Autonomous traveling robot, non-contact power supply system, and method for supplying power to autonomous traveling robot

Abstract

An autonomous traveling robot comprises: a power reception unit that receives power which is transmitted from a power supply device by a non-contact power supply method; a storage battery that receives supply of the power via the power reception unit; a traveling drive unit that moves said autonomous traveling robot; and a control unit that performs control related to charging of the storage battery and movement by the traveling drive unit, wherein the control unit includes a charging possibility determination unit that determines whether or not the storage battery can be charged with the power which has been supplied via the power reception unit, and a position adjustment unit that, when the charging possibility determination unit has determined that the storage battery cannot be charged, controls the traveling drive unit to change at least one of the posture and the position with respect to the power supply device.

Description

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

[0001] The present invention relates to an autonomous mobile robot, a contactless power supply system, and a power supply method for an autonomous mobile robot.

[0002] Conventionally, an autonomous mobile robot (AMR) equipped with a battery as a power source and charging the battery by a contactless power supply (WPT: Wireless Power Transfer) method has been known. When such an autonomous mobile robot receives power supply for charging the battery from a power supply device, it is required to stop at a predetermined position with respect to the power supply device.

[0003] The stop position of the autonomous mobile robot is controlled to stop at a predetermined coordinate position on the map of the management application. However, since this stop position is a point, regarding the posture of the robot at right angles to the straight line, it is adjusted based on the positional relationship with surrounding obstacles detected by detection means such as a laser sensor built into the robot. However, there were cases where errors occurred in the adjustment by such detection means.

[0004] When the autonomous mobile robot stops at a predetermined stop position with respect to the power supply device in order to charge the mounted battery, if the posture with respect to the power supply device is not appropriate, such as when the power transmission coil provided in the autonomous mobile robot is tilted with respect to the power transmission coil provided in the power supply device due to the above-mentioned error, there was a possibility that power supply would be hindered.

[0005] Japanese Patent Application Laid-Open No. 2024-53172

[0006] As a technique for establishing a predetermined positional relationship between the power transmission coil of the power supply device and the power reception coil of the autonomous mobile robot when charging the battery, for example, the technique described in Patent Document 1 has been proposed, but it does not consider the error at the stop position as described above.

[0007] The present invention has been made in view of the above problems, and an object thereof is to provide a technique for reducing charging errors of a storage battery.

[0008] To solve the above problems, the present invention provides 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 the power supplied via the power receiving unit; a driving unit that moves itself; and a control unit that controls the charging of the storage battery and the movement by the driving unit, wherein the control unit includes a charging feasibility determination unit that determines whether or not the storage battery can be charged with the power supplied via the power receiving unit, and a position adjustment unit that controls the driving unit to change at least one of the attitude and position relative to the power supply device when the charging feasibility determination unit determines that the storage battery cannot be charged.

[0009] According to this, if the battery of the autonomous mobile robot cannot be charged by the power supplied from the power supply due to the positional relationship between the power supply device and the autonomous mobile robot, at least one of the attitude and position of the autonomous mobile robot relative to the power supply device can be changed to achieve a positional relationship that allows for battery charging, thereby reducing battery charging errors.

[0010] Here, the term "Autonomous Mobile Robot (AMR)" is not limited to robots that simply have a cargo platform, but also includes robots that handle workpieces using manipulators (so-called robotic hands) (mobile manipulators). In other words, the "work" performed by autonomous mobile robots includes not only waiting at designated locations for loading and unloading cargo, but also tasks involving handling, and tasks performed in collaboration with humans or other robots.

[0011] Furthermore, in the present invention, the position adjustment unit may change at least one of the attitude and position relative to the power supply device by rotating the autonomous mobile robot once or multiple times in mutually different directions.

[0012] According to this, a positional relationship can be achieved that allows the battery to be charged regardless of the direction the power supply device is facing the autonomous robot, thereby reducing battery charging errors.

[0013] Furthermore, in the present invention, the position adjustment unit may change at least one of the attitude and position relative to the power supply device by rotating the autonomous mobile robot once or multiple times in the same direction at the same angle or different angles.

[0014] According to this, at least one of the attitude and position of the autonomous robot relative to the power supply device can be changed more precisely, increasing the likelihood of achieving a positional relationship that allows for battery charging, and thus reducing battery charging errors.

[0015] Furthermore, the present invention may include an object detection unit for detecting surrounding objects, and the position adjustment unit may change at least one of the attitude and position relative to the power supply device based on the detection result of the object detection unit.

[0016] According to this, at least one of the attitude and position of the autonomous mobile robot relative to the power supply device can be changed more accurately based on the detection results of the object detection unit. This increases the likelihood of achieving a positional relationship that allows for battery charging, thus reducing battery charging errors.

[0017] Furthermore, in the present invention, the charging feasibility determination unit may determine whether or not the storage battery can be charged based on the voltage applied to the storage battery.

[0018] Furthermore, in the present invention, the charging feasibility determination unit may determine whether or not the battery can be charged based on at least one of the current and voltage in any of the circuits that supply the power to the battery from the power receiving unit.

[0019] Furthermore, in the present invention, the charging feasibility determination unit may determine whether or not the storage battery is rechargeable based on the efficiency of the power transmitted from the power supply device.

[0020] Furthermore, the present invention relates to a contactless power supply system including an autonomous mobile robot and a power supply device that is communicably connected to the autonomous mobile robot and supplies power to the autonomous mobile robot by a contactless power supply method, wherein the power supply device comprises a power transmission coil for transmitting the power to the autonomous mobile robot, a movable mechanism for changing at least one of the position and orientation of the power transmission coil, and a power transmission coil control unit that controls the movable mechanism to change at least one of the position and orientation of the power transmission coil, wherein the autonomous mobile robot comprises a power receiving coil for receiving the power from the power supply device, a storage battery that receives the power via the power receiving coil, and a charging feasibility determination unit that determines whether or not the storage battery can be charged by the power supplied via the power receiving coil, wherein if the charging feasibility determination unit determines that the storage battery cannot be charged, the system controls the movable mechanism to change at least one of the orientation and position of the autonomous mobile robot relative to the power receiving coil.

[0021] According to this, if the battery of the autonomous mobile robot cannot be charged by the power transmitted from the power supply due to the positional relationship between the power transmission coil of the power supply device and the power receiving coil of the autonomous mobile robot, at least one of the attitude and position of the autonomous mobile robot relative to the power supply device can be changed to realize a positional relationship that allows for battery charging, thereby reducing battery charging errors.

[0022] Furthermore, the present invention relates to a contactless power supply system comprising an autonomous mobile robot and a power supply device that is communicably connected to the autonomous mobile robot and supplies power to the autonomous mobile robot by a contactless power supply method, wherein the autonomous mobile robot comprises: a power receiving unit that receives the power transmitted from the power supply device; a storage battery that receives the power supplied via the power receiving unit; a driving unit that moves itself; and a control unit that controls the charging of the storage battery and the movement by the driving unit, wherein the control unit comprises: a charging feasibility determination unit that determines whether or not the storage battery can be charged with the power supplied via the power receiving unit; and a position adjustment unit that controls the driving unit to change at least one of the attitude and position relative to the power supply device when the charging feasibility determination unit determines that the storage battery cannot be charged.

[0023] According to this, if the battery of the autonomous mobile robot cannot be charged by the power supplied from the power supply due to the positional relationship between the power supply device and the autonomous mobile robot, at least one of the attitude and position of the autonomous mobile robot relative to the power supply device can be changed to achieve a positional relationship that allows for battery charging, thereby reducing battery charging errors.

[0024] Furthermore, in the present invention, the power supply device may include an efficiency acquisition unit that acquires the efficiency of the power supplied to the autonomous mobile robot, and the charging feasibility determination unit may change at least one of the attitude and position relative to the power supply device based on the efficiency acquired from the power supply device.

[0025] Furthermore, in the present invention, the system is provided with a management device that manages the charging of the battery of the autonomous mobile robot using the power supplied from the power supply device, and the control unit may notify the management device of an error if it determines that the battery cannot be charged by the power supplied via the power receiving unit, even if the position adjustment unit controls the driving unit to change at least one of the attitude and position of the autonomous mobile robot relative to the power supply device.

[0026] According to this, the person in charge of the control device can recognize charging errors, enabling the worker to take appropriate action, such as changing at least one of the attitude or position of the autonomous robot.

[0027] Furthermore, the present invention relates to 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 from a power supply device using a contactless power supply method; a storage battery that receives the power via the power receiving unit; and a driving unit that moves itself, the method being characterized by: determining whether or not the storage battery can be charged with the power supplied via the power receiving unit; if it is determined that the storage battery cannot be charged, controlling the driving unit to change at least one of the attitude and position relative to the power supply device; and if it is determined that the storage battery can be charged, charging the storage battery with power transmitted from the power supply device.

[0028] According to this, if the battery of the autonomous mobile robot cannot be charged by the power supplied from the power supply due to the positional relationship between the power supply device and the autonomous mobile robot, at least one of the attitude and position of the autonomous mobile robot relative to the power supply device can be changed to achieve a positional relationship that allows for battery charging, thereby reducing battery charging errors.

[0029] 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.

[0030] According to the present invention, it is possible to provide a technology for reducing charging errors in storage batteries.

[0031] Figure 1 is a schematic diagram showing the general configuration of a contactless power supply system according to an embodiment of the present invention. Figure 2 is a block diagram showing the general functional configuration of the AMR according to an embodiment. Figure 3 is a block diagram showing the general functional configuration of the power supply device according to an embodiment. Figure 4A is a block diagram showing the general hardware configuration of the management device according to an embodiment. Figure 4B is a block diagram showing a partial functional configuration of the management device according to an embodiment. Figure 5 is a schematic plan view showing the positional relationship between the AMR and the power supply device during charging according to an embodiment. Figure 6 is a flowchart showing an example of the attitude control processing procedure in the AMR according to an embodiment. Figure 7 is a plan view showing another positional relationship between the AMR and the power supply device during charging according to an embodiment. Figure 8 is a plan view showing another positional relationship between the AMR and the power supply device during charging according to an embodiment. Figure 9 is a flowchart showing an example of the attitude control processing procedure in the AMR according to a modified embodiment. Figure 10 is a schematic plan view showing the positional relationship between the AMR and the power supply device during charging according to Embodiment 2. Figure 11 is a flowchart showing an example of the attitude control processing procedure in the AMR according to Embodiment 3. Figure 12 is a flowchart showing part of the attitude control processing procedure in the AMR according to Embodiment 4. Figure 13 is a flowchart showing another part of the attitude control processing procedure in the AMR according to Embodiment 4. Figure 14 is a block diagram showing a schematic of the functional configuration of the power supply device according to Embodiment 5. Figure 15 is a flowchart showing an example of the attitude control processing procedure in the AMR according to Embodiment 5.

[0032] <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 management device 20, a power supply device 30, and a work area 40.

[0033] Although Figure 1 shows one AMR10 and one power supply device 30 installed in one work area, in reality, the 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 AMR10 can be used not only in fully automated work sites but also in work sites where collaborative work between humans and robots is envisioned. 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.

[0034] Figure 2 is a block diagram illustrating the schematic functional configuration of the 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 position detection unit 130, an object detection unit 140, a storage unit 150, a communication unit 160, a driving unit 170, an opening / closing member 180, an opening / closing switching unit 190, and a storage battery 200.

[0035] 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).

[0036] The storage battery 200 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 200 supplies power to various parts of the AMR 10 and can also receive power from the power supply device 30 via the power receiving unit 120 using a contactless power supply method. However, an opening / closing member 180 is provided in the middle of the path for supplying power from the power receiving unit 120 to the storage battery 200, and under normal circumstances, the opening / closing member 180 is in the "open" state, thereby blocking the power supply path.

[0037] The power supply device 30 is a device that supplies power to the AMR 10 (and its storage battery 200) 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).

[0038] The work area 40 is the area where the power supply device 30 is installed, and may be a workbench where the AMR 10 works alone, or it may be an area where collaborative work is performed with workers or other equipment (not shown), such as near the start or end of a transport lane, or a pickup location on a loading rack.

[0039] The power supply device 30 includes a power transmission unit 33 that supplies power to the battery 200 of the AMR 10 using a wireless power transfer (WPT) method. The AMR 10 is equipped with a power receiving unit 120 that receives power via WPT.

[0040] The management device 20 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, including appropriate charging conditions, power supply trigger conditions, and power supply start conditions, for each AMR 10.

[0041] Figure 5 is a schematic plan view showing the positional relationship between the power supply device 30 installed in the work area 40 during charging. Here, the power receiving coil 121 of the AMR 10 and the power transmitting coil 332 of the power supply device 30 are arranged so that their coil surfaces face vertical. When the AMR 10 is charged by the power supplied from the power supply device 30, the AMR 10 is controlled to stop at a position where the center of the AMR 10 coincides with a reference position P set on the floor surface F.

[0042] At this time, it is preferable that the power transmission coil 332 of the power supply device 30 and the power reception coils 121s of the AMRs 10s be in a parallel posture as shown by the dotted line in FIG. 5 (in the figure, an alphabet is added to the end of the reference numeral to distinguish AMRs 10 with different postures). However, as described above, since the AMR 10 is controlled based on the coordinates of the reference position P set on the floor surface F, there may be an error in the angle (posture) in the left-right direction around the reference position P with respect to the positional relationship between the AMR 10 stopped for charging and the power supply device 30. For this reason, it may stop in a posture tilted counterclockwise in the figure like the AMR 10r shown by the solid line in FIG. 5. At this time, the axial direction of the power reception coil 121s of the AMR 10r is tilted with respect to the axial direction of the power transmission coil 332 of the power supply device 30.

[0043] In such a state, even if a predetermined power is supplied from the power supply device 30, the voltage necessary for charging may not be applied to the storage battery 200 of the AMR 10s. On the other hand, even if the power transmission coil 332 of the power supply device 30 and the power reception coil 121 of the AMR 10 are not exactly parallel, the voltage necessary for charging may be applied to the storage battery 200 of the AMR 10. For this reason, in the present invention, it is determined whether the voltage necessary for charging can be applied to the storage battery 200 as an appropriate charging condition, and if the appropriate charging condition is not satisfied, as shown in FIG. 7, from the AMR 10r shown by the solid line, like the AMR 10a shown by the broken line, it is rotated by a predetermined angle (here, 5°) in the clockwise direction around the reference position P.

[0044] It is determined whether the appropriate charging condition is satisfied in the state of the posture of the AMR 10a, and if it is satisfied, since charging is possible, the storage battery 200 is charged up to a predetermined charge amount. And if the appropriate charging condition is not satisfied in this state, like the AMR 10b shown by the one-dot chain line in FIG. 8, from the AMR 10r shown by the solid line, it is rotated by a predetermined angle (here, 5°) in the counterclockwise direction around the reference position P.

[0045] It is determined whether the appropriate charging condition is satisfied in the state of the posture of the AMR 10b, and if it is satisfied, the storage battery 200 is charged up to a predetermined charge amount, and if it is not satisfied, charging is stopped or an error is notified to the management device 20.

[0046] Thus, when non-contact power supply to the AMR 10 is not possible, the AMR 10 can be rotated around the reference position P to change the posture with respect to the power supply device 30, thereby reducing charging errors.

[0047] <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 example). Note that the non-contact power supply system 1 according to Embodiment 1 has the same configuration as that described in the application example. Therefore, each component is denoted by the same reference numeral as in the application example, and repeated descriptions are omitted. Note that the AMR 10 included in the non-contact power supply system 1 according to each of the embodiments described below corresponds to the autonomous mobile robot according to the present invention.

[0048] (System Configuration) (AMR) FIG. 2 is a block diagram showing an outline of the functional configuration of the AMR 10 according to Embodiment 1 of the present invention. As shown in FIG. 2, the AMR 10 includes a control unit 110, a power receiving unit 120, a position detection unit 130, an object detection unit 140, a storage unit 150, a communication unit 160, a traveling drive unit 170, an opening / closing member 180, an opening / closing switching unit 190, a storage battery 200, a plurality of voltmeters, ammeters (both not shown), and the like. The traveling drive unit 170 corresponds to the traveling drive unit according to the present invention.

[0049] The control unit 110 is a functional unit that controls the entire AMR 10, and may be realized by, for example, a power reception control circuit 122 of the power receiving unit 120 described later.

[0050] Also, as shown in FIG. 2, the control unit 110 includes functional modules of a power storage information acquisition unit 101, a charging control unit 102, a position acquisition unit 103, a traveling control unit 104, and a notification processing unit 105.

[0051] The power storage information acquisition unit 101 acquires the voltage value and current value of the storage battery 200, calculates an index of the power storage amount such as SOC using these voltage values and current values, and stores them in the storage unit 150.

[0052] The charging control unit 102 controls the power receiving control circuit 122 and controls the power supply from the power receiving coil 121 to the storage battery 200. The charging control unit 102 further includes functional modules for a charging condition determination unit 1021 and a position adjustment unit 1022. The charging condition determination unit 1021 determines whether the preset appropriate charging conditions, power supply trigger conditions, and power supply start conditions have been met. The power supply trigger conditions are, for example, conditions that trigger the supply of power to the storage battery 200 when the SOC is less than or equal to a predetermined value. The power supply start conditions are, for example, conditions for determining whether power supply can be started, such as whether a predetermined voltage has been applied to the switching unit 190 for a predetermined time or longer. The power supply trigger conditions may be determined using an indicator other than SOC. Also, the power supply start conditions are not limited to a predetermined voltage, but may be a predetermined current or efficiency. The charging condition determination unit 1021 corresponds to the charging feasibility determination unit according to the present invention. The position adjustment unit 1022 corresponds to the position adjustment unit according to the present invention.

[0053] The position acquisition unit 103 uses the information detected by the position detection unit 130 to detect the position and orientation of the AMR 10 and stores it in the storage unit 150.

[0054] The driving control unit 104 controls the driving drive unit 170, which will be described later. By controlling the driving drive unit 170, the driving control unit 104 moves the AMR 10 to a preset charging point or work point based on the position information of the AMR 10. The driving control unit 104 also moves the AMR 10 to a charging point or work point acquired via the communication unit 160 by controlling the driving drive unit 170.

[0055] The notification processing unit 105 performs notification processing, sending various messages to the management device 20 as needed.

[0056] The power receiving unit 120 is a functional unit that receives power transmitted by a contactless power supply method, and can be realized, for example, by a power receiving coil 121 and a power receiving control circuit 122 located in the AMR 10. The power receiving coil 121 is magnetically coupled to the power transmitting coil 322 (see Figure 3) provided in the power transmitting unit 33 of the power supply device 30, and receives power from the power transmitting coil by electromagnetic induction. At least one of the power transmitting coil 322 and the power receiving coil 121 may include means for forming a resonant circuit, or may be configured to enable power transmission by an electric field coupling method. The power receiving control circuit 122 is a functional unit that converts the power received by the power receiving coil 121 into power for charging the storage battery 200 and supplies it to the storage battery 200, and includes, for example, a rectifier circuit 1221 and a DC / DC conversion circuit 1222. The power receiving unit 120 receives power from the power transmission coil 332 of the power supply device 30 and charges the storage battery 200 if it is able to receive power from it.

[0057] The position detection unit 130 is a functional unit that detects the position of the AMR 10 and outputs the position information of the AMR 10 to the control unit 110. The position detection unit 130 includes, for example, a GPS (Global Positioning System) receiver or an IMU (Internal Measurement Unit).

[0058] The object detection unit 140 is a functional unit that detects the presence or absence of an object near the AMR 10 and outputs information regarding the presence or absence of an object such as an obstacle in the AMR 10 to the control unit 110. The object detection unit 140 may be, for example, a distance measuring sensor using radio waves or laser light, or a photoelectric sensor. The object detection unit 140 corresponds to the object detection unit according to the present invention.

[0059] The memory unit 150 is a functional unit that stores various types of information processed by the control unit 110. The hardware of the memory unit 150 includes main memory devices such as flash memory, RAM (Random Access Memory), and ROM (Read Only Memory), as well as auxiliary storage devices such as SSD (Solid State Drive), EPROM (Erasable Programmable ROM), flash memory, USB memory, and SD (Secure Digital) memory cards.

[0060] The communication unit 160 is a functional unit that communicates information with the management device 20 and the power supply device 30, etc. The communication unit 160 is configured to include a communication antenna (not shown) that supports a desired communication standard, such as Wi-Fi®, Bluetooth®, or infrared communication.

[0061] The drive unit 170 is a functional unit that enables the AMR 10 to move. The drive unit 170 is composed of hardware including wheels, motors, brakes, and a steering mechanism (none of which are shown).

[0062] The switching member 180 is a component that opens and closes the path for supplying power received from the power supply device 30 to the storage battery 200. Specifically, a field-effect transistor such as a MOSFET can be used, or a mechanical relay can be used. The switching member 180 may be assembled within a storage battery unit packaged together with multiple battery cells and a BMS, but it may also be located separately from the storage battery unit.

[0063] The switching unit 190 is a functional unit for controlling the open / closed state of the opening / closing member 180. For example, this functional unit can be implemented by a BMS that monitors and controls the storage battery 200. However, it is also possible for a component other than the BMS (for example, a control unit 110, or other dedicated device) to perform the function of the switching unit 190. The switching unit 190, like the opening / closing member 180, may be included in the storage battery unit, or it may be arranged separately from the storage battery 200.

[0064] The storage battery 200 is a power source for the operation of the AMR 10 and is implemented by a known secondary battery such as a lithium-ion battery. The storage battery 200 not only supplies power to various parts of the AMR 10, but can also receive power from the power supply device 30 via the power receiving unit 120 in a contactless power supply manner.

[0065] (Power supply device) The power supply device 30 is installed in the work area 40 and supplies power to the AMR 10's battery 200 in the WPT manner, as will be described later. Depending on the configuration of the work area 40, it may be installed near the stopping position (stopping target) of the autonomous mobile robot 10 and may be installed embedded under the floor.

[0066] Figure 3 is a functional block diagram showing an example of the functional configuration of the power supply device 30. As shown in Figure 3, the power supply device 30 includes functional units: a control unit 31, a power supply unit 32, a power transmission unit 33, and a communication unit 34. The control unit 31 is a functional unit that controls the entire power supply device 30. The control unit 31 includes an efficiency acquisition unit 311 that acquires the efficiency of the power transmitted from the power transmission unit 33 by the power transmission coil 332 based on the current and voltage detected in the power transmission unit 33. The control unit 31 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). The efficiency acquisition unit 311 corresponds to the efficiency acquisition unit according to the present invention. The control unit 31 corresponds to the power transmission coil control unit according to the present invention.

[0067] The power supply unit 32 is a functional unit that receives power from the commercial power grid or a private power generation system (neither of which is shown) via a distribution board or the like. It may also include a rectifier circuit, a transformer circuit, etc.

[0068] The power transmission unit 33 is a functional unit that transmits power using a contactless power supply method, and includes a power transmission control circuit 331 and a power transmission coil 332. The power transmission coil 332 is, for example, a coil for power supply using an electromagnetic induction method. The power transmission control circuit 331 converts the power supplied from the power supply unit 32 into power of a predetermined frequency for generating a magnetic field in the power transmission coil 332 and supplies it to the power transmission coil 332.

[0069] The communication unit 34 is a functional unit that communicates information with the management device 20 and the AMR 10, etc. The communication unit 34 is configured to include a communication antenna (not shown) that supports a desired communication standard, such as Wi-Fi®, Bluetooth®, or infrared communication.

[0070] (Work area) The work area 40 is the area where the autonomous mobile robot 10 performs its work, and as described above, the power supply device 30 is installed there. However, it is not necessary for the power supply device 30 to be installed in all of the work areas 40, and it is possible to operate in a way that prioritizes installing the power supply device 30 in the work areas 40 that are used most frequently.

[0071] (Management Device) Figure 4A is a block diagram showing the schematic hardware configuration of the management device 20. As shown in Figure 4A, the management device 20 includes a processor 21, memory 22, input interface (IF) 23, communication IF 24, and output IF 25, which are interconnected by a connection bus 29. The management device 20 may be installed at the site where the AMR 10 is operated, or it may be installed in a remote location and constitute a so-called cloud system.

[0072] The processor 21 can be any arithmetic processing unit, such as a CPU or DSP. At least a portion of the processing performed by the processor 21 may be performed by integrated circuits (ICs) or other digital circuits. In addition, at least a portion of the processor 21 may include analog circuits.

[0073] Memory 22 includes main memory such as RAM and ROM, and auxiliary storage devices such as SSD, EPROM, HDD, USB memory, and SD memory card. Memory 22 stores information such as programs executed by processor 11, data processed by processor 21, operation setting information, and various tables. When the programs stored in memory 22 are executed by processor 21, the various functional units described later are realized.

[0074] Input IF 23 is an interface for connecting to various input devices such as microphones, keyboards, mice, cameras, and other devices (not shown). Output IF 25 is an interface for connecting to output devices such as displays and speakers (not shown). A touch panel display can also be used as a device that serves both input and output functions.

[0075] The communication IF24 includes a communication antenna that supports a desired communication standard such as Wi-Fi®, Bluetooth®, or infrared communication for communication connection with the AMR10 and the power supply device 30, as well as a communication connection terminal for connecting to an external network.

[0076] Figure 4B is a functional block diagram showing a partial functional configuration of the management device 20. As shown in Figure 4B, the management device 20 is equipped with various functional units, such as an environmental information acquisition unit 211 and a battery information acquisition unit 212.

[0077] The environmental information acquisition unit 211 acquires environmental information, which is information relating to the arrangement of nearby objects, including the power supply device 30, when the power supply device 30 is stopped at a predetermined position, for each AMR 10. Specifically, this information may be acquired from cameras, sensors, etc., via the input IF 23 or communication IF 24, or it may be generated by the unit itself based on other information such as work process information. The acquired or generated environmental information is stored in the memory 22 (auxiliary storage device).

[0078] The battery information acquisition unit 212 acquires SOC information for the batteries 200 installed in each AMR 10 under the management of the management device 20. This information is acquired by communicating with each AMR 10 via the communication IF 24. The acquired SOC information for the batteries 200 is stored in the memory 12.

[0079] Figure 5 is a schematic plan view showing the positional relationship between the AMR 10 and the power supply device 30 installed in the work area 40 during charging. The power supply device 30, installed on the side of the work area 40, has a power transmission coil 332, and a power receiving coil 121 is installed on the side of the AMR 10. Power transmitted from the power transmission coil 332 is received by the power receiving coil 121, and by applying the appropriate voltage to the storage battery 200, charging becomes possible. In Figure 5, the dotted line AMR 10s indicates the state in which the AMR 10s is stopped in the most preferable position relative to the power supply device 30, such that the axis of the power transmission coil 332 and the axis of the power receiving coil 121s are on the same straight line, and the coil surface of the power transmission coil 332 and the coil surface of the power receiving coil 121 are parallel (hereinafter, AMR 10 and power receiving coil 121 with different orientations will be distinguished by adding an alphabet to the end of their reference numerals). When the AMR10 charges the battery 200 from the power supply device 30, it is controlled to stop at a position where the reference point set at the center of the AMR10 coincides in a plan view with the reference position P set on the floor surface F. However, since the reference position P is set as a point, errors may occur in the direction of rotation around this reference position P. For this reason, the AMR10 may not be able to stop in a desirable orientation relative to the power supply device 30, as shown by the solid line AMR10s in Figure 5. The dashed line AMR10r shows a state in which, although it is stopped on the reference position P, it is stopped at a position rotated counterclockwise around the reference position P, and the axis of the receiving coil 121r is inclined relative to the axis of the transmitting coil 332.

[0080] (Processing Flow) Figure 6 is a flowchart illustrating the procedure for attitude control processing in this embodiment. First, as explained in Figure 5, the AMR 10, which is to be charged by receiving power from the power supply device 30, stops so that its reference point coincides with the reference position P (step S101). After performing predetermined processes such as establishing communication between the AMR 10 and the power supply device 30, the power supply device 30 starts supplying power to the AMR 10 (step S102). At this time, the opening / closing member 180 is switched to the "closed" state by the opening / closing switching unit 190, and the power receiving coil 121 and the storage battery 200 are electrically connected. Power supply from the power supply device 30 may start when the charging control unit 102 of the AMR 10 notifies the power supply device 30 that the AMR 10 has stopped at the reference position P. Alternatively, the power supply device 30 may start supplying power when it detects that the AMR 10 has stopped at the reference position P using sensors provided on or arranged around the power supply device 30. The power supply device 30 may receive information from the management device 20 that sensors placed around the AMR 10 have detected that the AMR 10 has stopped at its reference position P.

[0081] Next, the charging condition determination unit 1021 of the charging control unit 102 of the AMR10 determines whether or not the appropriate charging conditions are met (step S103). The appropriate charging conditions are the conditions under which charging is possible according to the specifications and characteristics of the storage battery 200, and for example, the condition of whether or not a voltage that can charge the storage battery 200 (chargeable voltage) is applied. The charging condition determination unit 1021 determines whether or not the appropriate charging conditions are met based on the voltage applied to the storage battery 200 (charging voltage) acquired by the storage information acquisition unit 101. Whether or not the voltage is chargeable for the storage battery 200 may be determined based on the voltage applied to the storage battery 200, or it may be determined by the output voltage of the power receiving coil 121 in the earlier stage, or by the voltage of a predetermined part in the power receiving control circuit 122 (for example, the circuit between the rectifier circuit 1221 and the DC / DC conversion circuit 1222). Depending on the voltage detection location, the charging voltage or another reference voltage (reference voltage) is stored in the storage unit 150, and the charging condition determination unit 1021 determines whether or not the appropriate charging conditions are met based on these reference voltages (values).

[0082] Furthermore, the appropriate charging conditions are not limited to the voltage used to charge the battery 200, as described above, but may also be the current used to charge the battery 200 (charging current). Alternatively, the appropriate charging conditions may also be the charging efficiency obtained by the power supply device 30. The charging efficiency can be obtained by the AMR 10 from the power supply device 30 via the communication unit 160. Alternatively, the AMR 10 may obtain the charging efficiency from the management device 20, which has acquired and stored the charging efficiency from the power supply device 30.

[0083] If it is determined in step S103 that the appropriate charging conditions are not met (No in step S103), then although power is supplied from the power supply device 30, the storage battery 200 cannot be charged, so the power supply device 30 is instructed to rotate the AMR 10 by +5° around the reference position P (step S104). Specifically, the position adjustment unit 1022 of the charging control unit 102 instructs the driving control unit 104 to control the driving drive unit 170 so that the AMR 10 rotates by +5° around the reference position P. Here, clockwise rotation is defined as positive and counterclockwise rotation as negative. Figure 7 is a plan view showing AMR 10a, which is rotated by +5° (5° clockwise) around the reference position P from AMR 10s (shown as a solid line) shown in Figure 5, with the AMR 10 being shown as a dashed line.

[0084] If it is determined in step S103 that the appropriate power receiving conditions are met (Yes in step S103), then even though the AMR 10 is tilted relative to the power supply device 30, charging of the battery 200 is possible. Therefore, the system monitors indicators such as the State of Charge of the battery 200 acquired by the power storage information acquisition unit 101, charges the battery to a predetermined charge level (step S109), stops charging (step S108), and terminates the process. To stop charging, the switching member 180 is switched to the "open" state by the switching unit 190. Accordingly, a message to stop charging is sent to the power supply device 30 or the management device 20 via the communication unit 160 of the AMR 10, and power supply from the power supply device 30 is stopped.

[0085] In step S104, with the AMR10 rotated by +5°, the charging condition determination unit 1021 determines whether or not the appropriate charging conditions are met (step S105). If it is determined in step S105 that the appropriate power receiving conditions are met (Yes in step S105), the process proceeds to step S109. The processing in step S109 has been described above, so the details are omitted. In the example shown in Figure 7, the inclination of the axis of the power receiving coil 121 of the AMR10a with respect to the axis of the power transmission coil 332 is small, so there is a possibility that the appropriate charging conditions are met.

[0086] In step S105, if it is determined that the proper charging conditions are not met (No in step S105), then although power is supplied from the power supply device 30, the battery 200 cannot be charged. Therefore, the power supply device 30 is instructed to rotate the AMR10s, which is shown as a solid line in Figure 7, by -5° (5° counterclockwise) around the reference position P (step S106). Specifically, the position adjustment unit 1022 of the charging control unit 102 instructs the driving control unit 104 to control the driving drive unit 170 so that the AMR10 rotates by -5° (5° counterclockwise) around the reference position P. Figure 8 is a plan view of the AMR10b, shown as a dashed line, which is the state in which the AMR10 has been rotated by -5° (5° counterclockwise) around the reference position P from the AMR10r (shown as a solid line) in Figure 6.

[0087] In step S106, with the AMR 10 rotated by -5°, the charging condition determination unit 1021 determines whether or not the appropriate charging conditions are met (step S107). If it is determined in step S107 that the appropriate power receiving conditions are met (Yes in step S107), the process proceeds to step S109. The processing in step S109 has been described above, so the details are omitted.

[0088] If it is determined in step S107 that the proper charging conditions are not met (No in step S107), then although power is supplied from the power supply device 30, the battery 200 cannot be charged, so the process proceeds to step S108 and charging is stopped (step S104).

[0089] Here, the AMR10 is rotated once around the reference position P, or multiple times in different directions. Specifically, it is rotated ±5° around the reference position P, but the rotation angle is not limited to 5° and can be set to an appropriate angle. Also, although it is rotated by the same 5° in both the positive and negative directions, the rotation angles in the positive and negative directions may be set to be different.

[0090] In this way, when contactless power supply to the AMR10 is not possible, the AMR10 can be rotated around the reference position P, and its orientation relative to the power supply device 30 can be changed to reduce charging errors.

[0091] (Modified Version) Figure 9 shows the procedure for attitude control processing according to a modified version. For processing similar to that shown in Figure 6, the same reference numerals are used and detailed explanations are omitted. Here, the processing from step S101 to step S107 and the processing from step S1000621 through step S109 to step S108 are the same as the attitude control processing shown in Figure 6. Here, if it is determined in step S107 that the appropriate charging conditions are not met (No in step S107), an error is reported (step S201) and the process is terminated. Specifically, the charging condition determination unit 1021 of the charging control unit 102 sends an error message indicating that charging is not possible to the management device 20 via the communication unit 160, and outputs it via the display, speaker, etc. This allows the person in charge to check the status of the AMR 10 and perform appropriate processing such as changing the attitude of the AMR 10 relative to the power supply device 30 to an attitude that can receive power, and to charge the storage battery 200. Such processing can also reduce power supply errors.

[0092] <Embodiment 2> Hereinafter, Embodiment 2 of the present invention will be described with reference to the drawings. For components similar to those in Embodiment 1, the same reference numerals will be used and detailed descriptions will be omitted. In Embodiment 2, the configuration of the contactless power supply system 1, including the AMR 10 and the management device 20, is the same as in Embodiment 1, except that the power transmission coil 332 of the power supply device 30 is located on the floor surface F and the power receiving coil 121 is located at the bottom of the AMR 10.

[0093] Figure 10 is a schematic plan view showing the positional relationship between the power transmission coil 332 installed on the floor surface F, the reference position P set on the floor surface F, and the AMR 10.

[0094] Similar to Figure 5, the dotted line shows the AMR10s stopped at the reference position P with the axis of the transmitting coil 332 and the axis of the receiving coil 121s (not shown) lying on the same straight line. In contrast, the solid line shows the AMR10r, which is stopped on the reference position P, but rotated counterclockwise around the reference position P, indicating a relative position where the axis of the receiving coil 121r is offset from the axis of the transmitting coil 332.

[0095] In this embodiment as well, the AMR 10 is rotated around the reference position P by the attitude control process described in Embodiment 1 based on Figure 6 or Figure 9. This reduces power supply errors even when the power transmission coil 332 is located on the floor surface F.

[0096] <Embodiment 3> Hereinafter, Embodiment 3 of the present invention will be described with reference to the drawings. For components similar to those in Embodiment 1, the same reference numerals will be used and detailed descriptions will be omitted. The configuration of the contactless power supply system 1 is the same as in Embodiment 1, but the processing when the appropriate charging conditions are not met is different.

[0097] Figure 11 shows the procedure for attitude control processing according to this embodiment. The processing from step S101 to step S103, and the processing from step S103 to step S109 and step S108 are the same as in Embodiment 1.

[0098] Here, if it is determined in step S103 that the appropriate charging conditions are not met (No in step S103), the AMR 10 uses the object detection unit 140 to detect the positional relationship of the AMR 10, including the power supply device 30, with respect to objects around the reference position P (step S301). The charging condition determination unit 1021 obtains information about the power supply device 30, or objects present around the reference position P including the power supply device 30, from the environmental information stored in the management device 20, and estimates the position of the power supply device 30 relative to the AMR 10 by comparing it with the detection result by the object detection unit 140.

[0099] The position adjustment unit 1022 of the charging control unit 102 of the AMR10 changes the orientation of the AMR10 relative to the power supply device 30 in a direction in which the axial direction of the receiving coil 121 is on the same line as or parallel to the axial direction of the transmitting coil 332, based on the position of the power supply device 30 estimated in step S104 (step S302). Specifically, the position adjustment unit 1022 instructs the driving control unit 104 to control the driving drive unit 170 so as to rotate the AMR10 by a calculated angle in a calculated direction around the reference position P.

[0100] If the orientation of the AMR 10 is changed in step S302, the charging condition determination unit 1021 of the charging control unit 102 of the AMR 10 determines whether or not the appropriate charging conditions are met (step S303).

[0101] If it is determined in step S303 that the appropriate charging conditions are met, the process proceeds to step S109. If it is determined in step S303 that the appropriate charging conditions are not met, the processes in steps S301 and S302 are repeated before the appropriate charging conditions are met. If the appropriate charging conditions are not met in step S303, or if the appropriate conditions are not met even after performing the processes in steps S301 and S302 a predetermined number of times, an error may be reported, similar to the modification in Embodiment 1. The attitude control process of this embodiment can be applied to both cases, such as when the power transmission coil 332 is located on the side of the power supply device 30 as in Embodiment 1, and when the power transmission coil 332 is located on the floor surface F as in Embodiment 2.

[0102] In this way, when contactless power supply to the AMR 10 is not possible, the AMR 10 can be rotated around the reference position P based on the detection result by the object detection unit 140, thereby changing its orientation relative to the power supply device 30 and reducing charging errors.

[0103] <Embodiment 4> Hereinafter, Embodiment 4 of the present invention will be described with reference to the drawings. For components similar to those in Embodiment 1, the same reference numerals will be used and detailed descriptions will be omitted. The configuration of the contactless power supply system 1 is the same as in Embodiment 1, but the processing when the appropriate charging conditions are not met is different. In this embodiment, when the AMR 10 is rotated around the reference position P, the rotation angle in the same direction is changed in steps, and the AMR is rotated in the same direction in steps multiple times, which is different from Embodiment 1.

[0104] Figures 12 and 13 are flowcharts illustrating the procedure of attitude control processing according to this embodiment. Steps S101 to S103, and steps S109 and S108 are the same as the attitude control processing according to Embodiment 1 shown in Figure 6, so their explanation is omitted.

[0105] If it is determined in step S103 that the proper charging conditions are not met (No in step S103), then although power is supplied from the power supply device 30, the battery 200 cannot be charged, so the AMR 10 is rotated +1° around the reference position P relative to the power supply device 30 (step S401).

[0106] In step S401, with the AMR 10 rotated by +1°, the charging condition determination unit 1021 determines whether or not the appropriate charging conditions are met (step S402). If it is determined in step S402 that the appropriate power receiving conditions are met (Yes in step S402), the process proceeds to step S109. The processing in step S109 has been described above, so the details are omitted.

[0107] In step S402, if it is determined that the proper charging conditions are not met (No in step S402), then although power is supplied from the power supply device 30, the battery 200 cannot be charged. Therefore, the AMR 10 is rotated by +2° (2° clockwise) around the reference position P relative to the power supply device 30 (step S403). At this time, it is not necessary to rotate the AMR 10 by -1° to return it to its original state and then rotate it by +2° (2° clockwise) around the reference position P. It is sufficient to rotate the AMR 10 by another +1° from the +1° rotated state in step S401, thereby reaching the state rotated by +1° from its original state (the same applies to the following processes). The following describes an example of rotating it in steps of 1° clockwise or counterclockwise, but the angle of rotation may be different, such as rotating it by 1°, then 2°, then 3°.

[0108] In step S403, with the AMR 10 rotated by +2°, the charging condition determination unit 1021 determines whether or not the appropriate charging conditions are met (step S404). If it is determined in step S404 that the appropriate power receiving conditions are met (Yes in step S404), the process proceeds to step S109. The processing in step S109 has been described above, so the details are omitted.

[0109] In step S404, if it is determined that the proper charging conditions are not met (No in step S404), then although power is supplied from the power supply device 30, the battery 200 cannot be charged. Therefore, the AMR 10 is rotated by +3° (3° clockwise) around the reference position P relative to the power supply device 30 (step S405).

[0110] In step S405, with the AMR 10 rotated by +3°, the charging condition determination unit 1021 determines whether or not the appropriate charging conditions are met (step S406). If it is determined in step S406 that the appropriate power receiving conditions are met (Yes in step S406), the process proceeds to step S109. The processing in step S109 has been described above, so the details are omitted.

[0111] In step S406, if it is determined that the proper charging conditions are not met (No in step S406), then although power is supplied from the power supply device 30, the battery 200 cannot be charged. Therefore, the AMR 10 is rotated +4° (4° clockwise) around the reference position P relative to the power supply device 30 (step S407).

[0112] In step S407, with the AMR 10 rotated by +4°, the charging condition determination unit 1021 determines whether or not the appropriate charging conditions are met (step S408). If it is determined in step S408 that the appropriate power receiving conditions are met (Yes in step S408), the process proceeds to step S109. The processing in step S109 has been described above, so the details are omitted.

[0113] In step S408, if it is determined that the proper charging conditions are not met (No in step S408), then although power is supplied from the power supply device 30, the storage battery 200 cannot be charged. Therefore, the AMR 10 is rotated +5° (5° clockwise) around the reference position P relative to the power supply device 30 (step S409).

[0114] In step S409, with the AMR10 rotated by +5°, the charging condition determination unit 1021 determines whether or not the appropriate charging conditions are met (step S410). If it is determined in step S410 that the appropriate power receiving conditions are met (Yes in step S410), the process proceeds to step S109. The processing in step S109 has been described above, so the details are omitted.

[0115] In step S410, if it is determined that the proper charging conditions are not met (No in step S410), then although power is supplied from the power supply device 30, the storage battery 200 cannot be charged. Therefore, the AMR 10 is rotated -1° (1° counterclockwise) around the reference position P relative to the power supply device 30 (step S411).

[0116] In step S411, with the AMR 10 rotated by -1°, the charging condition determination unit 1021 determines whether or not the appropriate charging conditions are met (step S412). If it is determined in step S412 that the appropriate power receiving conditions are met (Yes in step S412), the process proceeds to step S109. The processing in step S109 has been described above, so the details are omitted.

[0117] In step S412, if it is determined that the proper charging conditions are not met (No in step S412), then although power is supplied from the power supply device 30, the storage battery 200 cannot be charged. Therefore, the AMR 10 is rotated -2° (2° counterclockwise) around the reference position P relative to the power supply device 30 (step S413).

[0118] In step S413, with the AMR 10 rotated by -2°, the charging condition determination unit 1021 determines whether or not the appropriate charging conditions are met (step S414). If it is determined in step S414 that the appropriate power receiving conditions are met (Yes in step S414), the process proceeds to step S109. The processing in step S109 has been described above, so the details are omitted.

[0119] In step S414, if it is determined that the proper charging conditions are not met (No in step S414), then although power is supplied from the power supply device 30, the battery 200 cannot be charged. Therefore, the AMR 10 is rotated -3° (3° counterclockwise) around the reference position P relative to the power supply device 30 (step S415).

[0120] In step S415, with the AMR 10 rotated by -3°, the charging condition determination unit 1021 determines whether or not the appropriate charging conditions are met (step S416). If it is determined in step S416 that the appropriate power receiving conditions are met (Yes in step S416), the process proceeds to step S109. The processing in step S109 has been described above, so the details are omitted.

[0121] In step S416, if it is determined that the proper charging conditions are not met (No in step S416), then although power is supplied from the power supply device 30, the battery 200 cannot be charged. Therefore, the AMR 10 is rotated -4° (4° counterclockwise) around the reference position P relative to the power supply device 30 (step S417).

[0122] In step S417, with the AMR 10 rotated by -4°, the charging condition determination unit 1021 determines whether or not the appropriate charging conditions are met (step S418). If it is determined in step S418 that the appropriate power receiving conditions are met (Yes in step S418), the process proceeds to step S109. The processing in step S109 has been described above, so the details are omitted.

[0123] In step S418, if it is determined that the proper charging conditions are not met (No in step S418), then although power is supplied from the power supply device 30, the storage battery 200 cannot be charged. Therefore, the AMR 10 is rotated -5° (5° counterclockwise) around the reference position P relative to the power supply device 30 (step S419).

[0124] In step S419, with the AMR10 rotated by -5°, the charging condition determination unit 1021 determines whether or not the appropriate charging conditions are met (step S420). If it is determined in step S420 that the appropriate power receiving conditions are met (Yes in step S420), the process proceeds to step S109. The processing in step S109 has been described above, so the details are omitted.

[0125] If it is determined in step S420 that the proper power receiving conditions are not met (No in step S420), the process proceeds to step S108. In this case, an error may be reported, as shown in the attitude control process in Figure 9 relating to a modified example of Embodiment 1.

[0126] Thus, in this embodiment, the AMR 10 is rotated once, or in the same direction by the same angle, or multiple times. Since the AMR 10 is rotated in stages in the same direction in multiple steps, the orientation of the AMR 10 relative to the power supply device 30 can be adjusted more precisely, making it easier to find an orientation that allows charging of the storage battery 200, and thus easily reducing charging errors.

[0127] <Embodiment 5> Hereinafter, Embodiment 4 of the present invention will be described with reference to the drawings. For components similar to those in Embodiment 1, the same reference numerals will be used and detailed descriptions will be omitted. The configuration of the non-contact power supply system 1 is the same as in Embodiment 1, but the processing when the appropriate charging conditions are not met is different. In this embodiment, when the appropriate charging conditions are not met in the AMR 10, instead of rotating the AMR 10 around the reference position P, the power transmission coil 332 of the power supply device 30 is rotated, which is different from Embodiment 1.

[0128] Figure 14 is a block diagram showing an example of the functional configuration of the power supply device 30a according to this embodiment. Components similar to those of the power supply device 30 according to Embodiment 1 are described in detail using the same reference numerals.

[0129] The power supply device 30a includes a power transmission unit 33 equipped with a power transmission coil movable mechanism 333 that can change the attitude or position of the power transmission coil 332 in the power supply device 30a. The power transmission coil movable mechanism 333 can be configured, for example, as a mechanism that has a support member that supports the power transmission coil 332 and rotates the support member around a vertical axis using an actuator such as a motor. By using this power transmission coil movable mechanism 333 to rotate the power transmission coil 332 around a vertical axis that passes through the center of the coil surface and is parallel thereto, it is possible to change the relative positional relationship between the power transmission coil 332 and the power receiving coil 121, even if the attitude of the power receiving coil 121 of the AMR 10 does not change. The power transmission coil movable mechanism 333 corresponds to the movable mechanism according to the present invention.

[0130] Figure 15 is a flowchart illustrating the procedure of attitude control processing according to this embodiment. Processing similar to that in the attitude control processing according to Embodiment 1 is denoted by the same reference numerals and its description is omitted.

[0131] Here, when the AMR10 stops at the reference position P (step S101), this is notified to the power supply device 30. When the power supply device 30 receives notification that the AMR10 has stopped at the reference position P, it starts supplying power (step S511).

[0132] When power supply from the power supply device 30 begins, the charging condition determination unit 1021 of the charging control unit 102 determines whether or not the appropriate charging conditions are met (step S103).

[0133] If it is determined in step S103 that the appropriate charging conditions are met (Yes in step S103), then charging of the battery 200 is possible. The system monitors indicators such as the State of Charge (SOC) of the battery 200 acquired by the energy storage information acquisition unit 101, charges the battery to a predetermined charge level (step S109), and then stops charging (step S108). The system then notifies the power supply device 30 that charging has stopped (step S503), and the process ends.

[0134] If it is determined in step S103 that the proper charging conditions are not met (No in step S103), the charging control unit 102 of the AMR 10 notifies the power supply device 30 via the communication unit 160 that proper charging is not achieved (step S501).

[0135] When the power supply device 30 receives notification from the AMR 10 that proper charging is not achieved, it drives the power transmission coil movable mechanism 333 to rotate the power transmission coil 332 around a vertical axis, thereby changing the orientation of the power transmission coil 332 relative to the AMR 10 (power receiving coil 121) (step S511). As described in Embodiment 3 in Figure 11, the position information of the power supply device 30 relative to the AMR 10, estimated based on the detection result by the object detection unit 140 of the AMR 10, may be acquired, and the orientation of the power transmission coil 332 may be changed based on this information. Alternatively, the power transmission coil 332 may be rotated by a predetermined angle around a vertical axis. Furthermore, as will be described later, the orientation of the power transmission coil 332 may be changed in a manner similar to the orientation control processing of the AMR 10 in Embodiments 1 and 4.

[0136] In AMR10, in step S511, the charging condition determination unit 1021 determines whether or not the appropriate charging conditions are met while the relative positional relationship of the receiving coil 121 with respect to the transmitting coil 332 has changed (step S502).

[0137] If it is determined in step S502 that the appropriate charging conditions are met (Yes in step S502), the process proceeds to step S109.

[0138] If it is determined in step S502 that the appropriate charging conditions are not met (No in step S502), the process proceeds to step S108, where the charging control unit 102 stops charging (step S108). The processing from step S108 onward has been described above, so the details are omitted. Here, if it is determined in step S502 that the appropriate charging conditions are not met (No in step S502), the process immediately proceeds to step S108. However, it is also possible to return to step S501, notify that the appropriate charging conditions are not met, and repeat the determination of whether the appropriate charging conditions are met in step S502 a predetermined number of times, and then proceed to step S108 if the appropriate charging conditions are not met in step S502. In this case, similar to the attitude control processing of the AMR 10 in Embodiment 1 and Embodiment 4, the attitude of the power transmission coil 332 may be changed by rotating it by a predetermined angle in the clockwise or counterclockwise direction, or by rotating it by gradually changing the rotation angle in the clockwise or counterclockwise direction.

[0139] In this way, when contactless power supply to the AMR10 is not possible, charging errors can be reduced by changing the orientation of the power transmission coil 332.

[0140] <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 concept. For example, although the electromagnetic induction method was described above as an example of a contactless power supply method, other contactless power supply methods can also be adopted.

[0141] <Note 1> An autonomous mobile robot (10) comprising: a power receiving unit (120) that receives power transmitted from a power supply device (30) by a contactless power supply method; a storage battery (200) that receives the power supplied via the power receiving unit (120); a driving unit (170) that moves itself; and a control unit (110) that controls the charging of the storage battery (200) and the movement by the driving unit (170), wherein the control unit (110) comprises: a charging feasibility determination unit (1021) that determines whether or not the storage battery (200) can be charged with the power supplied via the power receiving unit (120); and a position adjustment unit (1022) that controls the driving unit (170) to change at least one of the attitude and position relative to the power supply device (30) when the charging feasibility determination unit (1021) determines that the storage battery (200) cannot be charged. <Note 2> The autonomous mobile robot (10) according to Note 1, characterized in that the position adjustment unit (1022) changes at least one of the attitude and position relative to the power supply device by rotating the autonomous mobile robot (10) once or multiple times in mutually different directions. <Note 3> The autonomous mobile robot (10) according to Note 1, characterized in that the position adjustment unit (1022) changes at least one of the attitude and position relative to the power supply device by rotating the autonomous mobile robot (10) once or multiple times in the same direction at the same angle or different angles. <Note 4> The autonomous mobile robot (10) according to Note 1, further comprising an object detection unit (140) for detecting surrounding objects, characterized in that the position adjustment unit (1022) changes at least one of the attitude and position relative to the power supply device (30) based on the detection result of the object detection unit (140). <Note 5> The autonomous mobile robot (10) according to any one of claims 1 to 4, characterized in that the charging feasibility determination unit (1021) determines whether or not the storage battery (200) can be charged based on the voltage applied to the storage battery (200).<Note 6> The autonomous mobile robot (10) according to any one of the notes 1 to 4, characterized in that the charging feasibility determination unit (1021) determines whether or not the battery (200) can be charged based on at least one of the current and voltage in any of the circuits that supply the power to the battery (200) in the power receiving unit (120). <Note 7> The autonomous mobile robot (10) according to any one of the notes 1 to 4, characterized in that the charging feasibility determination unit (1021) determines whether or not the battery (200) can be charged based on the efficiency of the power transmitted from the power supply device (30). <Note 8> A contactless power supply system (1) including an autonomous mobile robot (10) and a power supply device (30a) that is communicably connected to the autonomous mobile robot (10) and supplies power to the autonomous mobile robot (10) by a contactless power supply method, wherein the power supply device (30) comprises: a power transmission coil (332) for transmitting the power to the autonomous mobile robot (10); a movable mechanism (33) for changing at least one of the position and orientation of the power transmission coil (332); and a power transmission coil control unit (31) that controls the movable mechanism (333) to change at least one of the position and orientation of the power transmission coil, wherein the autonomous mobile robot (10) comprises: a power receiving coil (121) for receiving the power from the power supply device (30a); and a storage battery (200) that receives the power via the power receiving coil (121), A contactless power supply system (1) comprising: a charge feasibility determination unit (1021) that determines whether or not the storage battery (200) can be charged by the power supplied via the power receiving coil (121); and when the charge feasibility determination unit (1021) determines that the storage battery (200) cannot be charged, the system controls the movable mechanism (333) to change at least one of the attitude and position of the autonomous mobile robot (10) relative to the power receiving coil (332).<Note 9> A contactless power supply system (1) including an autonomous mobile robot (10) and a power supply device (30) that is communicably connected to the autonomous mobile robot (10) and supplies power to the autonomous mobile robot (10) by a contactless power supply method, wherein the autonomous mobile robot (10) comprises: a power receiving unit (120) that receives the power transmitted from the power supply device (30); a storage battery (200) that receives the power via the power receiving unit (121); a driving unit (170) that moves itself; and a control unit (110) that controls charging of the storage battery (200) and movement by the driving unit, wherein the control unit (110) comprises: a charging feasibility determination unit (1021) that determines whether or not the storage battery (200) can be charged by the power supplied via the power receiving unit (120), A contactless power supply system (1) is characterized by having a position adjustment unit (1022) that controls the driving unit (170) to change at least one of the attitude and position relative to the power supply device (30) when the charging feasibility determination unit (1021) determines that the storage battery (200) cannot be charged. <Note 10> The contactless power supply system (1) according to Note 9, characterized in that the power supply device (30) includes an efficiency acquisition unit (311) that acquires the efficiency of the power supplied to the autonomous mobile robot (10), and the charging feasibility determination unit (1021) changes at least one of the attitude and position relative to the power supply device (30) based on the efficiency acquired from the power supply device (30). <Note 11> The contactless power supply system (1) according to 9 or 10, further comprising a management device (20) that manages the charging of the storage battery (200) of the autonomous mobile robot (10) with the power supplied from the power supply device (30), wherein the control unit (110) notifies the management device (20) of an error when it is determined that the storage battery (200) cannot be charged with the power supplied via the power receiving unit (120) even if the driving drive unit (170) is controlled by the position adjustment unit (1022) to change at least one of the attitude and position relative to the power supply device (30),<Note 12> A method for supplying power to an autonomous mobile robot (10) using a contactless power supply method, comprising: a power receiving unit (120) that receives power transmitted from a power supply device (30) using a contactless power supply method; a storage battery (200) that receives the power via the power receiving unit (120); and a driving unit (170) that moves itself, the method being characterized by: determining whether the storage battery (200) can be charged with the power supplied via the power receiving unit (120); if it is determined that the storage battery (200) cannot be charged, controlling the driving unit (170) to change at least one of its attitude and position relative to the power supply device (30); and if it is determined that the storage battery (200) can be charged, charging the storage battery (200) with power transmitted from the power supply device (30).

[0142] 1... Contactless power supply system 10... AMR 20... Management device 30... Power supply device

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 the power supplied via the power receiving unit; a driving unit that moves itself; and a control unit that controls the charging of the storage battery and the movement by the driving unit, wherein the control unit comprises: a charging feasibility determination unit that determines whether or not the storage battery can be charged with the power supplied via the power receiving unit; and a position adjustment unit that, if the charging feasibility determination unit determines that the storage battery cannot be charged, controls the driving unit to change at least one of the attitude and position relative to the power supply device.

2. The autonomous mobile robot according to claim 1, characterized in that the position adjustment unit changes at least one of the attitude and position relative to the power supply device by rotating the autonomous mobile robot once or multiple times in mutually different directions.

3. The autonomous mobile robot according to claim 1, characterized in that the position adjustment unit changes at least one of the attitude and position relative to the power supply device by rotating the autonomous mobile robot once or multiple times in the same direction at the same angle or different angles.

4. The autonomous mobile robot according to claim 1, further comprising an object detection unit for detecting surrounding objects, wherein the position adjustment unit changes at least one of the attitude and position relative to the power supply device based on the detection result of the object detection unit.

5. The autonomous mobile robot according to any one of claims 1 to 4, characterized in that the charging feasibility determination unit determines whether or not the battery can be charged based on the voltage applied to the battery.

6. The autonomous mobile robot according to any one of claims 1 to 4, characterized in that the charging feasibility determination unit determines whether or not the battery can be charged based on at least one of the current and voltage in any of the circuits that supply the power to the battery in the power receiving unit.

7. The autonomous mobile robot according to any one of claims 1 to 4, characterized in that the charging feasibility determination unit determines whether the storage battery can be charged based on the efficiency of the power supplied from the power supply device.

8. A contactless power supply system comprising an autonomous mobile robot and a power supply device that is communicably connected to the autonomous mobile robot and supplies power to the autonomous mobile robot by a contactless power supply method, wherein the power supply device comprises: a power transmission coil for transmitting the power to the autonomous mobile robot; a movable mechanism for changing at least one of the position and orientation of the power transmission coil; and a power transmission coil control unit that controls the movable mechanism to change at least one of the position and orientation of the power transmission coil, wherein the autonomous mobile robot comprises: a power receiving coil for receiving the power from the power supply device; a storage battery that receives the power via the power receiving coil; and a charging feasibility determination unit that determines whether or not the storage battery can be charged by the power supplied via the power receiving coil, wherein if the charging feasibility determination unit determines that the storage battery cannot be charged, the system controls the movable mechanism to change at least one of the orientation and position of the autonomous mobile robot relative to the power receiving coil.

9. A contactless power supply system comprising an autonomous mobile robot and a power supply device that is communicably connected to the autonomous mobile robot and supplies power to the autonomous mobile robot by a contactless power supply method, wherein the autonomous mobile robot comprises: a power receiving unit that receives the power transmitted from the power supply device; a storage battery that receives the power via the power receiving unit; a driving unit that moves itself; and a control unit that controls the charging of the storage battery and the movement by the driving unit, wherein the control unit comprises: a charging feasibility determination unit that determines whether or not the storage battery can be charged with the power supplied via the power receiving unit; and a position adjustment unit that controls the driving unit to change at least one of the attitude and position relative to the power supply device when the charging feasibility determination unit determines that the storage battery cannot be charged.

10. The contactless power supply system according to claim 9, wherein the power supply device includes an efficiency acquisition unit that acquires the efficiency of the power supplied to the autonomous mobile robot, and the charging feasibility determination unit changes at least one of the attitude and position relative to the power supply device based on the efficiency acquired from the power supply device.

11. A contactless power supply system according to claim 9 or 10, comprising a management device for managing the charging of the battery of the autonomous mobile robot with the power supplied from the power supply device, wherein the control unit notifies the management device of an error if it determines that the battery cannot be charged with the power supplied via the power receiving unit, even if the position adjustment unit controls the driving unit to change at least one of the attitude and position of the autonomous mobile robot relative to the power supply device.

12. 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 from a power supply device using a contactless power supply method; a storage battery that receives the power via the power receiving unit; and a driving unit that moves itself, the method being characterized by: determining whether the storage battery can be charged with the power supplied via the power receiving unit; if it is determined that the storage battery cannot be charged, controlling the driving unit to change at least one of the attitude and position relative to the power supply device; and if it is determined that the storage battery can be charged, charging the storage battery with the power transmitted from the power supply device.

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