information, the conveying device 1 is moved to the pallet storage area where the object to be conveyed X1 is placed.

[0104] When the conveying device 1 arrives at the pallet storage area, the control unit 10 determines that it has arrived at the pallet storage area based on the current position detected by the detection unit 15, and stops the conveying device 1. The control unit 10 moves the conveying device 1 to the gap below the object to be conveyed X1 based on the position of the object to be conveyed X1 detected by the detection unit 15 (such as the measurement range sensor 151 or the image sensor). Specifically, the control unit 10 moves the conveying device 1 to a position where the mounting tables 103 on both sides are located below the object to be conveyed X1 based on the position of the wheels X10 of the object to be conveyed X1 detected by the detection unit 15. Then, the control unit 10 controls the lifting unit 17 to move the lifting body 102 to the raised position, thereby gripping the object to be conveyed X1 in a lifted state. Note that in the lifted state of the object to be conveyed X1, the wheels X10 of the object to be conveyed X1 are separated from the moving surface 300.

[0105] After gripping the object to be conveyed X1, the control unit 10 moves the conveying device 1 to the destination where the object to be conveyed X1 is to be conveyed based on the control command from the upper system 3 and the electronic map information.

[0106] When the transport device 1 arrives at the destination, the control unit 10 determines that it has arrived at the destination based on the current position detected by the detection unit 15, and stops the transport device 1. The control unit 10 controls the lifting unit 17 to move the lifting body 102 to the lowered position, thereby lowering the object X1 to be transported in place. When the lifting body 102 moves to the lowered position, the control unit 10 moves the transport device 1 from the position below the object X1 to a predetermined standby position and waits for the next control command from the upper system 3.

[0107] Here, the control unit 10 causes the communication unit 11 to periodically transmit to the upper system 3 the information on the current position of the transport device 1 detected by the detection unit 15 and the information on the remaining charge amount of the power storage unit 14. Based on the information on the remaining charge amount received from each transport device 1, the upper system 3 manages the remaining charge amount of each transport device 1 and outputs a command instructing a charging operation to be performed on the transport device 1 whose remaining charge amount has dropped below the first threshold value. Below, the operation of the charging system A1 for charging each transport device 1 will be described with reference to FIG. 10.

[0108] In the transport device 1, periodically, the detection unit 15 detects the current position of the transport device 1, and the control unit 10 detects the remaining charge amount of the power storage unit 14 (S1). The control unit 10 causes the communication unit 11 to transmit to the upper system 3 the detection result (current position) of the detection unit 15 and the information on the remaining charge amount of the power storage unit 14 at a predetermined time interval (S2).

[0109] When the communication unit 31 of the upper system 3 receives (acquires) the information on the detection result from the transport device 1 (S3), the control unit 30 performs a determination process of comparing the remaining charge amount of the power storage unit 14 of the transport device 1 with a predetermined first threshold value (S4). Note that the transport device 1 transmits the detection result of the detection unit 15 to the upper system 3 at a predetermined time interval. Although the description is omitted below, the processes from S1 to S4 are repeatedly executed at a predetermined time interval.

[0110] When the control unit 30 determines as a result of the determination process in S4 that the remaining battery level of any one of the transport devices 1 has become equal to or less than the first threshold value, the control unit 30 causes the communication unit 31 to transmit (output) a charging command to the transport device 1 whose remaining battery level has become equal to or less than the first threshold value (hereinafter, this transport device 1 is also referred to as the transport device 1 to be charged) (S5).

[0111] When the communication unit 11 of the transport device 1 to be charged receives a charging command from the upper system 3, the control unit 10 controls the drive unit 16 to move the transport device 1 to a charging position where the power supply connection unit 22 and the power reception connection unit 12 can be connected (S6). When the transport device 1 arrives at the charging position (the position of the transport device 1 in FIGS. 8 and 9), the control unit 10 performs a detection process for obstacles that will cause an obstacle when connecting the power supply connection unit 22 and the power reception connection unit 12 based on the detection result of the detection unit 15 (S7). Specifically, the detection unit 15 detects the presence or absence of an obstacle in the region AR1 based on the detection result of the measurement range sensor 151 at the rear end on the right side of the main body unit 100.

[0112] Here, when an obstacle exists, the transport device 1 waits at the charging position until the obstacle is removed. If the obstacle remains present for a certain period of time, a notification signal is transmitted from the communication unit 11 to the charging device 2 and the upper system 3 (S8, S8A). When the communication unit 21 of the charging device 2 receives a notification signal notifying the presence of an obstacle, the control unit 20 does not perform a process of moving the arm unit 210 to the protruding position, but notifies the user of the presence of the obstacle by, for example, lighting or flashing the indicator lamp 205, and prompts the user to remove the obstacle. Note that the control unit 30 of the upper system 3 may transmit a notification signal from the communication unit 31 to a portable terminal (such as a smartphone and a tablet PC) carried by the user, and the user can receive the notification signal using the portable terminal.

[0113] On the one hand, when there is no obstacle, the control unit 10 of the transport device 1 exposes the power receiving connection part 12 by raising the lifting body 102 (cover member 105) of the lifting part 17 (S9). Further, the control unit 10 of the transport device 1 causes the communication unit 11 to transmit a charging preparation command for instructing to perform charging preparation to the charging device 2 (S10). When the communication unit 21 of the charging device 2 receives the charging preparation command, the control unit 20 controls the drive unit 24 to raise the cover 203, and then moves the arm part 210 to the protruding position as shown in FIGS. 8 and 9 (S11).

[0114] At this time, the control unit 20 determines whether or not the power supply connection part 22 and the power receiving connection part 12 are connected based on the detection result of the detection unit 25 (S12). Specifically, the control unit 20 determines whether or not the power supply connection part 22 and the power receiving connection part 12 are connected based on the detection results of the touch switch 251 and the detection sensor 252. When the control unit 20 determines that the power supply connection part 22 and the power receiving connection part 12 are not connected, the control unit 20 controls the drive unit 24 to continue the movement of the arm part 210. On the other hand, when the control unit 20 determines that the power supply connection part 22 and the power receiving connection part 12 are connected, the control unit 20 controls the drive unit 24 to stop the arm part 210. Further, the control unit 10 switches the opening / closing element 13 from the off state to the on state (S13), and electrically connects the power storage unit 14 and the power receiving connection part 12. Note that the control unit 10 controls the opening / closing element 13 to be in the off state except during charging, and electrically insulates between the power receiving connection part 12 and the power storage unit 14. Also, the control unit 20 of the charging device 2 causes the charging circuit 23 to start charging the power storage unit 14 (S14).

[0115] Here,[ The control unit 30 of the upper system 3 periodically detects the remaining charge amount of the power storage unit 14, and the control unit 30 determines that charging is completed when the remaining charge amount of the power storage unit 14 becomes equal to or greater than a predetermined second threshold value that is greater than the first threshold value (S15), and notifies a charging end command for notifying the completion of charging of the power storage unit 14 from the communication unit 31 to the transport device 1 (S16). When the control unit 10 of the transport device 1 receives the charging end command from the upper system 3, the control unit 10 transmits (outputs) this charging end command from the communication unit 11 to the charging device 2.

[0116] When the communication unit 21 of the charging device 2 receives a charging end command, the control unit 20 stops the charging by the charging circuit 23 (S17). Further, when the charging by the charging device 2 stops, the transport device 1 turns off the switching element 13 (S18). Thereafter, the abnormality detection unit 26 of the control unit 20 determines whether or not the switching element 13 is welded by determining the magnitude relationship between the voltage V1 generated between the rod-shaped terminals 221 and 222 of the power supply connection unit 22 and a predetermined determination reference value (S19). Here, when the charging circuit 23 stops charging in the connected state, if the switching element 13 is normally switched to the off state, the charge stored in the capacitor C1 discharges through the resistor R10 of the discharge circuit 28, and thus the voltage V1 of the power supply connection unit 22 rapidly drops below the determination reference value. On the other hand, when the charging circuit 23 stops charging in the connected state, if the switching element 13 fails to switch to the off state due to an abnormality of the switching element 13, the voltage V1 of the power supply connection unit 22 becomes equal to the output voltage of the power storage unit 14, and the voltage V1 at this time becomes higher than the determination reference value. Therefore, if the voltage V1 of the power supply connection unit 22 is less than the determination reference value, the abnormality detection unit 26 of the control unit 20 determines that the switching element 13 is not welded, and if the voltage V1 of the power supply connection unit 22 is greater than or equal to the determination reference value, the abnormality detection unit 26 determines that the switching element 13 is welded. In the present embodiment, the abnormality detection unit 26 detects the presence or absence of an abnormality of the switching element 13 based on the voltage V1 of the power supply connection unit 22 at the timing after the charging circuit 23 has charged the power storage unit 14 in the connected state. At the timing after the charging circuit 23 has charged the power storage unit 14, since the voltage V1 of the power supply connection unit 22 is charged to be greater than or equal to the determination reference value, the presence or absence of an abnormality of the switching element 13 can be reliably detected.

[0117] Then, after the control unit 20 controls the drive unit 24 to move the arm unit 210 to the storage position (S20), the control unit 20 performs a notification process of transmitting, from the communication unit 21 to the transport device 1, a notification signal notifying the determination result of the welding determination and the completion of the storage of the arm unit 210 (S21).

[0118] When the communication unit 11 of the transfer device 1 receives a communication signal from the charging device 2, the control unit 10 checks the storage state of the arm unit 210.

[0119] Based on the detection result of the detection unit 15 (for example, the detection result of the measurement range sensor 151 on the charging device 2 side or the image data of the image sensor, etc.), the control unit 10 performs a detection process for detecting the surrounding situation of the transfer device 1. Specifically, the detection unit 15 detects the presence or absence of an object in the area AR1 based on the detection result of the measurement range sensor 151 at the rear end of the right side of the main body unit 100, and determines whether the arm unit 210 is normally stored (S22). The control unit 10 determines whether the arm unit 210 is normally stored. If the arm unit 210 is not stored even after a certain period of time has elapsed, the control unit 10 causes the communication unit 11 to transmit an abnormality of the arm unit 210 to the upper system 3 and the charging device 2 (S23, S24).

[0120] Here, when the arm unit 210 is not normally stored, when the communication unit 21 of the charging device 2 receives a notification command, the control unit 20 notifies the user that the arm unit 210 is not normally stored, for example, by lighting or flashing the display lamp 205, and prompts the user to take action. Note that the upper system 3 may transmit a notification command for notifying the abnormality of the arm unit 210 to the mobile terminal carried by the user, and the user can receive a notification signal using the mobile terminal.

[0121] On the other hand, when the arm unit 210 is normally stored, the control unit 10 controls the lifting unit 17 to lower the lifting body 102 (cover member 105) (S25), and the power receiving connection unit 12 is covered with the cover member 105. In addition, the control unit 30 of the upper system 3 causes the communication unit 31 to transmit a control command for instructing detachment from the charging position to the transfer device 1. When the communication unit 11 of the transfer device 1 receives the control command from the upper system 3, the control unit 10 controls the drive unit 16 to move the transfer device 1 from the charging position to, for example, a predetermined standby position (S26), and waits for the control command from the upper system 3 at the standby position.

[0122] Here, the charging operation of S14 by the charging device 2 will be described in more detail with reference to FIGS. 12 and 13.

[0123] The control unit 20 of the charging device 2 periodically (for example, at time intervals of several seconds to several tens of seconds) performs a reception process of controlling the communication unit 21 to receive electrical characteristic values from the transport device 1 via the upper system 3 (S31).

[0124] If the reception process by the communication unit 21 is successful (S32: Yes), that is, if it is in a receivable state, the charge control unit 231 controls the charging operation by the charging circuit 23 based on the electrical characteristic values received by the communication unit 21 (S33). In this first charge control step, since the charge control unit 231 controls the charging operation of the charging circuit 23 based on the electrical characteristic values of the power storage unit 14 during charging, optimal charge control can be performed according to the state of the power storage unit 14.

[0125] On the other hand, if the reception process by the communication unit 21 fails (S32: No), that is, if it is in a non-receivable state, the charge control unit 231 controls the charging operation by the charging circuit 23 based on the past history information stored in the storage unit 29 (S34). In this second charge control step, the charge control unit 231 estimates the current electrical characteristic values based on the past history information stored in the storage unit 29, the non-receivable state, and the electrical characteristic values received immediately before the non-receivable state, and controls the charging operation of the charging circuit 23 based on this estimation result.

[0126] For example, in the storage unit 29, as past history information, information on the electrical characteristic values when the power storage unit 14 could be charged normally is stored. Specifically, data representing the time change of the output voltage (charging voltage) of the power storage unit 14 with respect to the elapsed time since the start of charging is stored. Note that the above-described past history information may be information on the electrical characteristic values when the power storage unit 14 of the transport device 1 during charging was charged in the past, or may be information on the electrical characteristics when the power storage unit 14 of a transport device 1 different from the transport device 1 during charging was charged in the past. Here, when the past history information includes information on the electrical characteristic values when the power storage unit 14 of a plurality of transport devices 1 was charged in the past, the information on the electrical characteristic values may be stored in the storage unit 29 in association with each of the plurality of transport devices 1.

[0127] Here, the control operation by the charge control unit 231 will be described with reference to FIG. 13. FIG. 13 is a graph showing the relationship between the elapsed time since the start of charging and the charging voltage of the power storage unit 14. The dotted line E2 in FIG. 13 corresponds to the past history information stored in the storage unit 29 and shows the change pattern of the charging voltage when charging is successful. This change pattern is the change pattern of the charging voltage when the reception disabled state does not occur.

[0128] Also, the solid line E1 in FIG. 13 shows the data of the charging voltage received by the communication unit 21 during charging of a certain transport device 1. Since the reception disabled state exists during the period from time point t1 to time point t2, the data of the charging voltage is missing.

[0129] Since it is in a receivable state from time point t0 to time point t1, the charge control unit 231 controls the charging operation of the charge circuit 23 based on the electrical characteristic value (charging voltage of the power storage unit 14) received by the communication unit 21.

[0130] When it becomes unreceivable at time t1, the charge control unit 231 estimates the current charging voltage based on the change pattern of the charging voltage based on the past history information stored in the storage unit 29 and the charging voltage of the power storage unit 14 immediately before the unreceivable state occurs. Then, the charge control unit 231 controls the charging operation by the charging circuit 23 based on the estimation result of the current charging voltage. Thereby, even when the charging device 2 enters an unreceivable state where it cannot receive the electrical characteristic value of the power storage unit 14 from the transport device 1 during charging, it can continue the charging operation of the power storage unit 14 based on the past history information stored in the storage unit 29.

[0131] Also, when the unreceivable state is resolved and it becomes receivable at time t2, the charge control unit 231 controls the charging operation by the charging circuit 23 based on the electrical characteristic value (charging voltage of the power storage unit 14) received by the communication unit 21. Thus, when returning from the unreceivable state to the receivable state, the charging unit 230 performs charge control based on the electrical characteristic value received by the communication unit 21, which is the second communication unit, so that it can perform a charging operation in accordance with the current charging state of the power storage unit 14.

[0132] In this embodiment, the past history information stored in the storage unit 29 may be the electrical characteristic value when the charging unit 230 last charged the power storage unit 14. When the unreceivable state occurs, the charge control unit 231 controls the charging operation by the charging circuit 23 based on the electrical characteristic value when the power storage unit 14 was last charged, so that the charging of the power storage unit 14 can be continued.

[0133] In addition, in the present embodiment, the past history information stored in the storage unit 29 may include the electrical characteristic values when the transport device 1 (electronic device) being charged was charged in the past. When charging the power storage unit 14, there may be variations in the charging pattern for each power storage unit 14. Therefore, in the storage unit 29, for each of the plurality of transport devices 1, the charging pattern (past history information) when charging the power storage unit 14 is stored together with the network ID of each transport device 1. When a reception failure state occurs, the charge control unit 231 reads out the charging pattern (past history information) corresponding to the transport device 1 being charged from the storage unit 29, and estimates the current charging voltage based on this charging pattern and the charging voltage of the power storage unit 14 immediately before the reception failure state occurs. Then, the charge control unit 231 controls the charging operation by the charging circuit 23 based on the estimation result of the charging voltage, and can perform charge control according to the transport device 1 (power storage unit 14) being charged.

[0134] Note that the operation of the charging system A1 described above is merely an example, and the order of processing may be appropriately changed, or processing may be appropriately added or omitted.

[0135] (4) Modification The above embodiment is merely one of various embodiments of the present disclosure. The above embodiment can be variously modified according to the design and the like as long as the object of the present disclosure can be achieved.

[0136] Functions similar to those of the charging system A1 in the present disclosure may be embodied in a charging method, a computer program, a non-transitory recording medium storing the program, or the like. The charging method according to one aspect includes a lowering step and a raising step. The transfer device 1 includes a gripping mechanism 18 including a mounting table 103 for mounting the object to be transferred X1, and a power receiving connection portion 12 that can be connected to the power supply connection portion 22 of the charging device 2. In the lowering step, as the gripping mechanism 18 of the transfer device 1 moves to a lowering position away from the object to be transferred X1, a cover member 105, which is a part of the gripping mechanism 18, is moved to a first position covering the power receiving connection portion 12. In the raising step, when the transfer device 1 moves to a charging position where the power supply connection portion 22 and the power receiving connection portion 12 can be connected, as the gripping mechanism 18 moves to a raising position for lifting the object to be transferred X1, the cover member 105 is moved to a second position exposing the power receiving connection portion 12.

[0137] Further, the charging method according to one aspect includes a connection step (S11) and a charging step (S14), and further includes an abnormality detection step (S19). In the connection step (S11), the power supply connection portion 22 is electrically connected to the power receiving connection portion 12 of the transfer device 1 having an opening / closing element 13 between the power receiving connection portion 12 and the power storage portion 14. In the charging step (S14), in a connection state where the power receiving connection portion 12 is electrically connected to the power supply connection portion 22, the power storage portion 14 is charged via the power supply connection portion 22. In the abnormality detection step (S19), in the connection state, when the opening / closing element 13 is switched from the on state to the off state and the charging of the power storage portion 14 is stopped, the presence or absence of an abnormality of the opening / closing element 13 is detected based on the voltage V1 of the power supply connection portion 22. Note that the charging method according to one aspect may further include a notification step (S21) of notifying the external system (upper system 3) of the detection result in the detection step. The (computer) program according to one aspect is a program for causing a computer system to execute the connection step, the charging step, and the detection step.

[0138] Further, a charging method according to one aspect includes a receiving step (S31) of receiving, from the transport device 1 having the power storage unit 14, an electrical characteristic value that changes according to the power storage amount of the power storage unit 14, and a charging step of charging the power storage unit 14. The charging step includes a first charge control step (S33) when in a receivable state where the electrical characteristic value can be received from the transport device 1, and a second charge control step (S34) when in a non-receivable state where the electrical characteristic value cannot be received from the transport device 1. In the first charge control step (S33), the charging operation is controlled based on the electrical characteristic value received from the transport device 1. In the second charge control step (S34), the charging operation is controlled based on at least past history information.

[0139] The charging system A1 in the present disclosure, specifically, the transport device 1, the charging device 2, and the upper system 3 constituting the charging system A1 include a computer system. The computer system mainly consists of a processor and a memory as hardware. By the processor executing the program recorded in the memory of the computer system, the functions as the transport device 1, the charging device 2, and the upper system 3 in the present disclosure are realized. The program may be pre-recorded in the memory of the computer system, may be provided through a telecommunication line, or may be provided by being recorded in a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by the computer system. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). Here, integrated circuits such as the IC or LSI mentioned here have different names depending on the degree of integration, and include integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Furthermore, for an FPGA (Field-Programmable Gate Array) that is programmed after the manufacture of the LSI, or a logic device capable of reconfiguring the bonding relationship inside the LSI or reconfiguring the circuit section inside the LSI, it can also be adopted as a processor. The plurality of electronic circuits may be integrated on one chip, or may be provided distributed on a plurality of chips. The plurality of chips may be integrated in one device, or may be provided distributed in a plurality of devices. The computer system mentioned here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

[0140] Also, it is not an essential configuration of the transport device 1 that a plurality of functions in the transport device 1 are integrated in one housing, and the components of the transport device 1 may be provided dispersedly in a plurality of housings. Similarly, it is not an essential configuration of the charging device 2 that a plurality of functions in the charging device 2 are integrated in one housing, and the components of the charging device 2 may be provided dispersedly in a plurality of housings. Further, at least some functions of the transport device 1 and the charging device 2, for example, some functions of the control unit 10 of the transport device 1 and the control unit 20 of the charging device 2 may be realized by a cloud (cloud computing) or the like.

[0141] In addition, in the above embodiment, the abnormality detection unit 26 may detect the presence or absence of an abnormality of the switching element 13 based on the voltage V1 of the power supply connection unit 22 at the first timing in the connected state. Thereby, the abnormality detection unit 26 can detect the presence or absence of an abnormality at an earlier stage before the charging circuit 23 charges the power storage unit 14. Further, the abnormality detection unit 26 may detect the presence or absence of an abnormality of the switching element 13 based on the voltage V1 of the power supply connection unit 22 at both the first timing and the second timing in the connected state.

[0142] In the above embodiment, the discharge circuit 28 is constituted by the resistor R10, but the configuration of the discharge circuit 28 can be changed as appropriate.

[0143] In the above embodiment, the transport device 1 transports by lifting the object X1 to be transported, but it is not intended to be limited thereto. For example, the transport device 1 may be a mode of transporting by pulling the object X1 to be transported, a mode of transporting by pushing the object X1 to be transported, a mode of transporting by gripping the object X1 to be transported, or a mode of transporting by adsorbing the object X1 to be transported.

[0144] Furthermore, in the above-described embodiment, the moving body charged by the charging device 2 is the conveying device 1 such as an automated guided vehicle (AGV), but the moving body may include a mobile robot, a drone, and the like. The mobile robot is, for example, a wheel-type or endless track-type robot. Also, the moving body may not have a function of conveying the object X1 to be conveyed, and may have a function of performing operations such as picking, welding, mounting, display, customer service, security, assembly, or inspection. Further, the electronic device charged by the charging device 2 is not limited to a moving body that moves by its own wheels 111 or the like, and may be a device carried by a user like a mobile terminal such as a smartphone.

[0145] In the above embodiment, the cover member 105 is constituted by a part of the gripping mechanism 18, but the cover member 105 may be constituted by a member different from the gripping mechanism 18. Further, the cover member 105 may be provided so as to move between a first position and a second position by a mechanism different from the gripping mechanism 18.

[0146] In the above embodiment, the opening / closing element 13 is, for example, a mechanical relay, but the opening / closing element 13 is not limited to a mechanical relay, and may be a semiconductor relay or the like.

[0147] (Summary) As described above, the conveying device (1) of the first aspect includes a power receiving connection portion (12) connectable to the power feeding connection portion (22) of the charging device (2), a power storage portion (14), a movable main body portion (100), and a cover member (105). The power storage portion (14) is charged by a charging current input through the power receiving connection portion (12). The main body portion (100) holds the power receiving connection portion (12) and the power storage portion (14). The cover member (105) is held by the main body portion (100) and is movable between a first position covering the power receiving connection portion (12) and a second position exposing the power receiving connection portion (12). When the main body portion (100) moves to a charging position where the power feeding connection portion (22) and the power receiving connection portion (12) can be connected, the cover member (105) moves to the second position to expose the power receiving connection portion (12).

[0148] According to this aspect, when the cover member (105) is moved to the first position, since the cover member (105) covers the power receiving connection portion (12), it is possible to suppress dust and moisture from adhering to the power receiving connection portion (12). Thereby, deterioration of the power receiving connection portion (12) can be suppressed, and deterioration of the electrical contact resistance between the charging device (2) and the transport device (1) can be suppressed.

[0149] In the transport device (1) of the second aspect, in the first aspect, the main body portion (100) has a gripping mechanism (18) for gripping the object to be transported (X1) when transporting the object to be transported (X1), and the cover member (105) is a part of the gripping mechanism (18).

[0150] According to this aspect, the cover member (105) can be also used as a part of the gripping mechanism (18).

[0151] In the transport device (1) of the third aspect, in the second aspect, the gripping mechanism (18) has a mounting table (103) for mounting the object to be transported (X1). The gripping mechanism (18) grips the object to be transported (X1) by moving the mounting table (103) to an ascending position where the mounting table (103) lifts the object to be transported (X1) placed on the mounting table (103), and the cover member (105) moves together with the gripping mechanism (18).

[0152] According to this aspect, the mechanism for moving the cover member (105) can be also used as the gripping mechanism (18).

[0153] In the transport device (1) of the fourth aspect, in the third aspect, the cover member (105) is located at the second position while the mounting table (103) is moved to the ascending position.

[0154] According to this aspect, by moving the mounting table (103) to the ascending position, the cover member (105) can be moved to the second position.

[0155] In the conveying device (1) of the fifth aspect, in any of the first to fourth aspects, an opening / closing element (13) connected between the power receiving connection part (12) and the power storage part (14) is further provided.

[0156] According to this aspect, by turning off the opening / closing element (13) during non-charging, it is possible to switch to a state where no voltage is generated in the power receiving connection part (12).

[0157] In the conveying device (1) of the sixth aspect, in any of the first to fifth aspects, in a state of conveying the object to be conveyed (X1), a power receiving connection part (12) is provided on a side surface of a part (B1) located below the object to be conveyed (X1) in the main body part (100).

[0158] According to this aspect, in a state of conveying the object to be conveyed (X1), since the power receiving connection part (12) is covered by the object to be conveyed (X1), the possibility of a human body or the like coming into contact with the power receiving connection part (12) can be reduced.

[0159] In the conveying device (1) of the seventh aspect, in any of the first to sixth aspects, a detection part (15) is further provided. The detection part (15) detects the surrounding situation related to the electrical connection between the power receiving connection part (12) and the power supply connection part (22) using one or more optical sensors (151). The one or more optical sensors (151) are also used as sensors for detecting the existence position of the main body part (100). The main body part (100) moves along the moving surface (300). The plurality of optical sensors (151) are arranged at positions symmetric with respect to the center position (P1) of the main body part (100) in a plane parallel to the moving surface (300).

[0160] According to this aspect, the surrounding situation of the main body part (100) can be optically detected by a plurality of optical sensors (151) arranged at positions symmetric with respect to the center position (P1) of the main body part (100). Therefore, based on the detection result of the detection part (15), it becomes possible to grasp whether the electrical connection between the power supply connection part (22) and the power reception connection part (12) is normally performed. Thus, there is an advantage that the reliability of the electrical connection between the power supply connection part (22) and the power reception connection part (12) can be improved.

[0161] In the transport device (1) of the eighth aspect, in the seventh aspect, the detection unit (15) detects the surrounding situation at at least one of the first timing before the power storage unit (14) is charged by the charging device (2) and the second timing after the power storage unit (14) is charged by the charging device (2).

[0162] According to this aspect, when the detection unit (15) detects the surrounding situation at the first timing, the power storage unit (14) can be charged by the charging device (2) after confirming that the surrounding situation is normal before charging. When the detection unit (15) detects that the surrounding situation is abnormal at the second timing, for example, it is possible to prompt the user to take measures to make the surrounding situation normal until the next charging.

[0163] The charging system (A1) of the ninth aspect includes one or more transport devices (1) according to any one of the first to eighth aspects and a charging device (2). The charging device (2) has a power supply connection part (22) that can be connected to the power reception connection part (12) provided in the transport device (1).

[0164] According to this aspect, it is possible to provide a transport system (A1) that can suppress the deterioration of the electrical contact resistance between the charging device (2) and the transport device (1).

[0165] In the charging system (A1) of the tenth aspect, in the ninth aspect, the transport device (1) includes a switching element (13) between the power receiving connection portion (12) and the power storage portion (14). The charging device (2) includes a power supply connection portion (22), a charging circuit (23), and an abnormality detection portion (26). The charging circuit (23) charges the power storage portion (14) via the power supply connection portion (22) in a connection state where the power receiving connection portion (12) is connected to the power supply connection portion (22). The abnormality detection portion (26) detects the presence or absence of an abnormality in the switching element (13) based on the voltage (V1) of the power supply connection portion (22) when, in the connection state, the switching element (13) is switched from the on state to the off state and the charging circuit (23) has stopped charging the power storage portion (14).

[0166] According to this aspect, since the abnormality detection portion (26) detects the presence or absence of an abnormality in the switching element (13), if the switching element (13) is not switched to the off state due to an abnormality or the like of the switching element (13), the abnormality can be detected by the abnormality detection portion (26). Therefore, if the switching element (13) is not switched to the off state due to an abnormality or the like of the switching element (13), it is possible to prompt the user to take action, and it is possible to provide a charging device (2) that can easily ensure electrical insulation between the power receiving connection portion (12) and the power storage portion (14) other than during charging.

[0167] In the charging system (A1) of the eleventh aspect, in the tenth aspect, the abnormality detection portion (26) detects the presence or absence of an abnormality in the switching element (13) based on the voltage (V1) of the power supply connection portion (22) at a timing before the charging circuit (23) charges the power storage portion (14) in the connection state.

[0168] According to this aspect, it is possible to detect the presence or absence of an abnormality in the switching element (13) at an earlier stage than when the charging circuit (23) charges the power storage portion (14).

[0169] In the charging system (A1) according to the twelfth aspect, in the tenth or eleventh aspect, the abnormality detection unit (26) detects the presence or absence of an abnormality in the switching element (13) based on the voltage (V1) of the power supply connection unit (22) at the timing after the charging circuit (23) has charged the power storage unit (14) while in the connected state.

[0170] According to this aspect, at the timing after the power storage unit (14) has been charged, the voltage across the power storage unit (14) is higher than before charging. Therefore, the abnormality detection unit (26) can reliably detect the presence or absence of an abnormality in the switching element (13) based on the voltage (V1) of the power supply connection unit (22).

[0171] The charging system (A1) according to the thirteenth aspect further includes an output unit (19) in any one of the tenth to twelfth aspects. When the detection unit (15) detects an abnormality in the surrounding situation, the output unit (19) outputs the detection result of the detection unit (15).

[0172] According to this aspect, based on the detection result output from the output unit (19), it is possible to grasp that there is an abnormality in the surrounding situation.

[0173] In the charging system (A1) according to the fourteenth aspect, in any one of the ninth to thirteenth aspects, the power supply connection unit (22) includes a positive terminal (221) and a negative terminal (222). The positive terminal (221) is connected to the positive electrode (14A) of the power storage unit (14), and the negative terminal (222) is connected to the negative electrode (14B) of the power storage unit (14). The charging device (2) further includes a discharge circuit (28) connected between the positive terminal (221) and the negative terminal (222).

[0174] According to this aspect, even when a capacitor is connected to the output side of the charging circuit (23), the charge stored in the capacitor can be discharged by the discharge circuit (28) when charging stops. Therefore, the abnormality detection unit (26) can reliably detect the presence or absence of an abnormality in the switching element (13) based on the voltage (V1) of the power supply connection unit (22).

[0175] In the charging system (A1) according to the 15th aspect, in any of the 9th to 14th aspects, the transport device (1) has a first communication unit (11). The charging device (2) has a charging circuit (23) and a second communication unit (21). The charging circuit (23) charges the power storage unit (14) via the power supply connection part (22) in a connection state where the power reception connection part (12) is connected to the power supply connection part (22). The second communication unit (21) receives an electrical characteristic value that changes according to the power storage amount of the power storage unit (14) from the first communication unit (11). When the second communication unit (21) is in a receivable state where it can receive the electrical characteristic value from the first communication unit (11), the charging circuit (23) controls the charging operation based on the electrical characteristic value received by the second communication unit (21). When the second communication unit (21) is in a non-receivable state where it cannot receive the electrical characteristic value from the first communication unit (11), the charging circuit (23) controls the charging operation based on at least past history information.

[0176] According to this aspect, when it becomes a non-receivable state, since the charging unit (230) controls the charging operation based on at least past history information, the charging operation of the power storage unit (14) can be continuously performed even in a non-receivable state. Therefore, the charging of the power storage unit (14) can be stably performed.

[0177] The charging method according to the 16th aspect includes a lowering step and a raising step. The transport device (1) has a gripping mechanism (18) including a mounting table (103) for placing the object to be transported (X1), and a power reception connection part (12) that can be connected to the power supply connection part (22) of the charging device (2). In the lowering step, by moving the gripping mechanism (18) to a lowering position away from the object to be transported (X1), a cover member (105) which is a part of the gripping mechanism (18) is moved to a first position covering the power reception connection part (12). In the raising step, when the transport device (1) moves to the charging position, by moving the gripping mechanism (18) to a raising position where it lifts the object to be transported (X1), the cover member (105) is moved to a second position exposing the power reception connection part (12). The charging position is a position where the power supply connection part (22) and the power reception connection part (12) can be connected.

[0178] According to this aspect, when the cover member (105) is in the moved-to the first position, since the cover member (105) covers the power receiving connection portion (12), it is possible to suppress dust and moisture from adhering to the power receiving connection portion (12). Thereby, deterioration of the power receiving connection portion (12) can be suppressed, and deterioration of the electrical contact resistance between the charging device (2) and the transport device (1) can be suppressed.

[0179] In the charging method of the seventeenth aspect, in the sixteenth aspect, it further includes a connection step (S11), a charging step (S14), and an abnormality detection step (S19). In the connection step (S11), with the cover member (105) of the transport device (1) that has moved to the charging position in the moved-to the second position, the power supply connection portion (22) is connected to the power receiving connection portion (12). In the charging step, in the connected state where the power receiving connection portion (12) is connected to the power supply connection portion (22), the power storage portion (14) of the transport device (1) is charged via the power supply connection portion (22). In the abnormality detection step (S19), in the connected state, when the switching element (13) provided between the power receiving connection portion (12) and the power storage portion (14) of the transport device (1) is switched from the on state to the off state and the charging of the power storage portion (14) is stopped, the presence or absence of an abnormality of the switching element (13) is detected based on the voltage (V1) of the power supply connection portion (22).

[0180] According to this aspect, it is possible to provide a charging method in which it is easy to ensure electrical insulation between the power receiving connection portion (12) and the power storage portion (14) except during charging.

[0181] In the charging method of the eighteenth aspect, in the sixteenth or seventeenth aspect, it further includes a position estimation step and a surrounding detection step. In the position estimation step, the position of the transport device (1) is estimated based on the detection results of one or more optical sensors (151) that detect objects around the transport device (1). In the surrounding detection step, the surrounding situation related to the electrical connection between the power supply connection portion (22) that the charging device (2) has and can be connected to the power receiving connection portion (12) and the power receiving connection portion (12) is detected using one or more optical sensors (151).

[0182] According to this aspect, there is an advantage that a method capable of improving the reliability of the electrical connection between the power supply connection part (22) and the power reception connection part (12) can be provided.

[0183] In the charging method of the 19th aspect, in any of the 16th to 18th aspects, the method further includes a receiving step of receiving, from the transport device (1), an electrical characteristic value that changes according to the power storage amount of the power storage unit (14), and a charging step of charging the power storage unit (14). The charging step includes a first charging control step when in a receivable state where the electrical characteristic value can be received from the transport device (1), and a second charging control step when in a non-receivable state where the electrical characteristic value cannot be received from the transport device (1). In the first charging control step, the charging operation is controlled based on the electrical characteristic value received from the transport device (1). In the second charging control step, the charging operation is controlled based on at least past history information.

[0184] According to this aspect, the charging of the power storage unit (14) can be performed stably.

[0185] In the charging system (A1) of the 20th aspect, in any of the 9th to 15th aspects, when the charging device (2) charges the transport device (1), the power supply connection part (22) is arranged at a height position corresponding to the power reception connection part (12).

[0186] According to this aspect, it is possible to suppress a decrease in the reliability of the electrical connection between the power supply connection part (22) and the power reception connection part (12).

[0187] In the charging system (A1) of the 21st aspect, in any of the 9th to 15th and 20th aspects, the detection unit (15) provided in the transport device (1) is the first detection unit (15). The charging device (2) includes a second detection unit (25) that detects the connection state between the power reception connection part (12) and the power supply connection part (22).

[0188] According to this aspect, the second detection unit (25) provided in the charging device (2) can more reliably detect the connection state between the power reception connection part (12) and the power supply connection part (22).

[0189] In the charging system (A1) of the 22nd aspect, in the 15th aspect, the history information includes electrical characteristic values when the power storage unit (14) could be normally charged.

[0190] According to this aspect, even when in a reception disabled state, the charging operation for charging the power storage unit (14) can be controlled based on the electrical characteristic values when the power storage unit (14) could be normally charged.

[0191] In the charging system (A1) of the 23rd aspect, in the 15th or 22nd aspect, the history information includes electrical characteristic values when the charging unit (230) last charged the power storage unit (14).

[0192] According to this aspect, even when in a reception disabled state, the charging operation for charging the power storage unit (14) can be controlled based on the electrical characteristic values when the power storage unit (14) was last charged.

[0193] In the charging system (A1) of the 24th aspect, in any of the 15th, 22nd to 23rd aspects, the history information includes electrical characteristic values when the electronic device being charged was charged in the past.

[0194] According to this aspect, even when in a reception disabled state, the charging operation for charging the power storage unit (14) can be controlled based on the electrical characteristic values when the electronic device being charged was charged in the past. Since the charging pattern of the power storage unit (14) is different for each of the plurality of electronic devices, by controlling the charging operation based on the electrical characteristic values when the electronic device being charged was charged in the past, charging can be performed in accordance with the power storage unit (14) being charged.

[0195] In the charging system (A1) of the 25th aspect, in any of the 15th, 22nd to 24th aspects, the first communication unit (11) and the second communication unit (21) communicate with each other by a wireless communication method.

[0196] According to this aspect, even if a reception failure state occurs due to a communication error in the wireless communication between the first communication unit (11) and the second communication unit (21), the charging operation of the power storage unit (14) can be continuously performed.

[0197] In the charging system (A1) of the 26th aspect, in any of the 15th and 22nd to 25th aspects, when returning from the reception failure state to the reception possible state, the charging unit (230) controls the charging operation based on the electrical characteristic values received by the second communication unit (21).

[0198] According to this aspect, even when a reception failure state occurs, if it returns to the reception possible state, the charging unit (230) can control the charging operation based on the electrical characteristic values received by the second communication unit (21).

[0199] Not limited to the above aspects, various configurations (including modified examples) of the transport device (1) according to the above embodiments can be embodied by a control method of the transport device (1), a (computer) program, or a non-temporary recording medium recording the program, etc. Further, various configurations (including modified examples) of the charging system (A1) according to the above embodiments can be embodied by a charging method, a (computer) program, or a non-temporary recording medium recording the program, etc.

[0200] Regarding the configurations according to the 2nd to 8th aspects, they are not essential configurations for the transport device (1) and can be appropriately omitted. Regarding the configurations according to the 10th to 15th and 20th to 26th aspects, they are not essential configurations for the charging system (A1) and can be appropriately omitted. Regarding the configurations according to the 17th to 19th aspects, they are not essential configurations for the charging method and can be appropriately omitted.

Explanation of Reference Numerals

[0201] 1 Transport device 2 Charging device 12 Power reception connection part 13 Switching element 14 Power storage unit 14A Positive electrode 14B Negative electrode 15 Detection unit (First detection unit) 18 Gripping mechanism 19 Output unit 22 Power supply connection part 23 Charging circuit 25 Second detection unit 26 Abnormality detection unit 28 Discharge circuit 100 Main body part 103 Mounting table 105 Cover member 151 Optical sensor 221 Positive side terminal 222 Negative side terminal 230 Charging part 300 Moving surface A1 Charging system (Conveying system) B1 Part P1 Center position S11 Connection step S14 Charging step S19 Abnormality detection step V1 Voltage X1 Object to be conveyed

Claims

1. A power receiving connection part connectable to a power supply connection part of a charging device, a power storage part charged by a charging current input through the power receiving connection part, a movable main body part holding the power receiving connection part and the power storage part, a cover member held by the main body part and movable between a first position covering the power receiving connection part and a second position exposing the power receiving connection part, and when the main body part moves to a charging position where the power supply connection part and the power receiving connection part can be connected, the cover member moves to the second position to expose the power receiving connection part, the main body part has a gripping mechanism for gripping an object to be conveyed when conveying the object to be conveyed, the cover member is a part of the gripping mechanism, a conveying device.

2. A power receiving connection part connectable to a power supply connection part of a charging device, a power storage part charged by a charging current input through the power receiving connection part, a movable main body part holding the power receiving connection part and the power storage part, a cover member held by the main body part and movable between a first position covering the power receiving connection part and a second position exposing the power receiving connection part, a lifting body on which an object to be conveyed is placed, a lifting part for lifting and lowering the lifting body, and when the main body part moves to a charging position where the power supply connection part and the power receiving connection part can be connected, the cover member moves to the second position to expose the power receiving connection part, the lifting part holds the object to be conveyed by moving the lifting body to an ascending position for lifting the object to be conveyed placed on the lifting body, the cover member is a part of the lifting body, a conveying device.

3. The lifting body is provided with a mounting table for placing the object to be conveyed. The conveying device according to Claim 2.

4. The cover member is located at the second position while the mounting table is moving to the ascending position. The conveying device according to Claim 3.

5. A power receiving connection part connectable to a power supply connection part of a charging device, a power storage part charged by a charging current input through the power receiving connection part, a movable main body part holding the power receiving connection part and the power storage part, a cover member held by the main body part and movable between a first position covering the power receiving connection part and a second position exposing the power receiving connection part, and a switching element connected between the power receiving connection part and the power storage part. When the main body moves to a charging position where the power supply connection part and the power reception connection part can be connected, the cover member moves to the second position to expose the power reception connection part. With the cover member in the state of having moved to the second position, the switching element is switched from the off state to the on state. Conveyor device.

6. A power reception connection part connectable to a power supply connection part of a charging device, A power storage part charged by a charging current input through the power reception connection part, A movable main body part holding the power reception connection part and the power storage part, A cover member held by the main body part and movable between a first position covering the power reception connection part and a second position exposing the power reception connection part. When the main body moves to a charging position where the power supply connection part and the power reception connection part can be connected, the cover member moves to the second position to expose the power reception connection part. In a state of conveying an object to be conveyed, the power reception connection part is provided on a side surface of a part of the main body part located below the object to be conveyed. Conveyor device.

7. Further provided with a detection part that uses a plurality of optical sensors to detect the presence or absence of an object that affects the electrical connection between the power reception connection part and the power supply connection part within the region including the power reception connection part. The plurality of optical sensors are also used as sensors for detecting the presence position of the main body part. The main body part moves along a moving surface. The plurality of optical sensors are arranged at positions symmetric with respect to the center position of the main body part in a plane parallel to the moving surface. The conveyor device according to any one of claims 1 to 6.

8. At least one of a first timing before the power storage part is charged by the charging device and a second timing after the power storage part is charged by the charging device, the detection part detects the presence or absence of the object. The conveyor device according to claim 7.

9. One or more conveyor devices according to any one of claims 1 to 8, And a charging device having a power supply connection part connectable to the power reception connection part provided in the one or more conveyor devices. Charging system.

10. The conveyor device includes a switching element between the power reception connection part and the power storage part. The charging device, The power supply connection part, A charging circuit that charges the power storage part through the power supply connection part in a connection state where the power reception connection part is connected to the power supply connection part. In the connection state, when the switching element is switched from the on state to the off state and the charging circuit has stopped charging the power storage unit, an abnormality detection unit that detects the presence or absence of an abnormality in the switching element based on the voltage of the power supply connection unit. The charging system according to claim 9.

11. The abnormality detection unit detects the presence or absence of an abnormality in the switching element based on the voltage of the power supply connection unit at a timing before the charging circuit charges the power storage unit in the connection state. The charging system according to claim 10.

12. The abnormality detection unit detects the presence or absence of an abnormality in the switching element based on the voltage of the power supply connection unit at a timing after the charging circuit has charged the power storage unit in the connection state. The charging system according to claim 10 or 11.

13. The charging system further includes an output unit that outputs detection information for reflecting the detection result of the abnormality detection unit in the operation of the transport device. The charging system according to any one of claims 10 to 12.

14. The power supply connection unit includes a plus-side terminal connected to the plus pole of the power storage unit and a minus-side terminal connected to the minus pole of the power storage unit. The charging device further includes a discharge circuit connected between the plus-side terminal and the minus-side terminal. The charging system according to any one of claims 9 to 13.

15. The transport device has a first communication unit. The charging device is In a connection state where the power receiving connection unit is connected to the power supply connection unit, a charging circuit that charges the power storage unit via the power supply connection unit. A second communication unit that receives an electrical characteristic value that changes according to the stored amount of the power storage unit from the first communication unit. When the second communication unit is in a receivable state where it can receive the electrical characteristic value from the first communication unit, the charging circuit controls the charging operation based on the electrical characteristic value received by the second communication unit. When the second communication unit is in a non-receivable state where it cannot receive the electrical characteristic value from the first communication unit, the charging circuit controls the charging operation based at least on past history information. The charging system according to any one of claims 9 to 14.

16. When the gripping mechanism of the transfer device having a gripping mechanism including a mounting table for placing an object to be transferred and a power receiving connection part connectable to a power supply connection part of a charging device moves to a lowering position away from the object to be transferred, a lowering step of moving a cover member, which is a part of the gripping mechanism, to a first position covering the power receiving connection part; When the transfer device moves to a charging position where the power supply connection part and the power receiving connection part are connectable, a raising step of moving the cover member to a second position exposing the power receiving connection part by moving the gripping mechanism to a raising position for lifting the object to be transferred; A charging method.

17. A connecting step of connecting the power supply connection part to the power receiving connection part in a state where the cover member of the transfer device moved to the charging position has moved to the second position; A charging step of charging a power storage part of the transfer device via the power supply connection part in a connected state where the power receiving connection part is connected to the power supply connection part; An abnormality detection step of detecting the presence or absence of an abnormality of the opening / closing element based on the voltage of the power supply connection part when the opening / closing element provided between the power receiving connection part and the power storage part of the transfer device is switched from an on state to an off state in the connected state and the charging of the power storage part is stopped; The charging method according to claim 16.

18. A position estimation step of estimating the position of the transfer device based on the detection results of one or more optical sensors for detecting an object around the transfer device; A surrounding detection step of detecting the presence or absence of an object affecting the electrical connection between the power supply connection part and the power receiving connection part within a region including the power receiving connection part using the one or more optical sensors; The charging method according to claim 16 or 17.

19. A receiving step of receiving an electrical characteristic value that changes according to the power storage amount of the power storage part of the transfer device from the transfer device; Further including a charging step of charging the power storage part; The charging step includes a first charging control step when in a receivable state where the electrical characteristic value can be received from the transfer device and a second charging control step when in a non-receivable state where the electrical characteristic value cannot be received from the transfer device; In the first charging control step, the charging operation is controlled based on the electrical characteristic value received from the transfer device; In the second charging control step, the charging operation is controlled based on at least past history information. The charging method according to any one of claims 16 to 18.

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