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

Abstract

The purpose of the present invention is to improve an operation rate of an autonomous travel device. This autonomous travel device comprises: one or a plurality of power reception units that receive power transmitted by a non-contact power supply method from a power transmission unit of a power supply device; a control unit that, when the one power reception unit satisfies a prescribed condition, controls the power reception state of the one or the plurality of power reception units so that the one power reception unit receives power in a state in which the one power reception unit and the power transmission unit of the power supply device face each other; and a power storage unit that stores the power received by the one power reception unit facing the power transmission unit.

Description

Autonomous Driving Device, Power Supply Method for Autonomous Driving Device, and Power Supply System

[0001] The present invention relates to an autonomous driving device, a power supply method for the autonomous driving device, and a power supply system.

[0002] Conventionally, a power supply system using a non-contact power supply (WPT: Wireless Power Transfer) method for charging a storage battery provided in an autonomous driving device such as an AMR (Autonomous Mobile Robot) 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 Patent Application Laid-Open No. 2024-76019

[0004] In the conventional non-contact power supply method, a power receiving coil is installed on the side surface of the AMR, and the AMR is placed sideways with respect to the power transmitting coil on the equipment side, and the AMR enters the stop area. Depending on the direction in which the AMR enters the stop area, there may be a case where power supply cannot be performed because the power receiving coil of the AMR is not located near the power transmitting coil on the equipment side. In this case, it is necessary for the AMR to enter the stop area after rotating and traveling so that the power receiving coil of the AMR is located near the power transmitting coil on the equipment side, or for the AMR to enter the stop area after changing the travel route, and there is a problem that the operation rate of the AMR decreases.

[0005] The present invention has been made in view of the above problems, and an object thereof is to provide a technology capable of improving the operation rate of an autonomous driving device.

[0006] An autonomous driving device according to one aspect of the present invention includes one or more power receiving units that receive power transmitted from a power supply unit by a contactless power supply method, a control unit that controls the power receiving state of the one or more power receiving units so that when one of the power receiving units satisfies predetermined conditions, the one power receiving unit receives power while facing the power supply unit of the power supply device, and a power storage unit that stores the power received by the one power receiving unit facing the power supply unit. The autonomous driving device stops within the power supply area to receive power, and the power receiving state of one or more power receiving units is controlled so that one of the power receiving units receives power while facing the power supply unit of the power supply device, so that the power received by the one power receiving unit facing the power supply unit of the power supply device is stored in the power storage unit. The power supply area is an area where power can be supplied by the power supply device. The autonomous vehicle does not need to enter the power supply area after rotating, nor does it need to enter the power supply area after changing its route. In this way, the autonomous vehicle can receive power during normal driving operations, thus improving its operational efficiency.

[0007] The predetermined conditions include the fact that one power receiving unit and the power transmitting unit of the power supply device face each other, and the plurality of power receiving units include one first power receiving unit and one or more second power receiving units. The control unit controls the power receiving state of the plurality of power receiving units so that, when the first power receiving unit satisfies the predetermined conditions, the first power receiving unit receives power while facing the power transmitting unit of the power supply device, and the power received by the one or more second power receiving units is cut off. With this configuration, only the power received by the first power receiving unit facing the power transmitting unit of the power supply device is supplied to the power storage unit, so that power is properly stored in the power storage unit. For example, if the power received by the power receiving unit closer to the power transmitting unit and the power received by the power receiving unit further away from the power transmitting unit are supplied to the power storage unit, the circuit configuration will include both the L component of the coil of the power receiving unit closer to the power transmitting unit and the L component of the coil of the power receiving unit further away from the power transmitting unit. In this case, the circuit configuration will include an unnecessary inductive component, changing the equivalent circuit in the design and preventing the intended charging of the energy storage unit. By interrupting the power received by one or more second power receiving units, the energy storage unit can be properly charged.

[0008] The autonomous driving device described above comprises a housing, and the one first power receiving unit and the one or more second power receiving units are installed on the side of the housing. As a result, for example, the power received by one first power receiving unit facing a power transmission unit installed on the ground is stored in the power storage unit.

[0009] The system is equipped with a housing, and the one first power receiving unit and the one or more second power receiving units are installed on the underside of the housing. As a result, for example, the power received by one first power receiving unit facing a power transmission unit embedded in the ground is stored in the power storage unit.

[0010] The autonomous driving device comprises a housing and a moving unit installed in the housing that moves the one power receiving unit, wherein the predetermined condition includes that the one power receiving unit and the power transmitting unit of the power supply device are not facing each other, and the moving unit moves the one power receiving unit so that it faces the power transmitting unit of the power supply device, thereby changing the position of the one power receiving unit relative to the housing. By moving the one power receiving unit so that it faces the power transmitting unit of the power supply device, and thereby changing the position of the one power receiving unit relative to the housing, the power received by the one power receiving unit facing the power transmitting unit of the power supply device is stored in the power storage unit.

[0011] The moving part is a rotating mechanism that rotates the one power receiving unit horizontally. By rotating the one power receiving unit horizontally so that it faces the power transmitting unit of the power supply device, the position of the one power receiving unit relative to the housing is changed, and the power received by the one power receiving unit facing the power transmitting unit of the power supply device is stored in the power storage unit.

[0012] The movable unit is installed on the upper part of the housing. This configuration allows one power receiving unit to be moved so that it faces the power transmitting unit of the power supply device, which is located on the upper part of the housing. As a result, for example, the power received by one power receiving unit facing a power transmitting unit installed on the ground is stored in the power storage unit.

[0013] The movable unit is installed at the bottom of the housing. This configuration allows one power receiving unit to be moved so that it faces the power transmitting unit of the power supply device at the bottom of the housing. As a result, for example, the power received by one power receiving unit facing a power transmitting unit embedded in the ground is stored in the energy storage unit.

[0014] The moving unit, within the area where power can be supplied by the power supply device, moves the one power receiving unit based on the instructions of the control unit so that the one power receiving unit and the power transmitting unit of the power supply device face each other, thereby changing the position of the one power receiving unit relative to the housing. With this configuration, the position of the one power receiving unit relative to the housing can be changed within the area where power can be supplied by the power supply device.

[0015] The moving unit, outside the area where power can be supplied by the power supply device, moves the one power receiving unit based on the instruction of the control unit so that the one power receiving unit and the power transmitting unit of the power supply device face each other, thereby changing the position of the one power receiving unit relative to the housing. This configuration makes it possible to change the position of the one power receiving unit relative to the housing outside the area where power can be supplied by the power supply device.

[0016] Furthermore, the present invention can also be considered as a power supply method in which an autonomous driving device performs at least a part of the above processing. It can also be considered as a power supply system including at least a part of the above configuration and processing. Each of the above configurations and processing can be combined to constitute the present invention, provided that no technical inconsistencies arise.

[0017] According to the present invention, the operating rate of autonomous driving devices can be improved.

[0018] Figure 1 is a diagram showing the overall configuration of a contactless power supply system to which the present invention is applied. Figure 2 is a block diagram illustrating the schematic functional configuration of an AMR to which the present invention is applied. Figure 3 is a block diagram illustrating the schematic functional configuration of an AMR according to Embodiment 1. Figure 4 is a plan view of the contactless power supply system. Figure 5 is a plan view of the contactless power supply system. Figure 6 is a block diagram illustrating the schematic functional configuration of an AMR according to Embodiment 1. Figure 7 is a plan view of the contactless power supply system. Figure 8 is a plan view of the contactless power supply system. Figure 9 is a plan view of the contactless power supply system. Figure 10 is a plan view of the contactless power supply system. Figure 11 is a plan view of the contactless power supply system. Figure 12 is a plan view of the contactless power supply system. Figure 13 is a plan view of the contactless power supply system. Figure 14 is a block diagram illustrating the schematic functional configuration of an AMR according to Embodiment 2. Figure 15 is a diagram showing an example of the configuration of an AMR according to Embodiment 2. Figure 16 is a plan view of the contactless power supply system. Figure 17 is a plan view of the contactless power supply system. Figure 18 is a diagram showing an example of the configuration of the AMR according to Embodiment 2. Figure 19 is a plan view of the contactless power supply system. Figure 20 is a plan view of the contactless power supply system.

[0019] <Application Example> (Overall System Configuration) Figure 1 shows the overall configuration of a contactless power supply system 1 to which the present invention is applied. As shown in Figure 1, the contactless power supply system 1 includes an AMR 10, a power supply device 20, and a management device 50. The AMR 10 is an example of an autonomous driving device. Although Figure 1 shows one AMR 10 and one power supply device 20, the contactless power supply system 1 is not limited to the example in Figure 1, and may include multiple AMR 10s or multiple power supply devices 20s. Furthermore, the AMR 10s do not all need to be of the same type, and the contactless power supply system 1 may include multiple types of AMR 10s with different functions (roles). The AMR 10 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 according to this application example can be introduced in factories, warehouses, commercial facilities, hospitals, construction sites, etc.

[0020] (AMR) Figure 2 is a block diagram illustrating the schematic functional configuration of the AMR10 to which the present invention is applied. 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, and a power storage unit 160.

[0021] The control unit 110 is a controller that oversees the control of the entire AMR 10. The control unit 110 may be provided, for example, in a power receiving unit (power receiving control circuit) located in the AMR 10. The power receiving unit converts the power received by the power receiving unit 120 into power for charging the power storage unit 160 and supplies it to the power storage unit 160. The control unit 110 is equipped with hardware resources such as a processor, memory, and storage. The processor may be a general-purpose processor such as a CPU (Central Processing Unit) or MPU (Micro Processing Unit), or it may be a dedicated processor. The processor may be configured as a single circuit, or it may be configured by combining multiple independent circuits. The memory may be RAM (Random Access Memory). The storage may be a non-volatile storage device such as ROM (Read Only Memory) or flash memory.

[0022] The power storage unit 160 is the power source for the AMR 10 and is implemented by a known secondary battery (storage battery), such as a lithium-ion battery. The power storage unit 160 supplies power to various parts of the AMR 10 and stores power by receiving power from the power supply device 20 via the power receiving unit 120 using a contactless power supply method.

[0023] The power supply device 20 is a device that supplies power to the AMR 10 using a contactless power supply method. The power supply device 20 includes a power transmission unit 40 that transmits power using a contactless power supply method. There are no particular restrictions on the external shape or installation method of the power supply device 20; it may be installed on the ground (floor surface) or embedded in the ground. There are also 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. There may be one power transmission unit 40 or multiple units.

[0024] The power supply area 30 is the area where power can be supplied by the power supply device 20. In other words, the power supply area 30 is the area where the AMR 10 can receive power via the contactless power supply method. The power supply area 30 also indicates the range in which the AMR 10 will stop in order to receive power. The power supply area 30 is set in the vicinity of the power supply device 20. Power is supplied to the AMR 10 from the power supply device 20 when the AMR 10 stops within the power supply area 30. For example, the AMR 10 will stop within the power supply area 30 such that the coordinate position of the center of the AMR 10 coincides with the coordinate position of the center of the power supply area 30.

[0025] 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 linkage of multiple computer systems. The user can use the management device 50 to set information on the AMR 10's travel route, the position coordinates of the power supply area 30, etc.

[0026] The AMR10 is equipped with one or more power receiving units 120. The control unit 110 controls the power receiving state of one or more power receiving units 120 so that when one power receiving unit 120 satisfies predetermined conditions, the power receiving unit 120 receives power while facing the power transmitting unit 40 of the power supply device 20. Because the AMR10 stops within the power supply area 30 to receive power, and the power receiving state of one or more power receiving units 120 is controlled so that the power receiving unit 120 receives power while facing the power transmitting unit 40 of the power supply device 20, the power received by the power receiving unit 120 facing the power transmitting unit 40 of the power supply device 20 is stored in the power storage unit 160. The AMR10 does not need to enter the power supply area 30 after rotating, nor does it need to enter the power supply area 30 after changing its travel route. In this way, the AMR10 can receive power during normal travel operations, thus improving its operational efficiency.

[0027] <Embodiment 1> Embodiment 1 will now be described. Since the contactless power supply system 1 according to Embodiment 1 has the same configuration as that described in the application example, each component will be denoted by the same reference numerals as in the application example, and explanations may be omitted as appropriate.

[0028] (System Configuration) Figure 3 is a block diagram illustrating the schematic functional configuration of the AMR10 according to Embodiment 1. As shown in Figure 3, the AMR10 includes a control unit 110, a power receiving unit 120A, a power receiving unit 120B, a storage unit 130, a communication unit 140, a driving unit 150, a power storage unit 160, a measurement unit 170, and a selection unit 180.

[0029] The control unit 110 is a controller that oversees the control of the entire AMR 10. The power receiving units 120A and 120B receive power transmitted by a contactless power supply method. The power receiving units 120A and 120B have power receiving coils. The power transmitting unit 40 of the power supply device 20 has a power transmitting coil. The power receiving coil is magnetically coupled to the power transmitting coil and receives power from the power transmitting coil by electromagnetic induction. At least one of the power transmitting coil and the power receiving coil may have a resonant circuit, or may be configured to transmit power by an electric field coupling method.

[0030] The storage unit 130 stores various information processed by the control unit 110. The storage unit 130 includes main memory 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 card.

[0031] The communication unit 140 is a functional unit that communicates information with the power supply device 20 and the management device 50. The communication unit 140 is configured to include a communication antenna that supports a desired communication standard, such as Wi-Fi®, Bluetooth®, or infrared communication.

[0032] The drive unit 150 is a functional unit or mechanism for the AMR 10 to move. The drive unit 150 consists of hardware such as wheels (rotating bodies), motors, brakes, and a steering mechanism. The AMR 10 becomes capable of moving when the rotation of the wheels is controlled by the drive unit 150, and the AMR 10 moves.

[0033] The power storage unit 160 supplies power to various parts of the AMR 10 and also stores power by receiving power from the power supply device 20 via the power receiving units 120A and 120B using a contactless power supply method.

[0034] The measurement unit 170 measures the power received by the power receiving units 120A and 120B and determines the state of the power receiving units 120A and 120B. Power measurement by the measurement unit 170 is performed with the switches (opening / closing members) 181 and 182 closed. The measurement results and determination results from the measurement unit 170 are sent to the control unit 110 and the selection unit 180.

[0035] Figure 4 is a plan view of the contactless power supply system. The power transmission unit 40 of the power supply device 20 has a power transmission coil. In Figure 4, the AMR 10 enters the power supply area 30 from the direction of arrow D1 and stops within the power supply area 30. In Figure 4, the power transmission unit 40 of the power supply device 20 is located on the right side of the AMR 10. In Figure 4, a power receiving unit 120A is arranged on one side of the housing 11 of the AMR 10, and a power receiving unit 120B is arranged on the other side of the housing 11 of the AMR 10. For example, the power receiving units 120A and 120B may be arranged symmetrically with respect to the center of the housing 11 of the AMR 10. When the AMR 10 stops within the power supply area 30, the control unit 110 determines whether the power receiving unit 120A satisfies a first predetermined condition. The first predetermined condition includes that the power receiving unit 120A and the power transmitting unit 40 of the power supply device 20 are facing each other. When the AMR 10 stops within the power supply area 30, the control unit 110 determines whether the power receiving unit 120B satisfies the second predetermined condition. The second predetermined condition includes that the power receiving unit 120B and the power transmitting unit 40 of the power supply device 20 are facing each other.

[0036] As shown in Figure 4, the power receiving unit 120A and the power transmitting unit 40 of the power supply device 20 are facing each other. When the power receiving unit 120A and the power transmitting unit 40 of the power supply device 20 are facing each other, the voltage of the power received by the power receiving unit 120A is above a threshold. The threshold may be determined by experiment, simulation, machine learning, etc. The threshold may be stored in the memory (storage device) of the measurement unit 170 or in the storage unit 130. If the voltage of the power received by the power receiving unit 120A is above the threshold, the measurement unit 170 determines that the power receiving unit 120A and the power transmitting unit 40 of the power supply device 20 are facing each other. If the determination result of the measurement unit 170 includes the fact that the power receiving unit 120A and the power transmitting unit 40 of the power supply device 20 are facing each other, the control unit 110 determines that the power receiving unit 120A satisfies the first predetermined condition.

[0037] As shown in Figure 4, the power receiving unit 120B and the power transmitting unit 40 of the power supply device 20 are not facing each other. When the power receiving unit 120B and the power transmitting unit 40 of the power supply device 20 are not facing each other, the voltage of the power received by the power receiving unit 120B is below a threshold. If the voltage of the power received by the power receiving unit 120B is below a threshold, the measurement unit 170 determines that the power receiving unit 120B and the power transmitting unit 40 of the power supply device 20 are not facing each other. If the determination result of the measurement unit 170 includes the fact that the power receiving unit 120B and the power transmitting unit 40 of the power supply device 20 are not facing each other, the control unit 110 determines that the power receiving unit 120B does not satisfy the second predetermined condition.

[0038] Figure 5 is a plan view of the contactless power supply system. In Figure 5, the AMR 10 enters the power supply area 30 from the direction of arrow D1 and stops within the power supply area 30. In Figure 5, the power transmission unit 40 of the power supply device 20 is located on the left side of the AMR 10. The arrangement of the power receiving units 120A and 120B in Figure 5 is the same as in Figure 4. When the AMR 10 stops within the power supply area 30, the control unit 110 determines whether the power receiving unit 120A satisfies a first predetermined condition. The first predetermined condition includes that the power receiving unit 120A and the power transmission unit 40 of the power supply device 20 are facing each other. When the AMR 10 stops within the power supply area 30, the control unit 110 determines whether the power receiving unit 120B satisfies a second predetermined condition. The second predetermined condition includes that the power receiving unit 120B and the power transmission unit 40 of the power supply device 20 are facing each other.

[0039] As shown in Figure 5, the power receiving unit 120A and the power transmitting unit 40 of the power supply device 20 are not facing each other. When the power receiving unit 120A and the power transmitting unit 40 of the power supply device 20 are not facing each other, the voltage of the power received by the power receiving unit 120A is below a threshold. If the voltage of the power received by the power receiving unit 120A is below a threshold, the measurement unit 170 determines that the power receiving unit 120A and the power transmitting unit 40 of the power supply device 20 are not facing each other. If the determination result of the measurement unit 170 includes the fact that the power receiving unit 120A and the power transmitting unit 40 of the power supply device 20 are not facing each other, the control unit 110 determines that the power receiving unit 120A does not satisfy the first predetermined condition.

[0040] As shown in Figure 5, the power receiving unit 120B and the power transmitting unit 40 of the power supply device 20 are facing each other. When the power receiving unit 120B and the power transmitting unit 40 of the power supply device 20 are facing each other, the voltage of the power received by the power receiving unit 120B is above a threshold. If the voltage of the power received by the power receiving unit 120B is above a threshold, the measurement unit 170 determines that the power receiving unit 120B and the power transmitting unit 40 of the power supply device 20 are facing each other. If the determination result of the measurement unit 170 includes the fact that the power receiving unit 120B and the power transmitting unit 40 of the power supply device 20 are facing each other, the control unit 110 determines that the power receiving unit 120B satisfies the second predetermined condition.

[0041] A photoelectric sensor may be installed adjacent to the power receiving unit 120A. The control unit 110 may use the measurement results of the photoelectric sensor to determine whether the power receiving unit 120A and the power transmitting unit 40 of the power supply device 20 are facing each other. For example, the photoelectric sensor has a light emitting unit and a light receiving unit. Light from the light emitting unit of the photoelectric sensor is reflected by the power transmitting unit 40 of the power supply device 20, and the light receiving unit of the photoelectric sensor receives the reflected light. If the intensity of the reflected light is above a predetermined value, the control unit 110 determines that the power receiving unit 120A and the power transmitting unit 40 of the power supply device 20 are facing each other. If the intensity of the reflected light is below a predetermined value, the control unit 110 determines that the power receiving unit 120A and the power transmitting unit 40 of the power supply device 20 are not facing each other. A reflector may be provided on the power transmitting unit 40 of the power supply device 20, or a reflector may be provided near the power transmitting unit 40 of the power supply device 20. By providing a reflector, the intensity of the reflected light increases, thereby improving the accuracy of the measurement results of the photoelectric sensor. The photoelectric sensor may be installed adjacent to the power receiving unit 120B. The control unit 110 may use the measurement results of the photoelectric sensor to determine whether the power receiving unit 120B and the power transmitting unit 40 of the power supply device 20 are facing each other.

[0042] The control unit 110 may determine, based on map information, whether the power receiving unit 120A and the power transmitting unit 40 of the power supply device 20 are facing each other. The control unit 110 may also determine, based on map information, whether the power receiving unit 120B and the power transmitting unit 40 of the power supply device 20 are facing each other. The map information includes the location information of the power transmitting unit 40 of the power supply device 20, the location information of the power supplyable area 30, the travel route of the AMR 10, etc. The control unit 110 may obtain the location information of the power transmitting unit 40 of the power supply device 20 from the management device 50.

[0043] The control unit 110 sends a path selection instruction to the selection unit 180. Based on the path selection instruction received from the control unit 110, the selection unit 180 selects a path for supplying power to the power storage unit 160.

[0044] When the power receiving unit 120A satisfies the first predetermined condition, that is, when the power receiving unit 120A and the power transmission unit 40 of the power supply device 20 are facing each other, the control unit 110 sends a selection instruction for the path P1 to the selection unit 180. When the selection unit 180 receives the selection instruction for the path P1, it closes the switch 181 and opens the switch 182 to select the path P1. When the path P1 is selected, the power received by the power receiving unit 120A is supplied to the power storage unit 160 via the path P1. When the path P1 is selected, the power received by the power receiving unit 120B is cut off. Thus, when the power receiving unit 120A satisfies the first predetermined condition, the control unit 110 controls the power receiving states of the power receiving units 120A and 120B such that the power receiving unit 120A receives power in a state where it is facing the power transmission unit 40 of the power supply device 20 and the power received by the power receiving unit 120B is cut off. By cutting off the power received by the power receiving unit 120B, only the power received by the power receiving unit 120A facing the power transmission unit 40 of the power supply device 20 is supplied to the power storage unit 160, so that the power storage in the power storage unit 160 is appropriately performed. For example, if the power received by the power receiving unit 120A on the side closer to the power transmission unit 40 and the power received by the power receiving unit 120B on the side farther from the power transmission unit 40 are supplied to the power storage unit 160, a circuit configuration including both the L component of the coil of the power receiving unit 120A on the side closer to the power transmission unit 40 and the L component of the coil of the power receiving unit 120B on the side farther from the power transmission unit 40 will result. In this case, a circuit configuration including an unnecessary L component will occur, the equivalent circuit in terms of design will change, and the intended charging of the power storage unit 160 will become impossible. By cutting off the power received by the power receiving unit 120B, the power storage in the power storage unit 160 can be appropriately performed.

[0045] In Figure 4, the AMR10 stops within the power supply area 30 to receive power. Within the power supply area 30, the power receiving state of multiple power receiving units 120 (120A, 120B) is controlled so that the power receiving unit 120A receives power while facing the power transmitting unit 40 of the power supply device 20. Subsequently, the power received by the power receiving unit 120A facing the power transmitting unit 40 of the power supply device 20 is stored in the power storage unit 160. The AMR10 does not need to enter the power supply area 30 after rotating, nor does the AMR10 need to enter the power supply area 30 after changing its travel route. In this way, the AMR10 can receive power during normal travel operations, thus improving the AMR10's operational efficiency.

[0046] When the power receiving unit 120B satisfies the second predetermined condition, that is, when the power receiving unit 120B and the power transmitting unit 40 of the power supply device 20 are facing each other, the control unit 110 sends a selection instruction for route P2 to the selection unit 180. When the selection unit 180 receives the selection instruction for route P2, it selects route P2 by opening switch 181 and closing switch 182. When route P2 is selected, the power received by the power receiving unit 120B is supplied to the energy storage unit 160 via route P2. When route P2 is selected, the power received by the power receiving unit 120A is cut off. Thus, when the power receiving unit 120B satisfies the second predetermined condition, the control unit 110 controls the power receiving state of the power receiving units 120A and 120B so that the power receiving unit 120B receives power with the power receiving unit 120B facing the power transmitting unit 40 of the power supply device 20, and the power received by the power receiving unit 120A is cut off. By cutting off the power received by the power receiving unit 120A, only the power received by the power receiving unit 120B facing the power transmitting unit 40 of the power supply device 20 is supplied to the power storage unit 160, so that power is properly stored in the power storage unit 160. For example, if the power received by the receiving unit 120B closer to the power transmission unit 40 and the power received by the receiving unit 120A further away from the power transmission unit 40 are supplied to the energy storage unit 160, the circuit configuration will include both the inductance (L) component of the coil in the receiving unit 120B closer to the power transmission unit 40 and the inductance (L) component of the coil in the receiving unit 120A further away from the power transmission unit 40. In this case, the circuit configuration will include an unnecessary L component, changing the equivalent circuit in the design and preventing the energy storage unit 160 from being charged as intended. By interrupting the power received by the receiving unit 120A, the energy storage unit 160 can be properly charged.

[0047] In FIG. 5, the AMR 10 stops within the power supply available area 30 in order to receive power supply. Within the power supply available area 30, the power reception states of the plurality of power reception units 120 (120A, 120B) are controlled such that the power reception unit 120B receives power in a state where the power reception unit 120B and the power transmission unit 40 of the power supply device 20 face each other. Thereafter, the power received by the power reception unit 120B facing the power transmission unit 40 of the power supply device 20 is stored in the power storage unit 160. The AMR 10 does not need to enter the power supply available area 30 after rotating and traveling, and the AMR 10 does not need to enter the power supply available area 30 after changing the traveling route. Thus, since the AMR 10 can receive power supply during normal traveling operation, the operation rate of the AMR 10 is improved.

[0048] FIG. 6 is a block diagram showing an outline of the functional configuration of the AMR 10 according to Embodiment 1. As shown in FIG. 6, the AMR 10 includes a control unit 110, a power reception unit 120A, a power reception unit 120B, a power reception unit 120C, a storage unit 130, a communication unit 140, a traveling drive unit 150, a power storage unit 160, a measurement unit 170, and a selection unit 180. The configurations of the control unit 110, the power reception units 120A, 120B, the storage unit 130, the communication unit 140, and the traveling drive unit 150 are the same as those in FIG. 3. The power reception unit 120C receives power transmitted by a non-contact power supply method. The power reception unit 120C has a power reception coil. Hereinafter, the case where the AMR 10 includes three power reception units 120 (120A, 120B, 120C) will be described, but the AMR 10 may include four or more power reception units 120.

[0049] The power storage unit 160 supplies power to various parts of the AMR 10 and stores power by receiving power from the power supply device 20 by a non-contact power supply method via the power reception units 120A, 120B, 120C.

[0050] The measurement unit 170 measures the power received by the power reception units 120A, 120B, 120C and determines the states of the power reception units 120A, 120B, 120C. Power measurement by the measurement unit 170 is performed in a state where switches (opening / closing members) 181, 182, 183 are closed. The measurement result and determination result of the measurement unit 170 are sent to the control unit 110 and the selection unit 180.

[0051] Figure 7 is a plan view of the contactless power supply system. The power transmission unit 40 of the power supply device 20 has a power transmission coil. In Figure 7, the AMR 10 enters the power supply area 30 from the direction of arrow D1 and stops within the power supply area 30. In Figure 7, the power transmission unit 40 of the power supply device 20 is located on the right side of the AMR 10.

[0052] In Figure 7, a power receiving unit 120A is positioned on one side of the housing 11 of the AMR10, a power receiving unit 120B is positioned on the other side of the housing 11 of the AMR10, and a power receiving unit 120C is positioned on the front of the housing 11 of the AMR10. For example, the power receiving units 120A and 120B may be positioned symmetrically with respect to the center of the housing 11 of the AMR10. When the AMR10 stops within the power supply area 30, the control unit 110 determines whether the power receiving unit 120A satisfies a first predetermined condition. The first predetermined condition includes that the power receiving unit 120A and the power transmitting unit 40 of the power supply device 20 are facing each other. When the AMR10 stops within the power supply area 30, the control unit 110 determines whether the power receiving unit 120B satisfies a second predetermined condition. The second predetermined condition includes that the power receiving unit 120B and the power transmitting unit 40 of the power supply device 20 are facing each other. When the AMR 10 stops within the power supply area 30, the control unit 110 determines whether the power receiving unit 120C satisfies the third predetermined condition. The third predetermined condition includes that the power receiving unit 120C and the power transmitting unit 40 of the power supply device 20 are facing each other.

[0053] As shown in Figure 7, the power receiving unit 120A and the power transmitting unit 40 of the power supply device 20 are facing each other. When the power receiving unit 120A and the power transmitting unit 40 of the power supply device 20 are facing each other, the voltage of the power received by the power receiving unit 120A is above a threshold. If the voltage of the power received by the power receiving unit 120A is above a threshold, the measurement unit 170 determines that the power receiving unit 120A and the power transmitting unit 40 of the power supply device 20 are facing each other. If the determination result of the measurement unit 170 includes the fact that the power receiving unit 120A and the power transmitting unit 40 of the power supply device 20 are facing each other, the control unit 110 determines that the power receiving unit 120A satisfies the first predetermined condition.

[0054] As shown in Figure 7, the power receiving unit 120B and the power transmitting unit 40 of the power supply device 20 are not facing each other. When the power receiving unit 120B and the power transmitting unit 40 of the power supply device 20 are not facing each other, the voltage of the power received by the power receiving unit 120B is below the threshold. If the voltage of the power received by the power receiving unit 120B is below the threshold, the measurement unit 170 determines that the power receiving unit 120B and the power transmitting unit 40 of the power supply device 20 are not facing each other. If the determination result of the measurement unit 170 includes the fact that the power receiving unit 120B and the power transmitting unit 40 of the power supply device 20 are not facing each other, the control unit 110 determines that the power receiving unit 120B does not satisfy the second predetermined condition. As shown in Figure 7, the power receiving unit 120C and the power transmitting unit 40 of the power supply device 20 are not facing each other. If the power receiving unit 120C and the power transmitting unit 40 of the power supply device 20 are not facing each other, the voltage of the power received by the power receiving unit 120C is below the threshold. If the voltage of the power received by the power receiving unit 120C is below the threshold, the measurement unit 170 determines that the power receiving unit 120C and the power transmitting unit 40 of the power supply device 20 are not facing each other. If the determination result of the measurement unit 170 includes the fact that the power receiving unit 120C and the power transmitting unit 40 of the power supply device 20 are not facing each other, the control unit 110 determines that the power receiving unit 120C does not satisfy the third predetermined condition.

[0055] Figure 8 is a plan view of the contactless power supply system. In Figure 8, the AMR 10 enters the power supply area 30 from the direction of arrow D1 and stops within the power supply area 30. In Figure 8, the power transmission unit 40 of the power supply device 20 is located on the left side of the AMR 10. The arrangement of the power receiving units 120A, 120B, and 120C in Figure 8 is the same as in Figure 7. As shown in Figure 8, the power receiving unit 120A and the power transmission unit 40 of the power supply device 20 are not facing each other. When the power receiving unit 120A and the power transmission unit 40 of the power supply device 20 are not facing each other, the voltage of the power received by the power receiving unit 120A is below the threshold. When the voltage of the power received by the power receiving unit 120A is below the threshold, the measurement unit 170 determines that the power receiving unit 120A and the power transmission unit 40 of the power supply device 20 are not facing each other. If the determination result of the measurement unit 170 includes the fact that the power receiving unit 120A and the power transmission unit 40 of the power supply device 20 are not facing each other, the control unit 110 determines that the power receiving unit 120A does not satisfy the first predetermined condition.

[0056] As shown in Figure 8, the power receiving unit 120B and the power transmitting unit 40 of the power supply device 20 are facing each other. When the power receiving unit 120B and the power transmitting unit 40 of the power supply device 20 are facing each other, the voltage of the power received by the power receiving unit 120B is above a threshold. If the voltage of the power received by the power receiving unit 120B is above a threshold, the measurement unit 170 determines that the power receiving unit 120B and the power transmitting unit 40 of the power supply device 20 are facing each other. If the determination result of the measurement unit 170 includes the fact that the power receiving unit 120B and the power transmitting unit 40 of the power supply device 20 are facing each other, the control unit 110 determines that the power receiving unit 120B satisfies the second predetermined condition.

[0057] As shown in Figure 8, the power receiving unit 120C and the power transmitting unit 40 of the power supply device 20 are not facing each other. When the power receiving unit 120C and the power transmitting unit 40 of the power supply device 20 are not facing each other, the voltage of the power received by the power receiving unit 120C is below the threshold. If the voltage of the power received by the power receiving unit 120C is below the threshold, the measurement unit 170 determines that the power receiving unit 120C and the power transmitting unit 40 of the power supply device 20 are not facing each other. If the determination result of the measurement unit 170 includes the fact that the power receiving unit 120C and the power transmitting unit 40 of the power supply device 20 are not facing each other, the control unit 110 determines that the power receiving unit 120C does not satisfy the third predetermined condition.

[0058] Figure 9 is a plan view of the contactless power supply system. In Figure 9, the AMR 10 enters the power supply area 30 from the direction of arrow D1 and stops within the power supply area 30. In Figure 9, the power transmission unit 40 of the power supply device 20 is located on the front side of the AMR 10. The arrangement of the power receiving units 120A, 120B, and 120C in Figure 9 is the same as in Figure 7.

[0059] As shown in Figure 9, the power receiving unit 120A and the power transmitting unit 40 of the power supply device 20 are not facing each other. When the power receiving unit 120A and the power transmitting unit 40 of the power supply device 20 are not facing each other, the voltage of the power received by the power receiving unit 120A is below the threshold. If the voltage of the power received by the power receiving unit 120A is below the threshold, it is determined that the power receiving unit 120A and the power transmitting unit 40 of the power supply device 20 are not facing each other. If the determination result of the measurement unit 170 includes the fact that the power receiving unit 120A and the power transmitting unit 40 of the power supply device 20 are not facing each other, the control unit 110 determines that the power receiving unit 120A does not satisfy the first predetermined condition.

[0060] As shown in Figure 9, the power receiving unit 120B and the power transmitting unit 40 of the power supply device 20 are not facing each other. When the power receiving unit 120B and the power transmitting unit 40 of the power supply device 20 are not facing each other, the voltage of the power received by the power receiving unit 120B is below a threshold. If the voltage of the power received by the power receiving unit 120B is below a threshold, the measurement unit 170 determines that the power receiving unit 120B and the power transmitting unit 40 of the power supply device 20 are not facing each other. If the determination result of the measurement unit 170 includes the fact that the power receiving unit 120B and the power transmitting unit 40 of the power supply device 20 are not facing each other, the control unit 110 determines that the power receiving unit 120B does not satisfy the second predetermined condition.

[0061] As shown in Figure 9, the power receiving unit 120C and the power transmitting unit 40 of the power supply device 20 are facing each other. When the power receiving unit 120C and the power transmitting unit 40 of the power supply device 20 are facing each other, the voltage of the power received by the power receiving unit 120C is above a threshold. If the voltage of the power received by the power receiving unit 120C is above a threshold, the measurement unit 170 determines that the power receiving unit 120C and the power transmitting unit 40 of the power supply device 20 are facing each other. If the determination result of the measurement unit 170 includes the fact that the power receiving unit 120C and the power transmitting unit 40 of the power supply device 20 are facing each other, the control unit 110 determines that the power receiving unit 120C satisfies the third predetermined condition.

[0062] A photoelectric sensor may be installed adjacent to the power receiving unit 120A. The control unit 110 may use the measurement results of the photoelectric sensor to determine whether the power receiving unit 120A and the power transmitting unit 40 of the power supply device 20 are facing each other. A photoelectric sensor may be installed adjacent to the power receiving unit 120B. The control unit 110 may use the measurement results of the photoelectric sensor to determine whether the power receiving unit 120B and the power transmitting unit 40 of the power supply device 20 are facing each other. A photoelectric sensor may be installed adjacent to the power receiving unit 120C. The control unit 110 may use the measurement results of the photoelectric sensor to determine whether the power receiving unit 120C and the power transmitting unit 40 of the power supply device 20 are facing each other.

[0063] The control unit 110 may determine, based on the map information, whether the power receiving unit 120A and the power transmitting unit 40 of the power supply device 20 are facing each other. The control unit 110 may determine, based on the map information, whether the power receiving unit 120B and the power transmitting unit 40 of the power supply device 20 are facing each other. The control unit 110 may determine, based on the map information, whether the power receiving unit 120C and the power transmitting unit 40 of the power supply device 20 are facing each other.

[0064] The control unit 110 sends a route selection instruction to the selection unit 180. Based on the route selection instruction received from the control unit 110, the selection unit 180 selects a route for supplying power to the energy storage unit 160.

[0065] When the power receiving unit 120A satisfies the first predetermined condition, that is, when the power receiving unit 120A and the power transmitting unit 40 of the power supply device 20 are facing each other, the control unit 110 sends a selection instruction for route P1 to the selection unit 180. When the selection unit 180 receives the selection instruction for route P1, it closes switch 181 and opens switches 182 and 183 to select route P1. When route P1 is selected, the power received by the power receiving unit 120A is supplied to the energy storage unit 160 via route P1. When route P1 is selected, the power received by the power receiving units 120B and 120C is cut off. Thus, when the power receiving unit 120A satisfies the first predetermined condition, the control unit 110 controls the power receiving state of the power receiving units 120A, 120B, and 120C so that the power receiving unit 120A receives power with the power transmitting unit 40 of the power supply device 20 facing the power receiving unit 120A, and the power received by the power receiving units 120B and 120C is cut off. By cutting off the power received by the power receiving units 120B and 120C, only the power received by the power receiving unit 120A facing the power transmitting unit 40 of the power supply device 20 is supplied to the power storage unit 160, so that power is properly stored in the power storage unit 160.

[0066] In Figure 7, the AMR10 stops within the power supply area 30 to receive power. Within the power supply area 30, the power receiving state of multiple power receiving units 120 (120A, 120B, 120C) is controlled so that the power receiving unit 120A receives power while facing the power transmitting unit 40 of the power supply device 20. Subsequently, the power received by the power receiving unit 120A facing the power transmitting unit 40 of the power supply device 20 is stored in the power storage unit 160. The AMR10 does not need to enter the power supply area 30 after rotating, nor does the AMR10 need to enter the power supply area 30 after changing its travel route. In this way, the AMR10 can receive power during normal travel, thus improving the AMR10's operational efficiency.

[0067] When the power receiving unit 120B satisfies the second predetermined condition, that is, when the power receiving unit 120B and the power transmitting unit 40 of the power supply device 20 are facing each other, the control unit 110 sends a selection instruction for route P2 to the selection unit 180. When the selection unit 180 receives the selection instruction for route P2, it selects route P2 by opening switches 181 and 183 and closing switch 182. When route P2 is selected, the power received by the power receiving unit 120B is supplied to the energy storage unit 160 via route P2. When route P2 is selected, the power received by the power receiving units 120A and 120C is cut off. Thus, when the power receiving unit 120B satisfies the second predetermined condition, the control unit 110 controls the power receiving state of the power receiving units 120A, 120B, and 120C so that the power receiving unit 120B receives power with the power receiving unit 120B facing the power transmitting unit 40 of the power supply device 20, and the power received by the power receiving units 120A and 120C is cut off. By cutting off the power received by the power receiving units 120A and 120C, only the power received by the power receiving unit 120B facing the power transmitting unit 40 of the power supply device 20 is supplied to the power storage unit 160, so that power is properly stored in the power storage unit 160.

[0068] In Figure 8, the AMR 10 stops within the power supply area 30 to receive power. Within the power supply area 30, the power receiving state of multiple power receiving units 120 (120A, 120B, 120C) is controlled so that the power receiving unit 120B receives power while facing the power transmitting unit 40 of the power supply device 20. Subsequently, the power received by the power receiving unit 120B facing the power transmitting unit 40 of the power supply device 20 is stored in the power storage unit 160. The AMR 10 does not need to enter the power supply area 30 after rotating, nor does the AMR 10 need to enter the power supply area 30 after changing its travel route. In this way, the AMR 10 can receive power during normal travel, thus improving the AMR 10's operational efficiency.

[0069] When the power receiving unit 120C satisfies the third predetermined condition, that is, when the power receiving unit 120C and the power transmitting unit 40 of the power supply device 20 are facing each other, the control unit 110 sends a selection instruction for route P3 to the selection unit 180. When the selection unit 180 receives the selection instruction for route P3, it selects route P3 by opening switches 181 and 182 and closing switch 183. When route P3 is selected, the power received by the power receiving unit 120C is supplied to the power storage unit 160 via route P3. When route P3 is selected, the power received by the power receiving units 120A and 120B is cut off. Thus, when the power receiving unit 120C satisfies the third predetermined condition, the control unit 110 controls the power receiving state of the power receiving units 120A, 120B, and 120C so that the power receiving unit 120C receives power with the power receiving unit 120C facing the power transmitting unit 40 of the power supply device 20, and the power received by the power receiving units 120A and 120B is cut off. By cutting off the power received by the power receiving units 120A and 120B, only the power received by the power receiving unit 120C facing the power transmitting unit 40 of the power supply device 20 is supplied to the power storage unit 160, so that power is properly stored in the power storage unit 160.

[0070] In Figure 9, the AMR 10 stops within the power supply area 30 to receive power. Within the power supply area 30, the power receiving state of multiple power receiving units 120 (120A, 120B, 120C) is controlled so that the power receiving unit 120C receives power with the power receiving unit 120C facing the power transmitting unit 40 of the power supply device 20. Subsequently, the power received by the power receiving unit 120C facing the power transmitting unit 40 of the power supply device 20 is stored in the power storage unit 160. The AMR 10 does not need to enter the power supply area 30 after rotating, nor does the AMR 10 need to enter the power supply area 30 after changing its travel route. In this way, the AMR 10 can receive power during normal travel operations, thus improving the AMR 10's operational efficiency.

[0071] In Figure 4, a power receiving unit 120A is located on one side of the housing 11 of the AMR10, and a power receiving unit 120B is located on the other side of the housing 11 of the AMR10. The arrangement of the power receiving units 120A and 120B is not limited to the example in Figure 4. The power receiving units 120A and 120B may be located on the underside of the housing 11 of the AMR10. Figures 10 and 11 are plan views of a contactless power supply system. In Figure 10, the power transmission unit 40 of the power supply device 20 is embedded in the ground within the power supply area 30. In Figure 10, the power transmission unit 40 of the power supply device 20 is located near the power supply device 20. In Figure 11, the AMR10 enters the power supply area 30 from the direction of arrow D1 and stops within the power supply area 30. In Figure 11, the power receiving unit 120A is positioned on the right side of the lower surface of the housing 11 of the AMR10, and the power receiving unit 120B is positioned on the left side of the lower surface of the housing 11 of the AMR10. For example, the power receiving units 120A and 120B may be positioned symmetrically with respect to the center of the housing 11 of the AMR10.

[0072] In Figure 11, the AMR 10 stops within the power supply area 30 to receive power. Within the power supply area 30, the power receiving state of multiple power receiving units 120 (120A, 120B) is controlled so that the power receiving unit 120A receives power while facing the power transmitting unit 40 of the power supply device 20. Subsequently, the power received by the power receiving unit 120A facing the power transmitting unit 40 of the power supply device 20 is stored in the power storage unit 160. The AMR 10 does not need to enter the power supply area 30 after rotating, nor does the AMR 10 need to enter the power supply area 30 after changing its travel route. In this way, the AMR 10 can receive power during normal travel operations, thus improving the AMR 10's operational efficiency.

[0073] Figures 12 and 13 are plan views of a contactless power supply system. In Figure 12, the power transmission unit 40 of the power supply device 20 is embedded in the ground within the power supply area 30. In Figure 12, the power transmission unit 40 of the power supply device 20 is located at a distance from the power supply device 20. In Figure 13, the AMR 10 enters the power supply area 30 from the direction of arrow D1 and stops within the power supply area 30. In Figure 13, the power receiving unit 120A is located on the right side of the lower surface of the housing 11 of the AMR 10, and the power receiving unit 120B is located on the left side of the lower surface of the housing 11 of the AMR 10. For example, the power receiving units 120A and 120B may be arranged symmetrically with respect to the center of the housing 11 of the AMR 10.

[0074] In Figure 13, the AMR 10 stops within the power supply area 30 to receive power. Within the power supply area 30, the power receiving state of multiple power receiving units 120 (120A, 120B) is controlled so that the power receiving unit 120B receives power while facing the power transmitting unit 40 of the power supply device 20. Subsequently, the power received by the power receiving unit 120B facing the power transmitting unit 40 of the power supply device 20 is stored in the power storage unit 160. The AMR 10 does not need to enter the power supply area 30 after rotating, nor does the AMR 10 need to enter the power supply area 30 after changing its travel route. In this way, the AMR 10 can receive power during normal travel operations, thus improving the AMR 10's operational efficiency.

[0075] In Figure 7, a power receiving unit 120A is located on one side of the housing 11 of the AMR10, a power receiving unit 120B is located on the other side of the housing 11 of the AMR10, and a power receiving unit 120C is located on the front of the housing 11 of the AMR10. The arrangement of the power receiving units 120A, 120B, and 120C is not limited to the example in Figure 7. The power receiving units 120A, 120B, and 120C may be located on the bottom surface of the housing 11 of the AMR10. For example, a power receiving unit 120A may be located on the right side of the bottom surface of the housing 11 of the AMR10, a power receiving unit 120B may be located on the left side of the bottom surface of the housing 11 of the AMR10, and a power receiving unit 120C may be located on the front side of the bottom surface of the housing 11 of the AMR10.

[0076] <Embodiment 2> Embodiment 2 will now be described. Since the contactless power supply system 1 according to Embodiment 2 has the same configuration as that described in the application example, each component will be denoted by the same reference numerals as in the application example, and explanations may be omitted as appropriate.

[0077] (System Configuration) Figure 14 is a block diagram illustrating the schematic functional configuration of the AMR10 according to Embodiment 2. As shown in Figure 14, the AMR10 comprises a control unit 110, a power receiving unit 120, a storage unit 130, a communication unit 140, a driving unit 150, a power storage unit 160, a measurement unit 170, and a mobile unit 190. The power receiving unit 120 receives power transmitted by a contactless power supply method. The power receiving unit 120 has a power receiving coil. The power receiving coil is magnetically coupled to the power transmitting coil and receives power from the power transmitting coil by electromagnetic induction. At least one of the power transmitting coil and the power receiving coil may have a resonant circuit, or may be configured to transmit power by an electric field coupling method. The configurations of the control unit 110, storage unit 130, communication unit 140, driving unit 150, and power storage unit 160 are the same as in Figure 3. The measurement unit 170 measures the power received by the power receiving unit 120 and determines the state of the power receiving unit 120. The measurement results and determination results from the measurement unit 170 are sent to the control unit 110.

[0078] Figure 15 shows an example of the configuration of the AMR10 according to Embodiment 2. The AMR10 comprises a housing 11 and a moving unit 190 installed in the housing 11 that moves (rotates) the power receiving unit 120 horizontally. The moving unit 190 may be a rotating mechanism such as a turntable that rotates horizontally. In Figure 15, the moving unit 190 is installed on the upper part of the housing 11. In Figure 15, the power receiving unit 120 is arranged on the outer periphery of the moving unit 190, but the arrangement of the power receiving unit 120 is not limited to the example in Figure 15.

[0079] Figures 16 and 17 are plan views of the contactless power supply system. In Figures 16 and 17, the AMR 10 enters the power supply area 30 from the direction of arrow D1 and stops within the power supply area 30. When the AMR 10 stops within the power supply area 30, the control unit 110 determines whether the power receiving unit 120 satisfies predetermined conditions. The predetermined conditions include that the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are not facing each other.

[0080] As shown in Figure 16, the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are not facing each other. When the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are not facing each other, the voltage of the power received by the power receiving unit 120 is below a threshold. If the voltage of the power received by the power receiving unit 120 is below a threshold, the measurement unit 170 determines that the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are not facing each other. If the determination result of the measurement unit 170 includes the fact that the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are not facing each other, the control unit 110 determines that the power receiving unit 120 satisfies the predetermined conditions.

[0081] On the other hand, if the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are facing each other, the voltage of the power received by the power receiving unit 120 is above a threshold. If the voltage of the power received by the power receiving unit 120 is above a threshold, the measurement unit 170 determines that the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are facing each other. If the determination result of the measurement unit 170 includes the fact that the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are facing each other, the control unit 110 determines that the power receiving unit 120 does not meet the predetermined conditions.

[0082] A photoelectric sensor may be installed on the mobile unit 190. The photoelectric sensor is positioned adjacent to the power receiving unit 120. The control unit 110 may use the measurement results of the photoelectric sensor to determine whether the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are facing each other. For example, the photoelectric sensor has a light emitting unit and a light receiving unit. Light from the light emitting unit of the photoelectric sensor is reflected by the power transmitting unit 40 of the power supply device 20, and the light receiving unit of the photoelectric sensor receives the reflected light. If the intensity of the reflected light is above a predetermined value, the control unit 110 determines that the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are facing each other. If the intensity of the reflected light is below a predetermined value, the control unit 110 determines that the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are not facing each other. A reflector may be provided on the power transmission section 40 of the power supply device 20, or a reflector may be provided near the power transmission section 40 of the power supply device 20. By providing a reflector, the intensity of the reflected light increases, which improves the accuracy of the measurement results of the photoelectric sensor.

[0083] When the power receiving unit 120 satisfies a predetermined condition, that is, when the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are not facing each other, the control unit 110 controls the rotational movement of the moving unit 190 to change the position of the power receiving unit 120 relative to the housing 11. Specifically, based on the instructions of the control unit 110, the moving unit 190 moves the power receiving unit 120 so that the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 face each other, thereby changing the position of the power receiving unit 120 relative to the housing 11. Figure 17 shows the AMR 10 after the position of the power receiving unit 120 relative to the housing 11 has been changed. As shown in Figure 17, the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are facing each other.

[0084] The rotational movement of the movable unit 190 may be controlled so that the movable unit 190 rotates at predetermined angles. The predetermined angle is, for example, 90 degrees, but is not limited to 90 degrees and may be other angles. Each time the movable unit 190 rotates, the control unit 110 determines whether the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are facing each other, based on at least one of the determination result of the measurement unit 170 and the measurement result of the photoelectric sensor. The control unit 110 controls the rotational movement of the movable unit 190 until the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are facing each other. If the power receiving unit 120 does not meet the predetermined conditions, that is, if the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are facing each other, the control unit 110 does not control the movable unit 190.

[0085] The control unit 110 may determine, based on map information, whether the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are facing each other. The map information includes the location information of the power transmitting unit 40 of the power supply device 20, the location information of the power supply area 30, and the travel route of the AMR 10. The control unit 110 may obtain the location information of the power transmitting unit 40 of the power supply device 20 from the management device 50. After the AMR 10 stops within the power supply area 30, the control unit 110 may determine, based on map information, whether the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are facing each other. If the power receiving unit 120 satisfies a predetermined condition, that is, if the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are not facing each other, the control unit 110 controls the rotational movement of the moving unit 190 to change the position of the power receiving unit 120 relative to the housing 11.

[0086] The AMR10 stops within the power supply area 30 to receive power. The mobile unit 190 moves the power receiving unit 120 within the power supply area 30 based on instructions from the control unit 110 so that the power receiving unit 120 faces the power transmitting unit 40 of the power supply device 20, thereby changing the position of the power receiving unit 120 relative to the housing 11. In this way, the power receiving state of the power receiving unit 120 is controlled by moving the power receiving unit 120 within the power supply area 30 so that the power receiving unit 120 receives power while facing the power transmitting unit 40 of the power supply device 20, thereby changing the position of the power receiving unit 120 relative to the housing 11. The power received by the power receiving unit 120 facing the power transmitting unit 40 of the power supply device 20 is then stored in the energy storage unit 160. The AMR10 does not need to enter the power supply area 30 after rotating, nor does it need to enter the power supply area 30 after changing its travel route. In this way, the AMR10 can receive power during normal travel operations, thus improving its operational efficiency.

[0087] Before the AMR 10 enters the power supply area 30, the control unit 110 may predict, based on map information, whether the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 will face each other. If the prediction result includes the possibility that the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 will not face each other, the control unit 110 determines that the power receiving unit 120 satisfies predetermined conditions. Outside the power supply area 30, the control unit 110 controls the rotational movement of the mobile unit 190 to change the position of the power receiving unit 120 relative to the housing 11. In this way, outside the power supply area 30, the mobile unit 190 changes the position of the power receiving unit 120 relative to the housing 11 based on instructions from the control unit 110. The control unit 110 controls the rotational movement of the mobile unit 190 based on map information until the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 face each other. After the rotational movement of the movable part 190 is controlled, the AMR 10 enters the power supply area 30.

[0088] In Figure 15, the movable unit 190 is installed on the upper part of the housing 11, but the configuration is not limited to the example in Figure 15. Figure 18 is a diagram showing an example of the configuration of the AMR10 according to Embodiment 2. The AMR10 comprises a housing 11 and a movable unit 190 installed on the housing 11 that moves (rotates) the power receiving unit 120 horizontally. The movable unit 190 may be a moving mechanism such as a turntable that rotates horizontally. In Figure 18, the movable unit 190 is installed on the lower part of the housing 11. In Figure 18, the power receiving unit 120 is arranged on the outer circumference of the movable unit 190, but the arrangement of the power receiving unit 120 is not limited to the example in Figure 18. The power receiving unit 120 is spaced away from the ground so that it does not come into contact with the ground when the AMR10 is running.

[0089] Figures 19 and 20 are plan views of the contactless power supply system. In Figures 19 and 20, the AMR 10 enters the power supply area 30 from the direction of arrow D1 and stops within the power supply area 30. When the AMR 10 stops within the power supply area 30, the control unit 110 determines whether the power receiving unit 120 satisfies predetermined conditions. The predetermined conditions include that the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are not facing each other.

[0090] As shown in Figure 19, the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are not facing each other. When the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are not facing each other, the voltage of the power received by the power receiving unit 120 is below a threshold. If the voltage of the power received by the power receiving unit 120 is below a threshold, the measurement unit 170 determines that the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are not facing each other. If the determination result of the measurement unit 170 includes the fact that the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are not facing each other, the control unit 110 determines that the power receiving unit 120 satisfies the predetermined conditions.

[0091] On the other hand, if the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are facing each other, the voltage of the power received by the power receiving unit 120 is above a threshold. If the voltage of the power received by the power receiving unit 120 is above a threshold, the measurement unit 170 determines that the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are facing each other. If the determination result of the measurement unit 170 includes the fact that the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are facing each other, the control unit 110 determines that the power receiving unit 120 does not meet the predetermined conditions.

[0092] When the power receiving unit 120 satisfies a predetermined condition, that is, when the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are not facing each other, the control unit 110 controls the rotational movement of the moving unit 190 to change the position of the power receiving unit 120 relative to the housing 11. Specifically, based on the instructions of the control unit 110, the moving unit 190 moves the power receiving unit 120 so that the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 face each other, thereby changing the position of the power receiving unit 120 relative to the housing 11. Figure 20 shows the AMR 10 after the position of the power receiving unit 120 relative to the housing 11 has been changed. As shown in Figure 20, the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are facing each other.

[0093] The AMR10 stops within the power supply area 30 to receive power. The mobile unit 190 moves the power receiving unit 120 within the power supply area 30 based on instructions from the control unit 110 so that the power receiving unit 120 faces the power transmitting unit 40 of the power supply device 20, thereby changing the position of the power receiving unit 120 relative to the housing 11. In this way, the power receiving state of the power receiving unit 120 is controlled by moving the power receiving unit 120 within the power supply area 30 so that the power receiving unit 120 receives power while facing the power transmitting unit 40 of the power supply device 20, thereby changing the position of the power receiving unit 120 relative to the housing 11. The power received by the power receiving unit 120 facing the power transmitting unit 40 of the power supply device 20 is then stored in the energy storage unit 160. The AMR10 does not need to enter the power supply area 30 after rotating, nor does it need to enter the power supply area 30 after changing its travel route. In this way, the AMR10 can receive power during normal travel operations, thus improving its operational efficiency.

[0094] The rotational movement of the movable part 190 may be controlled so that it rotates by a predetermined angle or by 1 degree at a time. The predetermined angle is, for example, 90 degrees, but is not limited to 90 degrees and may be other angles. Each time the movable part 190 rotates, the control unit 110 determines whether the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are facing each other, based on at least one of the determination result of the measurement unit 170 and the measurement result of the photoelectric sensor. The control unit 110 controls the rotational movement of the movable part 190 until the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 are facing each other.

[0095] As described above, it is assumed that the AMR 10 stops within the power supply area 30 so that the coordinate position of the center of the AMR 10 coincides with the coordinate position of the center of the power supply area 30. However, there are cases where the coordinate position of the center of the AMR 10 and the coordinate position of the center of the power supply area 30 are misaligned. The control unit 110 may control the rotational movement of the moving unit 190 so that the moving unit 190 rotates by 1 degree at a time. Alternatively, the control unit 110 may control the rotational movement of the moving unit 190 so that the moving unit 190 rotates by a predetermined angle, and then control the rotational movement of the moving unit 190 so that the moving unit 190 rotates by 1 degree at a time. This control makes it easy to face the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 even when the coordinate position of the center of the AMR 10 and the coordinate position of the center of the power supply area 30 are misaligned. Furthermore, the control unit 110 may correct the amount of movement (rotation angle) of the moving unit 190 after moving it by a predetermined amount (predetermined angle). By correcting the amount of movement of the moving unit 190, it becomes easier to position the power receiving unit 120 and the power transmitting unit 40 of the power supply device 20 facing each other, even if the coordinate position of the center of the AMR 10 and the coordinate position of the center of the power supplyable area 30 are misaligned.

[0096] The present invention can also be viewed as a power supply method in which AMR10 performs at least a part of the above process. Furthermore, it can be viewed as a power supply system including at least a part of the above configuration and process. Each of the above configurations and processes can be combined to constitute the present invention, provided that no technical inconsistencies arise.

[0097] <Note 1> An autonomous driving device (10) comprising: one or more power receiving units (120) that receive power transmitted by a contactless power supply method from a power transmission unit (40) of a power supply device (20); a control unit (110) that controls the power receiving state of the one or more power receiving units (120) so that when one of the power receiving units (120) satisfies predetermined conditions, the one power receiving unit (120) receives power while facing the power transmission unit (40) of the power supply device (20); and a power storage unit (160) that stores the power received by the one power receiving unit (120) facing the power transmission unit (40). <Note 2> The predetermined condition includes that one power receiving unit (120) and the power transmitting unit (40) of the power supply device (20) are facing each other, the plurality of power receiving units (120) include one first power receiving unit (120) and one or more second power receiving units (120), and the control unit (110) controls the power receiving state of the plurality of power receiving units (120) so that when the one first power receiving unit (120) satisfies the predetermined condition, the one first power receiving unit (120) receives power while facing the power transmitting unit (40) of the power supply device (20), and cuts off the power received by the one or more second power receiving units (120), as described in Note 1, the autonomous driving device (10). <Note 3> The autonomous driving device (10) according to Note 2, comprising a housing (11), wherein the one first power receiving unit (120) and the one or more second power receiving units (120) are installed on the side surface of the housing (11). <Note 4> The autonomous driving device (10) according to Note 2, comprising a housing (11), wherein the one first power receiving unit (120) and the one or more second power receiving units (120) are installed on the lower surface of the housing (11).<Note 5> The autonomous driving device (10) according to Note 1, comprising: a housing (11); a moving unit (190) installed in the housing (11) for moving the one power receiving unit (120); wherein the predetermined condition includes that the one power receiving unit (120) and the power transmitting unit (40) of the power supply device (20) are not facing each other; and the moving unit (190) moves the one power receiving unit (120) so that the one power receiving unit (120) and the power transmitting unit (40) of the power supply device (20) face each other, thereby changing the position of the one power receiving unit (120) relative to the housing (11). <Note 6> The autonomous driving device (10) according to Note 5, wherein the moving unit (190) is a rotating mechanism for rotating the one power receiving unit (120) in the horizontal direction. <Note 7> The autonomous driving device (10) according to Note 5 or 6, wherein the moving unit (190) is installed on the upper part of the housing (11). <Note 8> The autonomous driving device (10) according to Note 5 or 6, wherein the moving unit (190) is installed on the lower part of the housing (11). <Note 9> The autonomous driving device (10) according to Note 5 or 6, wherein the moving unit (190) moves one power receiving unit (120) within the area (30) where power can be supplied by the power supply device (20), based on instructions from the control unit (110), so that one power receiving unit (120) faces the power transmitting unit (40) of the power supply device (20), thereby changing the position of one power receiving unit (120) relative to the housing (11). <Note 10> The autonomous driving device (10) according to Note 5 or 6, wherein the moving unit (190) moves the one power receiving unit (120) outside the area (30) where power can be supplied by the power supply device (20) based on the instruction of the control unit (110) so that the one power receiving unit (120) faces the power transmitting unit (40) of the power supply device (20), thereby changing the position of the one power receiving unit (120) relative to the housing (11).<Note 11> A method for supplying power to an autonomous driving device (10), comprising one or more power receiving units (120) that receive power transmitted by a non-contact power supply method from a power transmission unit (40) of a power supply device (20), and a power storage unit (160) that stores the power, wherein the autonomous driving device (10) performs the following: when one of the power receiving units (120) satisfies predetermined conditions, it controls the power receiving state of the one or more power receiving units (120) so that the one power receiving unit (120) receives power while facing the power transmission unit (40) of the power supply device (20); and stores the power received by the one power receiving unit (120) facing the power transmission unit (40) in the power storage unit (160). <Note 12> A power supply system comprising an autonomous driving device (10) and a power supply device (20) that supplies power to the autonomous driving device (10) in a contactless power supply manner, wherein the autonomous driving device (10) comprises: one or more power receiving units (120) that receive power transmitted from a power transmission unit (40) of the power supply device (20) in the contactless power supply manner; a control unit (110) that controls the power receiving state of the one or more power receiving units (120) so that when one of the power receiving units (120) satisfies predetermined conditions, the one power receiving unit (120) receives power while facing the power transmission unit (40) of the power supply device (20); and a power storage unit (160) that stores the power received by the one power receiving unit (120) facing the power transmission unit (40).

[0098] 1: Contactless power supply system 10: AMR 11: Housing 20: Power supply device 30: Power supply area 40: Power transmission unit 50: Management device 110: Control unit 120, 120A, 120B, 120C: Power receiving unit 130: Memory unit 140: Communication unit 150: Driving unit 160: Energy storage unit 170: Measurement unit 180: Selection unit 181, 182, 183: Switch 190: Movement unit

Claims

1. An autonomous driving device comprising: one or more power receiving units that receive power transmitted from a power transmission unit of a power supply device by a contactless power supply method; a control unit that controls the power receiving state of the one or more power receiving units so that when one power receiving unit satisfies predetermined conditions, the one power receiving unit receives power while facing the power transmission unit of the power supply device; and a power storage unit that stores the power received by the one power receiving unit facing the power transmission unit.

2. The predetermined condition includes that the one power receiving unit and the power transmitting unit of the power supply device are facing each other, the plurality of power receiving units include one first power receiving unit and one or more second power receiving units, and the control unit controls the power receiving state of the plurality of power receiving units so that when the one first power receiving unit satisfies the predetermined condition, the one first power receiving unit receives power while facing the power transmitting unit of the power supply device, and cuts off the power received by the one or more second power receiving units, the autonomous driving device according to claim 1.

3. The autonomous driving device according to claim 2, comprising a housing, wherein the one first power receiving unit and the one or more second power receiving units are installed on the side of the housing.

4. The autonomous driving device according to claim 2, comprising a housing, wherein the one first power receiving unit and the one or more second power receiving units are installed on the lower surface of the housing.

5. An autonomous driving device according to claim 1, comprising: a housing; and a moving unit installed in the housing and moving the one power receiving unit, wherein the predetermined condition includes that the one power receiving unit and the power transmitting unit of the power supply device are not facing each other, and the moving unit, based on instructions from the control unit, moves the one power receiving unit so that the one power receiving unit and the power transmitting unit of the power supply device face each other, thereby changing the position of the one power receiving unit relative to the housing.

6. The autonomous driving device according to claim 5, wherein the moving part is a rotating mechanism that rotates the one power receiving part in the horizontal direction.

7. The autonomous driving device according to claim 5 or 6, wherein the moving part is installed on the upper part of the housing.

8. The autonomous driving device according to claim 5 or 6, wherein the moving part is installed in the lower part of the housing.

9. The autonomous driving device according to claim 5 or 6, wherein the moving unit moves the one power receiving unit so that it faces the power transmitting unit of the power supply device, based on an instruction from the control unit, within an area where power can be supplied by the power supply device, thereby changing the position of the one power receiving unit relative to the housing.

10. The autonomous driving device according to claim 5 or 6, wherein the moving unit, outside the area where power can be supplied by the power supply device, moves the one power receiving unit based on an instruction from the control unit so that the one power receiving unit faces the power transmitting unit of the power supply device, thereby changing the position of the one power receiving unit relative to the housing.

11. A method for supplying power to an autonomous driving device, comprising one or more power receiving units that receive power transmitted by a non-contact power supply method from a power transmission unit of a power supply device, and a power storage unit that stores the power, wherein the autonomous driving device controls the power receiving state of the one or more power receiving units so that when one of the power receiving units satisfies predetermined conditions, the one power receiving unit receives power while facing the power transmission unit of the power supply device, and stores the power received by the one power receiving unit facing the power transmission unit in the power storage unit.

12. A power supply system having an autonomous driving device and a power supply device that supplies power to the autonomous driving device in a contactless power supply manner, wherein the autonomous driving device comprises: one or more power receiving units that receive power transmitted from the power transmission unit of the power supply device in the contactless power supply manner; a control unit that controls the power receiving state of the one or more power receiving units so that when one of the power receiving units satisfies predetermined conditions, the one power receiving unit receives power while facing the power transmission unit of the power supply device; and a power storage unit that stores the power received by the one power receiving unit facing the power transmission unit.

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