Autonomous travel robot, electric power supply system, and method for supplying electric power to autonomous travel robot

Abstract

An autonomous travel robot comprises: an electric power reception unit that receives electric power that is transmitted from an electric power supply device by a non-contact electric power supply method; a storage battery that receives the supply of electric power via the electric power reception unit; an opening / closing member that opens or closes a charging path from the electric power reception unit to the storage battery; an opening / closing switching unit that performs opening / closing control of the opening / closing member; and a control unit that controls the electric power supply to the storage battery. The control unit executes an electric power supply preparation operation for supplying the electric power when a predetermined electric power supply preparation condition, which is achievable even outside an area in which electric power can be supplied by the electric power supply device, is achieved. When a predetermined electric power supply start condition has been achieved after the execution of the electric power supply preparation operation, the opening / closing switching unit switches the opening / closing member from open to closed.

Description

Autonomous Mobile Robot, Power Supply System, and Power Supply Method for Autonomous Mobile Robot

[0001] The present invention relates to an autonomous mobile robot (AMR) in which power is supplied to a storage battery by a non-contact power supply (WPT: Wireless Power Transfer) method, a power supply system for the AMR by a non-contact power supply method, and a power supply method.

[0002] Conventionally, a power supply system using a non-contact power supply device for charging a storage battery provided in an AMR is known. For example, Patent Document 1 discloses a power supply method for supplying power to an AMR, which is a transport vehicle for transporting parts, by a non-contact power supply method.

[0003] Japanese Unexamined Patent Application Publication No. 2024-76019

[0004] However, in the conventional non-contact power supply method, even when the AMR reaches an area where power can be supplied by the non-contact power supply method (hereinafter referred to as "power supply possible area"), power supply is not immediately started. This is because, for example, a BMS (Battery Management System) that integrally manages a plurality of cells such as a lithium-ion battery takes time to start controlling each cell, or due to circumstances such as preventing a large voltage from being suddenly applied, the BMS is controlled so that power supply is started after a voltage of a predetermined value or more is applied for a time of a predetermined value or more.

[0005] As a result, power supply is not started immediately after the AMR reaches the power supply possible area, and the AMR has to wait in the power supply possible area until the power supply start condition is achieved. This makes it impossible to use all of the time that the AMR stays in the power supply possible area for power supply, resulting in wasted time.

[0006] In view of such problems, an object of the present invention is to enable an autonomous mobile robot to start power supply promptly after reaching a power supply possible area and to shorten the time related to charging of a storage battery.

[0007] To solve the above problems, the present invention adopts the following configuration as one aspect. That is, an autonomous mobile robot comprising: a power receiving unit that receives power transmitted from a power supply device by a contactless power supply method; a storage battery that receives power through the power receiving unit; an opening / closing member that opens and closes the charging path from the power receiving unit to the storage battery; an opening / closing switching unit that controls the opening and closing of the opening / closing member; and a control unit that controls the power supply to the storage battery, wherein the control unit executes a power supply preparation operation for supplying power when predetermined power supply preparation conditions that can be achieved even outside the power supply area of ​​the power supply device are met, and the opening / closing switching unit switches the opening / closing member from "open" to "closed" after the execution of the power supply preparation operation when predetermined power supply start conditions are met.

[0008] Here, the term "autonomous mobile robot" is not limited to, for example, transport vehicles equipped with a cargo bed, but also includes those equipped with manipulators and capable of performing autonomous tasks.

[0009] With this configuration, even before reaching the power supply area, power supply preparation operations can begin if the power supply preparation conditions are met. Furthermore, if the power supply start conditions can be met before reaching the power supply area, power supply will begin immediately after reaching the power supply area. In addition, even if the power supply start conditions are met after reaching the power supply area, the waiting time until the power supply start conditions are met within the power supply area will be shorter than before. Therefore, in either case, the time that the AMR is stationary within the power supply area can be used to the maximum extent for power supply activities, and power supply can be carried out efficiently.

[0010] Furthermore, the power supply preparation operation may be, for example, applying a voltage or current of a predetermined value or higher to the switching unit, and the power supply start condition may be, for example, applying a voltage or current of a predetermined value or higher to the switching unit for a predetermined time or longer. The "voltage of a predetermined value or higher" referred to here may be, for example, the voltage of the storage battery.

[0011] Furthermore, the power supply preparation operation may also involve the control unit transmitting a trigger signal to the switching unit to close the switching member, and the power supply start condition may be that a predetermined time has elapsed since the transmission of the trigger signal. This makes it possible to perform the power supply preparation operation without using the power of the storage battery, thereby preventing the storage battery from being depleted.

[0012] Furthermore, the autonomous mobile robot may be equipped with wireless communication means for communicating with the power supply device, and the power supply preparation conditions may include the power supply device and the autonomous mobile robot being connected via wireless communication means. With such a configuration, by setting a communication area wider than the power supply area, it becomes possible to start the power supply preparation operation before reaching the power supply area.

[0013] Furthermore, the power supply preparation condition may also include the condition that the distance between the power supply device and the autonomous mobile robot is less than or equal to a predetermined value. With such a configuration, it becomes possible to determine the power supply preparation condition even if the autonomous mobile robot does not have wireless communication means.

[0014] Furthermore, the autonomous mobile robot may be equipped with a position information acquisition means for acquiring information relating to its own position. In this case, the control unit can determine whether the distance between the power supply device and the autonomous mobile robot is less than or equal to a predetermined value based on the information acquired by the position information acquisition means.

[0015] Furthermore, the power supply preparation conditions may also include the requirement that the estimated time for the autonomous mobile robot to reach the power supply area is less than or equal to the predetermined time.

[0016] Furthermore, the autonomous mobile robot may include a distance information acquisition unit that acquires information relating to the distance between the power supply area and the autonomous mobile robot, and a speed information acquisition means that acquires information relating to the mobile speed of the autonomous mobile robot. In this case, the control unit can determine whether the estimated arrival time is less than or equal to the predetermined time based on the distance information and the mobile speed information.

[0017] With this configuration, it becomes unnecessary to perform the power supply preparation operation for a predetermined time or longer, thus avoiding unnecessary consumption of the battery's power.

[0018] Furthermore, the present invention can be understood as a power supply system for an autonomous mobile robot as follows: A power supply system having an autonomous mobile robot and a power supply device that supplies power to the autonomous mobile robot in a contactless power supply manner, wherein the autonomous mobile robot comprises: a power receiving unit that receives power transmitted from the power supply device; a storage battery that receives power through the power receiving unit; an opening / closing member that opens and closes a charging path from the power receiving unit to the storage battery; an opening / closing switching unit that controls the opening and closing of the opening / closing member; and a control unit that controls the power supply to the storage battery, wherein the control unit executes a power supply preparation operation for supplying power when predetermined power supply preparation conditions that can be achieved even outside the power supply area of ​​the power supply device are met, and the opening / closing switching unit switches the opening / closing member from "open" to "closed" after the execution of the power supply preparation operation when predetermined power supply start conditions are met, characterized in that the present invention is a power supply system.

[0019] Furthermore, the present invention can be understood as a method for supplying power to an autonomous mobile robot as follows: a method for supplying power to an autonomous mobile robot using a contactless power supply method, comprising: a power receiving unit that receives power transmitted by a contactless power supply method; a storage battery that receives power through the power receiving unit; and an opening / closing member that opens and closes a charging path from the power receiving unit to the storage battery, wherein the method involves: moving the autonomous mobile robot to an area where power can be supplied by a contactless power supply device; having the autonomous mobile robot perform a power supply preparation operation for power supply when predetermined power supply preparation conditions that can be achieved even outside the power supply area are met; and switching the opening / closing member from "open" to "closed" after the power supply preparation operation has been performed and predetermined power supply start conditions have been met.

[0020] Furthermore, each of the above configurations and processes can be combined with each other to constitute the present invention, provided that no technical inconsistencies arise.

[0021] According to the present invention, an autonomous mobile robot can quickly begin charging its battery after reaching a power supply area, thereby shortening the power supply time.

[0022] Figure 1 is a schematic diagram showing the general configuration of a contactless power supply system including an AMR according to Embodiment 1 of the present invention. Figure 2 is a functional block diagram showing the functional configuration of the AMR according to Embodiment 1 of the present invention. Figure 3 is a block diagram showing the power transmission path within the AMR according to Embodiment 1 of the present invention. Figure 4 is a flowchart showing an example of the flow of contactless power supply processing of the AMR according to Embodiment 1 of the present invention. Figure 5 is an explanatory diagram showing the changes in the voltage and charging current of the storage battery according to each phase from power supply preparation to power supply termination in Embodiment 1 of the present invention. Figure 6 is a block showing the power transmission path within the AMR according to Modification 1 of Embodiment 1. Figure 7 is an explanatory diagram showing the changes in the voltage and charging current of the storage battery according to each phase from power supply preparation to power supply termination in Modification 1 of Embodiment 1. Figure 8 is a block diagram showing the general configuration of the functional configuration of the AMR according to Embodiment 2 of the present invention. Figure 9 is a flowchart showing an example of the flow of contactless power supply processing of the AMR according to Embodiment 2 of the present invention. Figure 10 is a block diagram showing the general configuration of the functional configuration of the AMR according to Embodiment 3 of the present invention. Figure 11 is a flowchart showing an example of the flow of contactless power supply processing of the AMR according to Embodiment 3 of the present invention.

[0023] <Example of Application> (Overall System Configuration Related to the Example of Application) The present invention can be applied, for example, as a contactless power supply system 1 as shown in Figure 1. As shown in Figure 1, the contactless power supply system 1 is composed of an AMR 10, a power supply device 20, and a management device 50. In Figure 1, the area where power can be supplied by the power supply device 20 (power supply area 30) is shown with a solid line, and the area where wireless communication between the AMR 10 and the power supply device 20 is possible by wireless communication means described later (communication area 40) is shown with a dashed line.

[0024] Although Figure 1 shows one AMR10 and one power supply device 20, the actual configuration includes multiple units of each. Furthermore, the AMR10s do not all need to be of the same type; multiple types of AMR10s with different functions (roles) may be included. The AMR10s can be used not only in fully automated environments but also in environments where collaborative work between humans and robots is anticipated. In other words, the contactless power supply system 1 in this application example can be introduced in factories, warehouses, commercial facilities, hospitals, construction sites, etc.

[0025] (AMR) Figure 2 is a block diagram illustrating the schematic functional configuration of an AMR10 according to an application example of the present invention. As shown in Figure 2, the AMR10 includes a control unit 110, a power receiving unit 120, a storage unit 130, a communication unit 140, a driving unit 150, an opening / closing member 160, an opening / closing switching unit 170, and a storage battery 180.

[0026] The control unit 110 is a functional unit that oversees the control of the entire AMR10. The control unit 110 can be implemented by any arithmetic processing unit, such as a CPU (Central Processing Unit), an MPU (Micro-Processing Unit), or a DSP (Digital Signal Processor).

[0027] The storage battery 180 is a power source involved in the operation of the AMR 10 and is implemented by a known secondary battery such as a lithium-ion battery. The storage battery 180 supplies power to various parts of the AMR 10 and can also receive power from the power supply device 20 via the power receiving unit 120 using a contactless power supply method. However, a switching member 160 is provided in the middle of the path for supplying power from the power receiving unit 120 to the storage battery 180, and under normal circumstances, the switching member 160 is in the "open" state, thereby blocking the power supply path.

[0028] The power supply device 20 is a device that supplies power to the AMR 10 (its battery 180) using a contactless power supply method. There are no particular restrictions on its external appearance or installation method; it may be installed so that the casing is visible, or it may be installed embedded in the floor (ground). Furthermore, there are no particular restrictions on the contactless power supply method; any power supply method such as electromagnetic induction, magnetic field resonance, or electric field coupling can be adopted.

[0029] The power supply area 30 indicates the range in which contactless power supply by the power supply device 20 is possible. When the AMR 10 is within the power supply area 30, it can receive power from the power supply device 20.

[0030] The communication area 40 indicates the range within which communication is possible when the power supply device 20 is equipped with a wireless communication device capable of communicating with the AMR 10. In this application example, both the AMR 10 and the power supply device 20 are assumed to be equipped with an infrared communication device (not shown).

[0031] The management device 50 is an information processing device that manages and controls the entire contactless power supply system 1, and can be configured as a general-purpose computer system. The management device 50 may be configured as a single computer system, or it may be realized by the coordinated operation of multiple computer systems. In this application example, the user can use the management device 50 to set various operating conditions for each AMR 10, including power supply trigger conditions, power supply preparation conditions, power supply preparation operations, power supply start conditions, etc.

[0032] The power supply trigger condition is the condition for performing power supply processing to the AMR10 (or its battery 180). When this condition is met, the AMR10 executes a series of power supply processes described later. Specifically, this could be, for example, when the charge rate / battery level (SOC: State Of Charge) of the battery 180 falls below a predetermined value (e.g., 30%), or when there are no scheduled operations for a certain period of time.

[0033] Furthermore, the power supply preparation conditions are conditions that can be achieved even outside the power supply area 30 when the power supply trigger conditions are met, and can be, for example, the establishment of wireless communication with the power supply device 20. Furthermore, the power supply preparation operation is a preparation operation performed prior to power supply when the power supply preparation conditions are met, and can be, for example, applying a voltage of a predetermined value or higher to the BMS of the storage battery 180. Furthermore, the power supply start conditions are conditions for turning on the path for supplying power received from the power supply device 20 to the storage battery 180, and can be, for example, applying a voltage of a predetermined value or higher to the BMS for a predetermined period of time or longer.

[0034] Furthermore, various settings such as power supply trigger conditions do not need to be standardized across all AMR10 units; they may differ depending on their role and type. Also, these settings can be configured by operating each individual AMR10 unit without going through the management device 50.

[0035] In this application example, the AMR 10 performs a series of contactless power supply processes according to the operating conditions set as described above. When the power supply preparation condition is met (communication connection with the power supply device 20 is established), it performs a power supply preparation operation (applies voltage to the BMS). Then, when the power supply start condition (voltage application to the BMS continues for a predetermined time) is met, it turns on the power supply path to the battery 180 (closes the switching member 160). When the AMR 10 reaches the power supply area 30 with the switching member 160 in the "closed" position, power supply from the power supply device 20 to the battery 180 is immediately started.

[0036] According to the AMR 10 described above, it is possible to reach the power supply area 30 with the battery 180 ready for power supply. Therefore, the time lag between reaching the power supply area 30 and actually starting power supply to the battery 180 can be reduced.

[0037] <Embodiment 1> Hereinafter, Embodiment 1 of the present invention will be described in more detail based on the drawings (including those already described in the Application Examples). Since the contactless power supply system 1 according to Embodiment 1 has the same configuration as that described in the Application Examples, each component will be denoted by the same reference numerals as in the Application Examples, and repeated explanations will be omitted. The AMR 10 included in the contactless power supply system 1 according to Embodiment 1 corresponds to the autonomous mobile robot according to the present invention.

[0038] (System Configuration) Figure 2 is a block diagram illustrating the schematic functional configuration of the AMR10 according to Embodiment 1 of the present invention. As shown in Figure 2, the AMR10 includes a control unit 110, a power receiving unit 120, a storage unit 130, a communication unit 140, a driving unit 150, a switching member 160, a switching unit 170, a storage battery 180, multiple voltmeters, ammeters (none of which are shown), and the like.

[0039] The control unit 110 is a functional unit that controls the entire AMR 10 and may be provided, for example, in a power receiving unit (not shown) located in the AMR 10. More specifically, it can also be implemented by a power receiving control circuit of the power receiving unit. The power receiving control circuit converts the power received by the power receiving coil (described later) into power for charging the storage battery 180 and supplies it to the storage battery 180.

[0040] As shown in Figure 2, the control unit 110 includes the following functional modules: a power supply trigger determination unit 101, a power supply preparation determination unit 102, a power supply preparation operation execution unit 103, and a power supply start condition determination unit 104. The power supply trigger determination unit 101 determines whether or not a preset power supply trigger condition has been met. The power supply preparation determination unit 102 determines whether or not a preset power supply preparation condition has been met. The power supply preparation operation execution unit 103 controls each part of the AMR 10 to execute a preset power supply preparation operation. The power supply start condition determination unit 104 determines whether or not a preset power supply start condition has been met.

[0041] The power receiving unit 120 is a functional unit that receives power transmitted by a non-contact power supply method, and can be realized, for example, by a power receiving coil included in a power receiving unit disposed in the AMR 10. The power receiving coil is magnetically coupled with a power transmitting coil (not shown) included in the power transmitting unit of the power supply device 20, and receives power from the power transmitting coil by an electromagnetic induction method. Note that at least one of the power transmitting coil and the power receiving coil may include means for forming a resonance circuit, or may be configured to enable power transmission by an electric field coupling method.

[0042] The storage unit 130 is a functional unit that stores various types of information processed by the control unit 110. As the hardware of the storage unit 130, main storage devices such as flash memory, RAM (Random Access Memory), and ROM (Read Only Memory), and auxiliary storage devices such as SSD (Solid State Drive), EPROM (Erasable Programmable ROM), flash memory, USB memory, and SD (Secure Digital) memory cards are included.

[0043] The communication unit 140 is a functional unit that performs information communication with the management device 50, the power supply device 20, and the like. The communication unit 140 is configured to include a communication antenna (not shown) corresponding to a desired communication standard, such as Wi-Fi (registered trademark), Bluetooth (registered trademark), and infrared communication.

[0044] The traveling drive unit 150 is a functional unit for the AMR 10 to move. The traveling drive unit 150 is configured to include hardware such as wheels, a motor, brakes, and a direction changing mechanism (all not shown).

[0045] The opening and closing member 160 is a member that opens and closes a path for supplying the power received from the power supply device 20 to the storage battery 180. Specifically, for example, a field effect transistor such as a MOSFET can be adopted, or a mechanical relay can be adopted. Note that the opening and closing member 160 may be assembled in a storage battery unit packaged together with a plurality of battery cells, a BMS, and the like, or may be disposed separately from the storage battery unit.

[0046] The opening / closing switching unit 170 is a functional unit for controlling the open / closed state of the opening / closing member 160. For example, this functional unit can be realized by a BMS that monitors and controls the battery 180. However, it is also possible for a configuration other than the BMS (for example, the control unit 110 or other dedicated devices) to perform the function of the opening / closing switching unit 170. Similar to the opening / closing member 160, the opening / closing switching unit 170 may be included in the battery unit or may be arranged separately from the battery.

[0047] FIG. 3 is a block diagram showing the relationship regarding the power path among the power receiving unit 120, the opening / closing member 160, the opening / closing switching unit 170, and the battery 180. In FIG. 3, solid lines connecting each component indicate the power path, and broken lines indicate the communication path.

[0048] The power supply device 20 includes wireless communication means (not shown) for performing information communication with the AMR 10. In this embodiment, it is assumed that the device includes means capable of communicating by Wi-Fi (registered trademark).

[0049] (Processing Flow) Next, an example of the flow of non-contact power supply processing to the AMR 10 according to Embodiment 1 will be shown according to FIGS. 4 and 5. FIG. 4 is a flowchart showing an example of the flow of power supply processing from the power supply device 20 to the AMR 10 in the non-contact power supply system 1. FIG. 5 is an explanatory diagram showing how the battery voltage and charging current of the battery 180 change according to the positional relationship between the AMR 10 and the power supply device 20 and a series of phases of the power supply processing.

[0050] Note that prior to the flow shown in FIG. 4, power supply trigger conditions, power supply preparation conditions, power supply preparation operations, and power supply start conditions are preset for each AMR 10 via the management device 50. Specifically, the power supply trigger condition is that the SOC of the battery 180 becomes less than or equal to a predetermined value, the power supply preparation condition is that a wireless communication connection is established between the AMR 10 and the power supply device 20, the power supply preparation operation is that the control unit 110 applies a voltage of a predetermined value or more (for example, 27 V or more) to the opening / closing switching unit 170, and the power supply start condition is set to be that the application of a voltage of a predetermined value or more to the opening / closing switching unit 170 continues for 5 seconds.

[0051] As shown in Figure 4, the AMR 10 (power supply trigger determination unit 101) determines in real time whether the State of Charge (SOC) of the battery 180 is below a predetermined value (S101). When it is determined that the SOC is below a predetermined value, the power supply trigger condition is met and the power supply process begins. Subsequently, the AMR 10 attempts to establish a communication connection with the power supply device 20 until a communication connection is established (S102, S103).

[0052] Meanwhile, the power supply device 20 continuously attempts to establish a communication connection with the AMR 10 (S121, 122), and once a communication connection with the AMR 10 is established, it transmits power from the power transmission unit (S123).

[0053] When the AMR 10 reaches the communication area 40 with the power supply device 20, communication connection with the power supply device 20 is initiated. Then, if the AMR 10 determines in step S103 that a communication connection has been established, it applies a voltage of 27V or more to the switching unit 170 (S104). As a result, the voltage in the switching unit 170 (between the control unit 110 and the switching member 160) increases, as shown in Figure 5.

[0054] Next, the AMR 10 (power supply start condition determination unit 104) determines whether a voltage of 27V or more has been continuously applied to the switching unit 170 for 5 seconds (S105). If it is determined that 5 seconds have not elapsed, the process returns to step S104 and the subsequent processing is repeated. On the other hand, if it is determined in step S105 that the voltage has been continuously applied for 5 seconds or more, the power supply start condition is met. Once the power supply start condition is met, the AMR 10 (switching unit 170) switches the switching member 160 from "open" to "closed" (S106), and the series of processes ends. As a result, the battery 180 becomes immediately ready for charging, and power supply begins immediately after the AMR 10 reaches the power supply area 30, as shown in Figure 5.

[0055] If the AMR 10 reaches the power supply area 30 before the power supply start conditions are met, power supply to the battery 180 will begin only after the power supply start conditions are met within the power supply area.

[0056] In this embodiment, a wireless communication connection between the AMR 10 and the power supply device 20 is set as a power supply preparation condition, and wireless communication between the two is performed by Wi-Fi®. That is, since it is possible to communicate over long distances compared to communication such as infrared, it is possible to prevent a situation where the power supply start condition has not been met when the power supply area 30 is reached.

[0057] (Modification 1) In the above embodiment 1, the voltage applied from the power receiving unit to the switching unit 170 was performed via a common path (terminal) with the charging path to the storage battery 180, but this configuration is not necessarily required. Figure 6 is a block diagram showing the power path according to this modification. As shown in Figure 6, the voltage applied to the switching unit 170 may be performed using a dedicated power supply path. In this case, as shown in Figure 7, the voltage applied to the switching unit 170 may be a lower voltage (drive voltage) compared to the battery voltage.

[0058] (Modification 2) In the above embodiment 1, an example was shown in which the AMR 10 and the power supply device 20 communicate using Wi-Fi®, but wireless connection may be made using other communication standards such as Bluetooth® or infrared communication. Also, the exchange of information using RFID (Radio Frequency Identification) can be included in the wireless communication referred to herein.

[0059] Furthermore, the AMR 10 and the power supply device 20 may be configured to use multiple communication standards depending on the purpose. For example, information related to power supply to the battery 180 (such as status information) may be exchanged using infrared communication, while the communication connection as a condition for preparing for power supply may be performed using another standard that allows for communication over a wider range (for example, Wi-Fi®).

[0060] (Modification 3) In the above embodiment 1, the power supply preparation operation was the AMR 10 applying a voltage of a predetermined value or higher to the switching unit 170, and the power supply start condition was the application of a voltage of a predetermined value or higher for 5 seconds. However, it is of course possible to set other power supply preparation operations and power supply start conditions. For example, the power supply preparation operation could be the control unit 110 sending a trigger signal to the switching unit 170 to "close" the switching member 160, and the power supply start condition could be the elapsed time from the transmission of the trigger signal. Alternatively, the power supply preparation operation could be the AMR 10 applying a current to the switching unit 170 instead of a voltage of a predetermined value or higher, and the power supply start condition could be the application of a current of a predetermined value or higher for a predetermined time or longer.

[0061] (Modification 4) The power supply trigger condition in Embodiment 1 above can also be a condition other than SOC. For example, it can be a condition such as when the operating time of AMR10 exceeds a predetermined time, when AMR10 completes a predetermined task, or when AMR10 has no scheduled tasks for a certain period of time. Even if such a power supply trigger condition is adopted, if the SOC of the storage battery 180 is close to full charge, power supply can be canceled when power supply is performed within the power supply area 30.

[0062] <Embodiment 2> Next, another embodiment of the present invention will be described based on Figures 8 and 9. Since the AMR 11 in this embodiment has a configuration that is generally the same as that described in the Application Example and Embodiment 1, common components will be denoted by the same reference numerals as in the Application Example and Embodiment 1, and repetitive explanations will be omitted. Also, the contactless power supply system including the AMR 11 is the same as the contactless power supply system 1 according to the Application Example and Embodiment 1, so the explanation of the system will be omitted.

[0063] As shown in Figure 8, the AMR11 according to this embodiment has the same configuration as the AMR10 of Embodiment 1, except that the control unit 111 includes a location information acquisition unit 105 as a functional module. The location information acquisition unit 105 is a functional unit that acquires the current location information of the AMR11. Here, the location information may be the coordinate data of the AMR11 itself obtained by beacon positioning, UWB (Ultra Wide Band) positioning, etc., or it may be the output signal of an external sensor (such as a photoelectric sensor) that detects the presence of the AMR11 at a specific location.

[0064] Next, an example of contactless power supply processing to the AMR11 according to this embodiment is shown based on Figure 9. Figure 9 is a flowchart showing an example of the flow of power supply processing to the AMR11. In this embodiment as well, as in the first embodiment, power supply trigger conditions, power supply preparation conditions, power supply preparation operation, and power supply start conditions are pre-set for each AMR11 via the management device 50.

[0065] In this embodiment, the power supply trigger condition is set to the SOC being below a predetermined value, the power supply preparation condition is set to the distance between the AMR 11 and the power supply device 20 being below a predetermined value (for example, 5 m), the power supply preparation operation is set to the AMR 11 applying a voltage of a predetermined value or higher to the switching unit 170, and the power supply start condition is set to the voltage application to the switching unit 170 continuing for 5 seconds.

[0066] As shown in Figure 9, the AMR11 (power supply trigger determination unit 101) determines in real time whether the SOC is below a predetermined value (S201). If it is determined that the SOC is below a predetermined value, the power supply trigger condition is met and the power supply process is started.

[0067] After the power supply trigger condition is met, the AMR 11 acquires its own position information (S202). Note that position information may be acquired continuously. Next, the AMR 11 (power supply preparation determination unit 102) determines whether the distance between itself and the power supply device 20 is 5m or less based on the acquired position information (S203).

[0068] If it is determined in step S203 that the distance to the power supply device 20 is not 5m or less, the process returns to step S202 and the subsequent steps are repeated. On the other hand, if it is determined in step S203 that the distance to the power supply device 20 is 5m or less, the AMR 11 (control unit 111) applies a voltage of 27V or more to the switching unit 170 (S204).

[0069] Next, the AMR 11 (power supply start condition determination unit 104) determines whether a voltage of 27V or more has been continuously applied to the switching unit 170 for 5 seconds (S205). If it is determined that 5 seconds have not elapsed, the process returns to step S204 and the subsequent processing is repeated. On the other hand, if it is determined in step S205 that the voltage has been continuously applied for 5 seconds or more, the power supply start condition is met. Once the power supply start condition is met, the AMR 11 (switching unit 170) switches the switching member 160 from "open" to "closed" (S206), and the series of processes ends. As a result, the battery 180 becomes immediately ready for charging, and power supply begins immediately after the AMR 11 reaches the power supply area 30.

[0070] If the AMR11 reaches the power supply area 30 before the power supply start conditions are met, power supply to the battery 180 will begin only after the power supply start conditions are met within the power supply area.

[0071] According to the AMR11 of this embodiment described above, power supply preparation operations can be performed independently regardless of whether or not there is a communication connection with the power supply device 20. Therefore, even in the event of a problem with the communication connection with the power supply device 20, power supply can be started quickly.

[0072] <Embodiment 3> Next, yet another embodiment of the present invention will be described based on Figures 10 and 11. Note that the AMR 12 in this embodiment has a configuration that is generally the same as that described in the Application Example and Embodiment 1, so common components are denoted by the same reference numerals as in the Application Example and Embodiment 1, and repeated explanations are omitted. Also, the contactless power supply system including the AMR 12 is the same as the contactless power supply system 1 according to the Application Example and Embodiment 1, so the explanation of the system is omitted.

[0073] As shown in Figure 10, the AMR12 according to this embodiment differs from the AMR10 of Embodiment 1 in that the control unit 112 includes functional modules for distance information acquisition unit 106, speed information acquisition unit 107, and arrival time calculation unit 108.

[0074] The distance information acquisition unit 106 is a functional unit that acquires information (distance information) relating to the distance between the AMR 12 and the power supply device 20. The distance information may be obtained, for example, based on images acquired by a camera (not shown) equipped on the AMR 12, or by ultrasonic ranging means (not shown). Alternatively, the value calculated by the management device 50 based on images acquired by an external camera that photographs a predetermined space in which the AMR 12 is operated may be acquired by communication.

[0075] The speed information acquisition unit 107 is a functional unit that acquires the driving speed of the AMR 12. The driving speed may be calculated, for example, using the rotation speed of the tires equipped on the AMR 12, detected by a speed sensor (including one located outside the AMR 12), or calculated based on image information.

[0076] The arrival time calculation unit 108 uses the distance information acquired by the distance information acquisition unit 106 and the driving speed information acquired by the speed information acquisition unit 107 to calculate the estimated time until the AMR 12 reaches the power supply area 30.

[0077] Next, an example of contactless power supply processing to the AMR12 according to this embodiment is shown based on Figure 11. Figure 11 is a flowchart showing an example of the flow of power supply processing to the AMR12. In this embodiment as well, similar to the first embodiment, power supply trigger conditions, power supply preparation conditions, power supply preparation operation, and power supply start conditions are pre-set for each AMR12 via the management device 50.

[0078] In this embodiment, the power supply trigger condition is set to the SOC being below a predetermined value, the power supply preparation condition is set to the time required for the AMR 12 to reach the power supply area 30 being 5 seconds or less, the power supply preparation operation is set to the AMR 12 applying a voltage of 27V or more to the switching unit 170, and the power supply start condition is set to the voltage application to the switching unit 170 continuing for 5 seconds.

[0079] As shown in Figure 11, the AMR12 determines in real time whether the SOC is below a predetermined value (S301). If it is determined that the SOC is below a predetermined value, the power supply trigger condition is met and the power supply process is started. When the power supply trigger condition is met, the AMR12 acquires distance information between the AMR12 and the power supply device 20 and the AMR12's travel speed information in real time (S302, S303). Based on the acquired distance information and speed information, the AMR12 calculates the estimated time at which it will reach the power supply device 20 (S304).

[0080] Furthermore, AMR12 (power supply preparation determination unit 102) determines whether the estimated arrival time calculated in step S304 is 5 seconds or less (S305). If it is determined that the estimated arrival time is not 5 seconds or less, the process returns to step S302 and the subsequent processing is repeated. On the other hand, if it is determined in step S305 that the estimated arrival time is 5 seconds or less, AMR12 (control unit 112) applies a voltage of 27V or more to the switching unit 170 (S306).

[0081] Next, the AMR 12 (power supply start condition determination unit 104) determines whether a voltage of 27V or higher has been continuously applied to the switching unit 170 for 5 seconds (S307). If it is determined that 5 seconds have not elapsed, the process returns to step S306 and the subsequent processing is repeated. On the other hand, if it is determined in step S307 that the voltage has been continuously applied for 5 seconds or more, the power supply start condition is met. Once the power supply start condition is met, the AMR 12 (switching unit 170) switches the switching member 160 from "open" to "closed" (S308), and the series of processes ends. As a result, the battery 180 becomes immediately ready for charging, and power supply begins immediately after the AMR 12 reaches the power supply area 30.

[0082] If the AMR12 reaches the power supply area 30 before the power supply start conditions are met, power supply to the battery 180 will begin only after the power supply start conditions are met within the power supply area.

[0083] With a configuration like that of this embodiment, the power supply preparation operation (applying a voltage of 27V or higher) will not be performed beyond a predetermined time, thus avoiding unnecessary consumption of the battery 180's power and enabling efficient use of the battery 180.

[0084] <Other> The above examples are merely illustrative illustrations of the present invention, and the present invention is not limited to the specific forms described above. The present invention can be modified in various ways within the scope of its technical idea. For example, the modifications 1 to 4 described in Embodiment 1 above can be similarly applied as modifications in Embodiments 2 and 3.

[0085] <Note 1> The system comprises: a power receiving unit (120) that receives power transmitted from a power supply device (20) by a contactless power supply method; a storage battery (180) that receives power through the power receiving unit (120); an opening / closing member (160) that opens and closes the charging path from the power receiving unit (120) to the storage battery (180); an opening / closing switching unit (170) that controls the opening and closing of the opening / closing member (160); and control units (110, 111, 112) that control the power supply to the storage battery (180), wherein the control units (110, 111, 112) execute a power supply preparation operation for supplying power when predetermined power supply preparation conditions that can be achieved even outside the power supply area (30) by the power supply device (20) are met. The open / close switching unit (170) switches the open / close member (160) from "open" to "closed" when predetermined power supply start conditions are met after the power supply preparation operation is performed, for autonomous mobile robots (10, 11, 12).

[0086] <Note 2> The autonomous mobile robot (10, 11, 12) described in Note 1, wherein the power supply preparation operation is to apply a voltage or current of a predetermined value or higher to the switching unit (170), and the power supply start condition includes the application of a voltage or current of a predetermined value or higher to the switching unit (170) for a predetermined time.

[0087] <Note 3> The voltage above the predetermined value is the voltage of the storage battery (18), as described in Note 2 for the autonomous mobile robots (10, 11, 12).

[0088] <Note 4> The power supply preparation operation is performed by the control unit (110, 111, 112) transmitting a trigger signal to the opening / closing switching unit (170) to close the opening / closing member (160), and the power supply start condition is that a predetermined time has elapsed since the transmission of the trigger signal, as described in Note 1 for the autonomous mobile robot (10, 11, 12).

[0089] <Note 5> The autonomous mobile robot (10) according to any one of Notes 1 to 4, further comprising wireless communication means for communicating with the power supply device (20), wherein the power supply preparation condition includes the power supply device (20) and the autonomous mobile robot (10) being connected by the wireless communication means.

[0090] <Note 6> The power supply preparation condition includes the autonomous mobile robot (11) described in any of Notes 1 to 4, wherein the distance between the power supply device (20) and the autonomous mobile robot (11) is less than or equal to a predetermined value.

[0091] <Note 7> The autonomous mobile robot (11) described in Note 6, further comprising a position acquisition means for acquiring information relating to its own position, wherein the control unit (111) determines, based on the information acquired by the position acquisition means, whether the distance between the power supply device and the autonomous mobile robot (11) is less than or equal to a predetermined value.

[0092] <Note 8> The power supply preparation conditions include the autonomous mobile robot (12)

[0093] <Note 9> The autonomous mobile robot (12) is equipped with distance information acquisition means for acquiring information relating to the distance between the power supply area (30) and the autonomous mobile robot (12), and speed information acquisition means for acquiring information relating to the travel speed of the autonomous mobile robot (12), and the control unit (112) determines whether the estimated arrival time is less than or equal to the predetermined time based on the distance information and the travel speed information, as described in Note 8.

[0094] <Note 10> A power supply system (1) having autonomous mobile robots (10, 11, 12) and a power supply device (20) that supplies power to the autonomous mobile robots (10, 11, 12) in a contactless power supply manner, wherein the autonomous mobile robots (10, 11, 12) include: a power receiving unit (120) that receives power transmitted from the power supply device (20); a storage battery (180) that receives power through the power receiving unit (120); an opening / closing member (160) that opens and closes the charging path from the power receiving unit (120) to the storage battery (180); an opening / closing switching unit (170) that controls the opening and closing of the opening / closing member (160); and a control unit (110, 111, 112) that controls the power supply to the storage battery (180), The power supply system (1) is characterized in that the control unit (110, 111, 112) performs a power supply preparation operation for supplying power when predetermined power supply preparation conditions are met, which can be achieved even outside the power supply area (30) of the power supply device (20), and the opening and closing switches the opening and closing member (160) from "open" to "closed" after the power supply preparation operation is performed and predetermined power supply start conditions are met.

[0095] <Note 11> A method for supplying power to an autonomous mobile robot (10, 11, 12) using a contactless power supply method, comprising: a power receiving unit (120) that receives power transmitted by a contactless power supply method; a storage battery (180) that receives power through the power receiving unit (120); and an opening / closing member (160) that opens and closes the charging path from the power receiving unit (120) to the storage battery (180), wherein the method involves: moving the autonomous mobile robot (10, 11, 12) to a power supply area (30) that can be powered by a contactless power supply device; having the autonomous mobile robot (10, 11, 12) perform a power supply preparation operation for power supply when predetermined power supply preparation conditions that can be achieved even outside the power supply area (30) by the power supply device (20) are met; and switching the opening / closing member (160) from "open" to "closed" when predetermined power supply start conditions are met after the execution of the power supply preparation operation. Method for supplying power to autonomous mobile robots (10, 11, 12).

[0096] 1... Contactless power supply system 10, 11, 12... AMR 20... Contactless power supply device 30... Power supply area 40... Communication area 50... Management device 110, 111, 112... Control unit

Claims

1. An autonomous mobile robot comprising: a power receiving unit that receives power transmitted from a power supply device by a contactless power supply method; a storage battery that receives power through the power receiving unit; an opening / closing member that opens and closes a charging path from the power receiving unit to the storage battery; an opening / closing switching unit that controls the opening and closing of the opening / closing member; and a control unit that controls the power supply to the storage battery, wherein the control unit executes a power supply preparation operation for supplying power when predetermined power supply preparation conditions that can be achieved even outside the power supply area of ​​the power supply device are met, and the opening / closing switching unit switches the opening / closing member from "open" to "closed" after the execution of the power supply preparation operation when predetermined power supply start conditions are met.

2. The autonomous mobile robot according to claim 1, wherein the power supply preparation operation is to apply a voltage or current of a predetermined value or higher to the switching unit, and the power supply start condition includes the application of a voltage or current of a predetermined value or higher to the switching unit for a predetermined time.

3. The autonomous mobile robot according to claim 2, wherein the voltage above the predetermined value is the voltage of the storage battery.

4. The autonomous mobile robot according to claim 1, wherein the power supply preparation operation is performed by the control unit transmitting a trigger signal to the opening / closing switching unit to close the opening / closing member, and the power supply start condition is that a predetermined time has elapsed since the transmission of the trigger signal.

5. The autonomous mobile robot according to claim 1, further comprising wireless communication means for communicating with the power supply device, wherein the power supply preparation condition includes the power supply device and the autonomous mobile robot being connected by the wireless communication means.

6. The autonomous mobile robot according to claim 1, wherein the power supply preparation condition includes the distance between the power supply device and the autonomous mobile robot being less than or equal to a predetermined value.

7. The autonomous mobile robot according to claim 6, further comprising a position acquisition means for acquiring information relating to its own position, wherein the control unit determines whether the distance between the power supply device and the autonomous mobile robot is less than or equal to a predetermined value based on the information acquired by the position acquisition means.

8. The autonomous mobile robot according to claim 2 or 4, wherein the power supply preparation condition includes that the estimated time for the autonomous mobile robot to reach the power supply area is less than or equal to the predetermined time.

9. The autonomous mobile robot comprises distance information acquisition means for acquiring information relating to the distance between the power supply area and the autonomous mobile robot, and speed information acquisition means for acquiring information relating to the driving speed of the autonomous mobile robot, wherein the control unit determines whether the estimated arrival time is less than or equal to the predetermined time based on the distance information and the driving speed information, the autonomous mobile robot according to claim 8.

10. A power supply system comprising an autonomous mobile robot and a power supply device that supplies power to the autonomous mobile robot in a contactless power supply manner, wherein the autonomous mobile robot comprises: a power receiving unit that receives power transmitted from the power supply device; a storage battery that receives power through the power receiving unit; an opening / closing member that opens and closes a charging path from the power receiving unit to the storage battery; an opening / closing switching unit that controls the opening and closing of the opening / closing member; and a control unit that controls the power supply to the storage battery, wherein the control unit executes a power supply preparation operation for supplying power when predetermined power supply preparation conditions that can be achieved even outside the power supply area of ​​the power supply device are met, and the opening / closing switching unit switches the opening / closing member from "open" to "closed" after the execution of the power supply preparation operation when predetermined power supply start conditions are met.

11. A method for supplying power to an autonomous mobile robot using a contactless power supply method, comprising: a power receiving unit that receives power transmitted by a contactless power supply method; a storage battery that receives power through the power receiving unit; and an opening / closing member that opens and closes a charging path from the power receiving unit to the storage battery, the method comprising: moving the autonomous mobile robot to an area where power can be supplied by a contactless power supply device; having the autonomous mobile robot perform a power supply preparation operation for power supply when predetermined power supply preparation conditions that can be achieved even outside the power supply area by the power supply device are met; and switching the opening / closing member from "open" to "closed" after the power supply preparation operation has been performed and predetermined power supply start conditions are met.

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