Charging device and connector position detection method

Abstract

To realize a charging device capable of deriving the position of a connector at low cost.SOLUTION: A charging device (1) according to an embodiment of the present disclosure includes an irradiation unit (4) fixed to a first connector (2) and irradiating cross-line laser light (L), an XY stage (5) that moves a second connector (3) and has a preset position as its origin, and a first light receiving unit (6) and a second light receiving unit (7) fixed to the XY stage (5), and a control unit (8) that controls the XY stage (5), and aligns the first connector (2) and second connector (3) on the basis of positional information of the first connector (2) derived using the positional information where the first light receiving unit (6) and the second light receiving unit (7) cross the cross line laser beam (L) with respect to the origin.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a charging device and a method for deriving the position of a connector. [Background technology]

[0002] For example, when charging the battery of an autonomous vehicle, it is preferable to be able to accurately determine the relative positions of the power supply connector and the power receiving connector.Patent Document 1 discloses a technology in which a line laser is used to irradiate the top surface of an object with a laser line, an imaging unit is used to capture an image of the top surface of the object, and the center of the object is detected based on the center of the captured image and the length of the laser line on the image. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-177504 Summary of the Invention [Problem to be solved by the invention]

[0004] The present applicant has found the following problem: Generally, when deriving the position of an object, an imaging unit is used as in the technique of Patent Document 1, which results in a problem of increased costs.

[0005] The present disclosure has been made in consideration of such problems, and provides a charging device and a connector position derivation method that can derive the position of a connector at low cost. [Means for solving the problem]

[0006] A charging device according to one aspect of the present disclosure is a charging device having a first connector which is one of a power supply side and a power receiving side which are electrically connected, and a second connector which is the other of the power supply side and the power receiving side, an irradiation unit that is fixed to the first connector and that irradiates a cross line laser beam having a first line and a second line that are orthogonal to each other toward a side where the second connector is disposed; an XY stage that moves the second connector in a first axis direction and a second axis direction that are orthogonal to each other and has an origin at a preset position; a first light receiving unit fixed to the XY stage; a second light receiving unit fixed to the XY stage and disposed at a position different from that of the first light receiving unit; a control unit that controls the XY stage and aligns the first connector and the second connector based on position information of the first connector derived using position information of the first light receiving unit and the second light receiving unit relative to the origin where the cross line laser light has crossed; Equipped with.

[0007] A method for deriving a position of a connector according to one aspect of the present disclosure is a method for deriving a position of a first connector when electrically connecting a first connector that is one of a power supply side or a power receiving side and a second connector that is the other of the power supply side or the power receiving side, the method comprising: a step of irradiating a cross line laser beam having a first line and a second line that are orthogonal to each other from an irradiation unit fixed to the first connector toward the second connector; a step of moving the second connector in a first axis direction and a second axis direction that are orthogonal to each other, controlling an XY stage with a preset position as an origin, and deriving the position of the first connector based on position information of a first light receiving unit and a second light receiving unit fixed to the XY stage, relative to the origin, where the first light receiving unit and the second light receiving unit cross the cross line laser light; Equipped with. [Effects of the Invention]

[0008] According to the present disclosure, it is possible to realize a charging device and a connector position derivation method that can derive the position of a connector at low cost. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a perspective view showing a charging device according to an embodiment; [Figure 2] 2 is a block diagram showing the configuration of a control system of the charging device according to the embodiment; FIG. [Figure 3] FIG. 2 is a cross-sectional view showing the configuration of an irradiation unit. [Figure 4] FIG. 10 is a diagram showing how an irradiation unit irradiates cross line laser light. [Figure 5] 5A and 5B are diagrams for explaining a flow of electrically connecting a first connector and a second connector using the charging device of the embodiment. [Figure 6] 10 is a diagram for explaining a specific example of deriving the coordinates of the center of a first connector using trigonometric functions based on first coordinate information, second coordinate information, and third coordinate information. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0010] Specific embodiments to which the present disclosure is applied will be described in detail below with reference to the drawings. However, the present disclosure is not limited to the following embodiments. In addition, the following description and drawings have been simplified as appropriate for clarity of explanation.

[0011] First, the configuration of the charging device of this embodiment will be described. Fig. 1 is a perspective view showing the charging device of this embodiment. Fig. 2 is a block diagram showing the configuration of a control system of the charging device of this embodiment. Here, in the following explanation, a three-dimensional (XYZ) coordinate system will be used for clarity.

[0012] The charging device 1 is suitable for charging the battery of an autonomous vehicle, for example. As shown in Figures 1 and 2, the charging device 1 includes a first connector 2, a second connector 3, an irradiation unit 4, an XY stage 5, a first light receiving unit 6, a second light receiving unit 7, and a control unit 8.

[0013] The first connector 2 is, for example, a power receiving connector. As shown in Fig. 1, the first connector 2 includes a substantially cylindrical protrusion 22 (see Fig. 4) formed on a non-conductive main body 21, and terminals (not shown) are fixed along the outer circumferential side surface of the protrusion 22. The first connector 2 can be fixed to, for example, the bottom surface of the autonomous vehicle.

[0014] The second connector 3 is, for example, a power supply connector. As shown in Fig. 1, the second connector 3 has a substantially cylindrical recess 32 formed in a non-conductive main body 31, and a terminal (not shown) is fixed along the inner peripheral side surface of the recess 32. The recess 32 of the second connector 3 is fitted with the protrusion 22 of the first connector 2.

[0015] As shown in Fig. 1, the irradiation unit 4 is fixed to the first connector 2. The irradiation unit 4 is disposed, for example, at approximately the center of the protrusion 22 of the first connector 2 when viewed from the Z-axis direction, and is exposed from the surface of the protrusion 22 of the first connector 2 on the negative Z-axis side. Fig. 3 is a cross-sectional view showing the configuration of the irradiation unit. Fig. 4 is a diagram showing how the irradiation unit irradiates cross-line laser light.

[0016] 3, the irradiation unit 4 includes a light source 41 such as an LED (light-emitting diode), a condenser lens 42, and a cross conversion lens 43. As a result, the irradiation unit 4 irradiates, toward the negative side of the Z axis, a cross line laser light L having a first line L1 and a second line L2 perpendicular to the first line L1, as shown in FIG.

[0017] The XY stage 5 moves the second connector 3 in the X-axis direction and the Y-axis direction. As shown in FIG. 1 , the XY stage 5 includes a stage 51, a base plate 52, a first linear guide 53, a second linear guide 54, a first driving mechanism 55, and a second driving mechanism 56.

[0018] 1 and 4, the stage 51 is a plate body that is approximately parallel to the XY plane. The stage 51 has, for example, an approximately rectangular shape when viewed from the Z-axis direction. The second connector 3 is fixed to the surface of the stage 51 on the positive side of the Z-axis. In this case, it is preferable that the center of the second connector 3 and the center of the stage 51 approximately overlap when viewed from the Z-axis direction.

[0019] 1 and 4, the base plate 52 is disposed on the negative side of the Z axis relative to the stage 51. The base plate 52 is larger than the stage 51 when viewed in the Z axis direction, and is a plate body that is approximately parallel to the XY plane. The base plate 52 may, for example, have an approximately rectangular shape when viewed in the Z axis direction, and may have a shape similar to that of the stage 51.

[0020] 1 and 4, the first linear guide 53 includes a rail 53a and a guide 53b. The rail 53a extends in the Y-axis direction. The guide 53b is fixed to the surface of the stage 51 on the negative side of the Z-axis, and moves along the rail 53a.

[0021] 1 and 4, the second linear guide 54 includes a first rail 54a, a second rail 54b, and a moving plate 54c. The first rail 54a is fixed to the surface of the base plate 52 on the +Z axis side and extends in the X axis direction. The second rail 54b is fixed to the surface of the base plate 52 on the +Z axis side and extends in the X axis direction. The first rail 54a and the second rail 54b are arranged approximately parallel to each other with a gap in the Y axis direction.

[0022] 1 and 4, the movable plate 54c spans the first rail 54a and the second rail 54b and moves along the first rail 54a and the second rail 54b. The movable plate 54c is a plate that is approximately parallel to the XY plane. When viewed from the Z-axis direction, the movable plate 54c has, for example, an approximately rectangular shape with its long side in the Y-axis direction. The rail 53a of the first linear guide 53 is fixed to the surface of the movable plate 54c on the positive side of the Z-axis.

[0023] The first driving mechanism 55 moves the stage 51 in the Y-axis direction. The first driving mechanism 55 includes, for example, a ball screw 55a and a motor 55b, as shown in Figures 1 and 4. The ball screw 55a includes a threaded rod 55c and a nut (not shown).

[0024] 1 and 4, the threaded rod 55c is fixed to the surface on the positive Z-axis side of the moving plate 54c of the second linear guide 54 via a bearing 55d, and extends in the Y-axis direction. The nut is fixed to the surface on the negative Z-axis side of the stage 51, and moves in the Y-axis direction as the threaded rod 55c rotates.

[0025] As shown in Figures 1 and 4, the motor 55b is fixed to the surface on the Z-axis + side of the moving plate 54c of the second linear guide 54, and the driving force of the motor 55b is transmitted to the threaded rod 55c via a pulley, a belt, etc.

[0026] The second driving mechanism 56 moves the stage 51 in the X-axis direction. The second driving mechanism 56 includes, for example, a ball screw 56a and a motor 56b, as shown in Figures 1 and 4. The ball screw 56a includes a threaded rod 56c and a nut (not shown).

[0027] 1, threaded rod 56c is fixed to the surface on the positive side of the Z axis of base plate 52 via bearing 56d, and extends in the X axis direction. The nut is fixed to the surface on the negative side of the Z axis of moving plate 54c of second linear guide 54, and moves in the X axis direction as threaded rod 56c rotates. Motor 56b is fixed to the surface on the positive side of the Z axis of base plate 52, and the driving force of motor 56b is transmitted to threaded rod 56c via a pulley, belt, etc.

[0028] Such an XY stage 5 is configured so that the stage 51 can be moved in the Y-axis direction and the X-axis direction along the first linear guide 53 and the second linear guide 54 by driving the motor 55b of the first driving mechanism 55 and the motor 56b of the second driving mechanism 56.

[0029] The first light receiving unit 6 includes a light receiving element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). As shown in Figures 1 and 4, the first light receiving unit 6 is fixed to the surface of the stage 51 on the +Z-axis side, and moves in the X-axis and Y-axis directions together with the second connector 3 as the stage 51 moves. The first light receiving unit 6 is disposed, for example, on the -X-axis side of the surface of the stage 51 on the +Z-axis side, and near a corner on the -Y-axis side.

[0030] The second light receiving unit 7 includes a light receiving element such as a CCD or a CMOS. As shown in Figures 1 and 4, the second light receiving unit 7 is fixed to the surface of the stage 51 on the +Z axis side, and moves in the X-axis and Y-axis directions together with the second connector 3 and the first light receiving unit 6 as the stage 51 moves. The second light receiving unit 7 is located at a different position from the first light receiving unit 6.

[0031] 1 and 4, the second light receiving unit 7 is disposed on the +X-axis side of the +Z-axis side surface of the stage 51, near a corner on the +Y-axis side. In this case, the first light receiving unit 6 and the second light receiving unit 7 are preferably disposed in positions that are point-symmetric with respect to the center of the second connector 3 as the symmetric point when viewed from the Z-axis direction.

[0032] The second connector 3, the XY stage 5, the first light receiving unit 6, and the second light receiving unit 7 constitute a power supply unit, which can be fixed, for example, to the floor of a charging station for an autonomous vehicle via a lifting mechanism.

[0033] The control unit 8, the details of which will be described later, controls the irradiation timing of the irradiation unit 4 and controls the motor 55b of the first drive mechanism 55 and the motor 56b of the second drive mechanism 56. The control unit 8 also derives the position of the first connector 2 based on the detection results of the cross line laser light L of the irradiation unit 4 detected by the first light receiving unit 6 and the second light receiving unit 7.

[0034] Next, a description will be given of the flow of electrically connecting the first connector 2 and the second connector 3 using the charging device 1 of this embodiment. Figures 5(a) to 5(f) are diagrams for explaining the flow of electrically connecting the first connector and the second connector using the charging device of this embodiment.

[0035] Here, in this embodiment, as shown in FIG. 5(a), when viewed from the Z-axis direction, the stage 51 is positioned at the center of the Y-axis direction of the rail 53a of the first linear guide 53, and the center position of the second connector 3 when the stage 51 is positioned near the ends of the first rail 54a and second rail 54b of the second linear guide 54 on the positive X-axis side is set as the origin (i.e., the X-axis coordinate is 0 and the Y-axis coordinate is 0).

[0036] Therefore, the coordinates of the first light receiving unit 6 and the second light receiving unit 7 are also set relative to the origin. In other words, the center position of the second connector 3, the position of the first light receiving unit 6, and the position of the second light receiving unit 7 are defined relatively to each other.

[0037] Here, the coordinates in this embodiment are XY coordinates. At this time, the control unit 8 can derive the center coordinates of the second connector 3 relative to the origin, the coordinates of the first light receiving unit 6, and the coordinates of the second light receiving unit 7 based on the detection results of the encoders provided on the motor 55b of the first drive mechanism 55 and the motor 56b of the second drive mechanism 56.

[0038] First, the control unit 8 controls the irradiation unit 4 to irradiate the cross line laser light L toward the negative side of the Z axis, as shown in Figure 5(a), based on, for example, command information from outside (for example, information indicating that the first connector 2 has entered within a predetermined range of the second connector 3).

[0039] Next, as shown in Figures 5(b) and 5(c), the control unit 8 controls the motor 56b of the second driving mechanism 56 to move the stage 51 toward the negative side of the X-axis so that the first light receiving unit 6 crosses the first line L1 of the cross-line laser light L.

[0040] Next, the control unit 8 acquires coordinate information of the first light receiving unit 6 relative to the origin when the first light receiving unit 6 starts receiving the first line L1 of the cross line laser light L, and coordinate information of the first light receiving unit 6 relative to the origin when the first light receiving unit 6 finishes receiving the first line L1 of the cross line laser light L.

[0041] Then, the control unit 8 derives the first coordinate of the first line L1 of the cross line laser light L relative to the origin based on the coordinate information of the first light receiving unit 6 when the first light receiving unit 6 starts receiving the first line L1 of the cross line laser light L, and the coordinate information of the first light receiving unit 6 when the first light receiving unit 6 finishes receiving the first line L1 of the cross line laser light L.

[0042] In detail, the first coordinate is defined as the midpoint between the coordinate of the first light receiving unit 6 when the first light receiving unit 6 starts receiving the first line L1 of the cross line laser light L and the coordinate of the first light receiving unit 6 when the first light receiving unit 6 finishes receiving the first line L1 of the cross line laser light L. In this case, the X-axis coordinate of the first coordinate is the coordinate of the center of the thickness of the first line L1 of the cross line laser light L in the X-axis direction.

[0043] Next, as shown in Figure 5(d), the control unit 8 controls the motor 55b of the first driving mechanism 55 to move the stage 51 toward the negative side of the Y axis so that the first light receiving unit 6 crosses the second line L2 of the cross-line laser light L.

[0044] Next, the control unit 8 acquires coordinate information of the first light receiving unit 6 relative to the origin when the first light receiving unit 6 starts receiving the second line L2 of the cross line laser light L, and coordinate information of the first light receiving unit 6 relative to the origin when the first light receiving unit 6 finishes receiving the second line L2 of the cross line laser light L.

[0045] Then, the control unit 8 derives the second coordinate of the second line L2 of the cross line laser light L relative to the origin based on the coordinate information of the first light receiving unit 6 when the first light receiving unit 6 starts receiving the second line L2 of the cross line laser light L, and the coordinate information of the first light receiving unit 6 when the first light receiving unit 6 finishes receiving the second line L2 of the cross line laser light L.

[0046] In detail, the second coordinate is defined as the midpoint between the coordinate of the first light receiving unit 6 when the first light receiving unit 6 starts receiving the second line L2 of the cross line laser light L and the coordinate of the first light receiving unit 6 when the first light receiving unit 6 finishes receiving the second line L2 of the cross line laser light L. In this case, the Y-axis coordinate of the second coordinate is the coordinate of the middle of the thickness of the second line L2 of the cross line laser light L in the Y-axis direction.

[0047] Next, as shown in Figure 5(e), the control unit 8 controls the motor 55b of the first driving mechanism 55 to move the stage 51 toward the negative side of the Y axis so that the second light receiving unit 7 crosses the second line L2 of the cross-line laser light L.

[0048] Next, the control unit 8 acquires coordinate information of the second light receiving unit 7 relative to the origin when the second light receiving unit 7 starts receiving the second line L2 of the cross line laser light L, and coordinate information of the second light receiving unit 7 relative to the origin when the second light receiving unit 7 finishes receiving the second line L2 of the cross line laser light L.

[0049] Then, the control unit 8 derives the third coordinate of the second line L2 of the cross line laser light L relative to the origin based on the coordinate information of the second light receiving unit 7 when the second light receiving unit 7 starts receiving the second line L2 of the cross line laser light L, and the coordinate information of the second light receiving unit 7 when the second light receiving unit 7 finishes receiving the second line L2 of the cross line laser light L.

[0050] In detail, the third coordinate is defined as the midpoint between the coordinate of the second light receiving unit 7 when the second light receiving unit 7 starts receiving the second line L2 of the cross line laser light L and the coordinate of the second light receiving unit 7 when the second light receiving unit 7 finishes receiving the second line L2 of the cross line laser light L. In this case, the Y-axis coordinate of the third coordinate is the coordinate of the middle of the thickness of the second line L2 of the cross line laser light L in the Y-axis direction.

[0051] This allows the control unit 8 to obtain the first coordinate information (position information), the second coordinate information, and the third coordinate information, and by using trigonometric functions based on the coordinate information of these three points, it can derive the coordinates of the irradiation unit 4 relative to the origin, and ultimately the coordinates of the center of the first connector 2.

[0052] Here, a specific example will be described in which the coordinates of the center of the first connector 2 are derived using trigonometric functions based on the first coordinate information, the second coordinate information, and the third coordinate information. Fig. 6 is a diagram for explaining a specific example in which the coordinates of the center of the first connector are derived using trigonometric functions based on the first coordinate information, the second coordinate information, and the third coordinate information.

[0053] As shown in Figure 6, the first coordinates are x1, y1, the second coordinates are x1, y2, and the third central coordinates are x3, y3, and the example shows a case where the first line L1 and the second line L2 of the cross line laser light L are irradiated in a state where they are tilted with respect to the X axis and the Y axis (for example, a state where the autonomous vehicle is parked and tilted with respect to the power supply unit).

[0054] In this case, the first intersection coordinates of a first straight line l1 that passes through the second coordinate and is parallel to the X-axis and a second straight line l2 that passes through the third coordinate and is parallel to the Y-axis are x3, y2. The second coordinate, the third coordinate, and the first intersection coordinate form a first triangle T1, a first angle formed by the first straight line l1 and a second line L2 of the cross line laser beam L that passes through the second coordinate and the third coordinate is θ1, and a second angle formed by the second line L2 of the cross line laser beam L that passes through the second coordinate and the third coordinate is θ2.

[0055] Here, the third angle between the first line l1 and the second line l2 is 90°. Therefore, as shown in Figure 6, the first triangle T1 and the second triangle T2 formed by the first coordinates, the second coordinates, and the coordinates of the center of the first connector 2 are similar figures.

[0056] Therefore, using trigonometric functions, the y coordinate of the center of the first connector 2 is a coordinate of a position shifted by a value obtained by multiplying the distance y1-y2 between the first coordinate and the second coordinate by cosθ1 with respect to the first coordinate y1. Furthermore, the x coordinate of the center of the first connector 2 is a coordinate of a position shifted by a value obtained by multiplying the distance y1-y2 between the first coordinate and the second coordinate by cosθ1 with respect to the first coordinate x1 by a value obtained by multiplying the distance y1-y2 between the first coordinate and the second coordinate by cosθ1. In this way, the coordinate of the center of the first connector 2 can be derived using trigonometric functions based on the first coordinate information, the second coordinate information, and the third coordinate information.

[0057] 5(f), the control unit 8 controls the motor 55b of the first drive mechanism 55 and the motor 56b of the second drive mechanism 56 so that the derived coordinates of the center of the first connector 2 coincide with the coordinates of the center of the second connector 3. Thereafter, the control unit 8 controls, for example, the lifting mechanism to fit the convex portion 22 of the first connector 2 into the concave portion 32 of the second connector 3, thereby electrically connecting the first connector 2 and the second connector 3.

[0058] In this way, the charging device 1 and connector position derivation method of this embodiment controls the XY stage 5 and derives the position information of the first connector 2 using the position information of the first light receiving unit 6 and the second light receiving unit 7 where they cross the cross line laser light L relative to the origin.

[0059] Therefore, the charging device 1 and connector position derivation method of the present embodiment do not need to use an imaging unit to derive the position of the first connector 2 as in the technology of Patent Document 1, and can inexpensively derive the position of the first connector 2. Furthermore, because an imaging unit is not required, the charging device 1 can be made smaller.

[0060] The present disclosure is not limited to the above-described embodiments, and can be modified as appropriate within the scope of the present disclosure. For example, in the above embodiment, the stage 51 is moved in the negative X-axis direction and the Y-axis direction to derive the position of the first connector 2, but the stage 51 can be moved so that the coordinates of three points that intersect the cross-line laser light L irradiated from the irradiation unit 4 can be obtained. For example, the configuration of the XY stage 5 in the above embodiment is merely an example, and the XY stage may have any configuration as long as it can move the stage 51 in the X-axis direction and the Y-axis direction. For example, the origin in the above embodiment is merely an example, and the position set as the origin can be changed as appropriate. For example, the shapes of the first connector 2 and the second connector 3 in the above embodiments are merely examples, and any shapes may be used that allow the first connector 2 and the second connector 3 to be electrically connected when rotated relative to each other. [Explanation of symbols]

[0061] 1 Charging device 2 first connector, 21 main body, 22 protrusion 3 second connector, 31 main body, 32 recess 4 Irradiation unit, 41 Light source, 42 Condenser lens, 43 Cross conversion lens 5 XY stage 51 Stages 52 base plate 53 first linear guide, 53a rail, 53b guide 54 second linear guide, 54a first rail, 54b second rail, 54c moving plate 55 first drive mechanism, 55a ball screw, 55b motor, 55c threaded rod 56 second drive mechanism, 56a ball screw, 56b motor, 56c screw rod 6 First light receiving unit 7 Second light receiving unit 8 Control Unit L cross line laser light, L1 first line, L2 second line

Claims

1. A charging device having a first connector which is one of a power supply side and a power receiving side which are electrically connected, and a second connector which is the other of the power supply side and the power receiving side, an irradiation unit that is fixed to the first connector and that irradiates a cross line laser beam having a first line and a second line that are orthogonal to each other toward a side where the second connector is disposed; an XY stage that moves the second connector in a first axis direction and a second axis direction that are orthogonal to each other and has an origin at a preset position; a first light receiving unit fixed to the XY stage; a second light receiving unit fixed to the XY stage and disposed at a position different from that of the first light receiving unit; a control unit that controls the XY stage and aligns the first connector and the second connector based on position information of the first connector derived using position information of the first light receiving unit and the second light receiving unit relative to the origin where the cross line laser light has crossed; A charging device comprising:

2. The charging device according to claim 1 , wherein the first light receiving unit and the second light receiving unit are arranged at positions symmetrical with respect to a center of the second connector.

3. The charging device according to claim 1 , wherein the illumination unit is disposed at a center of the first connector.

4. A method for deriving a position of a first connector when electrically connecting a first connector that is one of a power supply side or a power receiving side and a second connector that is the other of the power supply side or the power receiving side, comprising: a step of irradiating a cross line laser beam having a first line and a second line that are orthogonal to each other from an irradiation unit fixed to the first connector toward the second connector; a step of moving the second connector in a first axis direction and a second axis direction which are orthogonal to each other, controlling an XY stage having a preset position as an origin, and deriving the position of the first connector based on position information of a first light receiving unit and a second light receiving unit fixed to the XY stage, relative to the origin, where the first light receiving unit and the second light receiving unit cross the cross line laser light; A connector position deriving method comprising:

5. moving the XY stage in the first axis direction to acquire first position information when the first light receiving unit crosses a first line of the cross line laser light relative to the origin; moving the XY stage in the second axis direction to acquire second position information when the first light receiving unit crosses a second line of the cross line laser light relative to the origin; moving the XY stage in the second axial direction to acquire third position information when the second light receiving unit crosses a second line of the cross line laser light relative to the origin; deriving a position of the first connector based on the first position information, the second position information, and the third position information; The connector position deriving method of claim 4, comprising:

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