Autonomous travel robot and autonomous travel robot system

Abstract

Provided is a technology that enables the use of both contact and contactless charging methods. Provided is an autonomous travel robot that includes a storage battery that receives power supply via a connection unit. The following can be selectively connected to the connection unit: a power-supply-side connection part that is provided to a contact power supply device which supplies power by a contact power supply method and that is for supplying power from the contact power supply device; or a unit connection part that is provided to a contactless power reception unit which receives power supplied from a contactless power supply device which supplies power by a contactless power supply method.

Description

Autonomous Mobile Robot and Autonomous Mobile Robot System

[0001] The present invention relates to an autonomous mobile robot and an autonomous mobile robot system.

[0002] For charging the battery of a conventional autonomous mobile robot, the contact (connector) method is the mainstream. As described in Patent Document 1, a method is used in which a male terminal on the station side contacts a female terminal on the robot side so that the robot is combined with the charging station.

[0003] A method has been proposed in which an autonomous mobile robot that performs charging by such a contact method is modified and a non-contact power receiving unit is retrofitted and used. In this case, the cable connecting the female terminal in the robot and the battery is often disconnected, and the battery and the non-contact power receiving unit are often connected.

[0004] Japanese Patent Application Laid-Open No. 2022-136425

[0005] However, in the above-described modification method, since the robot needs to be disassembled, the modification often takes a lot of time. In addition, since the cable for the contact method in the robot is cut, there is a problem that re-modification is required to return to the contact method configuration.

[0006] The present invention has been made in view of the above problems, and an object thereof is to provide a technology that can use both contact charging and non-contact charging methods.

[0007] To solve the above problems, the present invention includes a battery that receives power supply via a connection part, and the connection part is provided in a contact power supply device that supplies power by a contact power supply method, and a power supply side connection part for supplying power from the contact power supply device; and a unit connection part provided in a non-contact power receiving unit that receives power supplied from a non-contact power supply device that supplies power by a non-contact power supply method, and an autonomous mobile robot characterized in that they can be selectively connected.

[0008] According to this, by connecting a power supply side connection part, which is provided on a contact power supply device that supplies power by a contact power supply method, to the connection part, it becomes possible to charge the storage battery by contact power supply. Similarly, by connecting a unit connection part, which is provided on a non-contact power receiving unit that receives power supplied from a non-contact power supply device that supplies power by a non-contact power supply method, to the connection part, it becomes possible to receive power from the storage battery by non-contact power supply. Thus, both contact and non-contact charging methods can be used without changing the electrical configuration such as internal wiring from the contact part.

[0009] Furthermore, the present invention includes a driving unit for moving the autonomous mobile robot, and a control unit for controlling the movement by the driving unit, wherein the control unit may prohibit the movement of the autonomous mobile robot when the power supply side connection unit is connected to the connection unit, and may not prohibit the movement of the autonomous mobile robot when the unit connection unit is connected to the connection unit.

[0010] According to this, when the power supply side connection of the contact power supply device is connected, the movement of the autonomous mobile robot is prohibited, allowing for safe and reliable charging. When the unit connection of the non-contact power supply device is connected, movement is not prohibited, so the robot can move while continuing to charge as needed.

[0011] Furthermore, in the present invention, the control unit may include a power storage information acquisition unit that acquires power storage information relating to the power to be charged in the storage battery, and may determine whether the power supply side connection unit or the unit connection unit is connected to the connection unit based on the power storage information.

[0012] Here, energy storage information includes, but is not limited to, the charging current to the battery, the charging voltage, the amount of energy stored per unit time, and other physical quantities related to charging.

[0013] Furthermore, in the present invention, a switchable first switch may be provided, and the control unit may determine whether the power supply side connection part or the unit connection part is connected to the connection part according to the output of the first switch.

[0014] Furthermore, the present invention may include a second switch whose output changes depending on whether the power supply side connection or the unit connection is connected to the connection, and the control unit may determine whether the power supply side connection or the unit connection is connected to the connection according to the output of the second switch.

[0015] Furthermore, in the present invention, the connection portion may be provided with a sensor that detects whether the power supply side connection portion or the unit connection portion is connected to it, and the control unit may determine whether the power supply side connection portion or the unit connection portion is connected to the connection portion based on the detection result of the sensor.

[0016] As sensors, for example, optical sensors or proximity sensors capable of detecting metal can be used, but are not limited to these.

[0017] Furthermore, in the present invention, the device may be configured to receive a discrimination signal input unit that receives a discrimination signal indicating at least one of the following: that the power supply side connection unit is connected to the connection unit, and that the unit connection unit is connected to the connection unit, and the control unit may determine whether the power supply side connection unit or the unit connection unit is connected to the connection unit in response to the discrimination signal received via the discrimination signal input unit.

[0018] Furthermore, in the present invention, a communication unit capable of wireless communication with the contact power supply device may be provided, and the control unit may determine, based on the communication status with the contact power supply device, whether the power supply side connection unit or the unit connection unit is connected to the connection unit.

[0019] Furthermore, in the present invention, a communication unit capable of wireless communication with an external device may be provided, and the control unit may determine, based on information from the external device, whether the power supply side connection unit or the unit connection unit is connected to the connection unit.

[0020] Here, the external device may be, but is not limited to, a control device that manages the control of the autonomous robot, including at least charging.

[0021] Furthermore, the present invention is an autonomous robot system comprising the autonomous robot and the contactless power receiving unit.

[0022] According to this, by connecting the unit connection part provided on the contactless power receiving unit to the connection part, it becomes possible to receive power from the battery using a contactless power supply method. This allows the use of a contactless charging method without changing the electrical configuration such as the wiring inside the contact part, and by removing the contactless power receiving unit from the connection part, it is possible to revert to a contact-type charging method without changing the electrical configuration such as the wiring inside the contact part.

[0023] Furthermore, each of the above configurations and processes can be combined with each other to constitute the present invention, provided that no technical inconsistencies arise.

[0024] According to the present invention, it is possible to provide a technology that allows the use of both contact-type and non-contact-type charging methods.

[0025] Figure 1 is a schematic diagram showing the schematic configuration of a power supply system according to an embodiment of the present invention. Figure 2 is a block diagram showing the schematic basic functional configuration of an autonomous mobile robot according to an embodiment. Figure 3 is a block diagram showing the schematic functional configuration of an autonomous mobile robot according to an embodiment. Figure 4 is a bottom view of an autonomous mobile robot according to an embodiment. Figure 5 is a block diagram showing the schematic functional configuration of a contact power supply device according to an embodiment. Figure 6A is a plan view of a contact power supply device according to an embodiment, and Figure 6B is a side view thereof. Figure 7 is a plan view showing the connection structure between the autonomous mobile robot and the contact power supply device during charging according to an embodiment. Figure 8A is a perspective view of an autonomous mobile robot equipped with a contactless power receiving unit according to an embodiment, Figure 8B is a plan view showing the connector, and Figure 8C is a bottom view of an autonomous mobile robot equipped with a contactless power receiving unit according to an embodiment. Figure 9 is a block diagram showing the schematic functional configuration of a contactless power supply device according to an embodiment. Figure 10 is a block diagram showing the schematic hardware configuration of a management device according to an embodiment.

[0026] <Example of Application> (Overall System Configuration Related to the Example of Application) The present invention can be applied, for example, as a power supply system 1 as shown in Figure 1. As shown in Figure 1, the power supply system 1 consists of an autonomous mobile robot 10, a management device 20, a non-contact power supply device 30, a contact power supply device 40, and a work area 50. The non-contact power supply device 30 and the contact power supply device 40 are devices that supply power to the battery 170 of the autonomous mobile robot 10 in a non-contact and contact manner, respectively.

[0027] Although Figure 1 shows one autonomous mobile robot 10 and one contactless power supply device 30 installed at one work site, in reality, the system may include multiple units of each. Furthermore, the contact power supply device 40 can be installed at any suitable location, and multiple contact power supply devices 40 may also be included. Additionally, the autonomous mobile robots 10 do not all need to be of the same type; multiple types of autonomous mobile robots 10 with different functions (roles) may be included. The autonomous mobile robots 10 can be used not only in fully automated work sites but also in sites where collaborative work between humans and robots is anticipated. In other words, the power supply system 1 in this application example can be introduced in factories, warehouses, commercial facilities, hospitals, construction sites, etc.

[0028] Figure 3 is a block diagram illustrating the schematic functional configuration of an autonomous mobile robot 10 according to an application example of the present invention. As shown in Figure 3, it includes a control unit 110, a contactless power receiving unit 120, a connection unit 130, a storage unit 140, a communication unit 150, a driving unit 160, a storage battery 170, and multiple voltmeters and ammeters (none of which are shown).

[0029] The control unit 110 is a functional unit that oversees the control of the entire autonomous mobile robot 10. The control unit 110 can be implemented by any arithmetic processing unit, such as a CPU (Central Processing Unit), an MPU (Micro-Processing Unit), or a DSP (Digital Signal Processor).

[0030] The battery 170 is a power source involved in the operation of the autonomous mobile robot 10 and is implemented by a known secondary battery such as a lithium-ion battery. The battery 170 supplies power to various parts of the autonomous mobile robot 10 and can receive power from the contact power supply device 40 via the connection part 130 in a contact power supply manner. By connecting the contactless power receiving unit 120 to the connection part 130, it can also receive power from the contactless power supply device 30 in a contactless power supply manner.

[0031] The contactless power receiving unit 120 is a unit that enables the storage battery 170 to be charged by receiving power from the contactless power supply device 30 by connecting the connector 123 of the contactless power receiving unit 120 to the connection part 130 of the autonomous mobile robot 10, which is equipped with a connection part 130 for receiving power from the contact power supply device 40, without changing the electrical connection relationship such as rearranging the internal wiring.

[0032] Figure 4 is a bottom view of the autonomous mobile robot 10 when the contactless power receiving unit 120 is not connected. The bottom 101 of the autonomous mobile robot 10 is provided with a roller 163 and a connecting portion 130. The connecting portion 130 has a guide portion 131 that widens toward the end 102. The guide portion 131 has first wall portions 1311 and 1312 and second wall portions 1313 and 1314, and is formed to protrude downward from the bottom 101. Contact portions 132 and 133, formed of plate-shaped metal, are arranged on the opposing inner wall surfaces 1313a and 1314a of the second wall portions 1313 and 1314. When receiving power from the contact power supply device 40, the connector portion 423 of the contact power supply device 40 is fitted into the guide portion 131, and the contact portions 4234a and 4234b of the connector portion 423 make contact with the contact portions 133 and 132, respectively, thereby electrically connecting the autonomous mobile robot 10 and the contact power supply device 40.

[0033] In the autonomous mobile robot 10 with the contactless power receiving unit 120 connected, as shown in Figure 8A, for example, the main body 125 housing the power receiving section 121 of the contactless power receiving unit 120 is attached to the top surface 103. The main body 125 and the connector 123 are connected by a cable 126.

[0034] As shown in Figure 8B, the connector 123 of the contactless power receiving unit 120 includes a substantially triangular base 1231 and a tip 1232 protruding from the vertex of the base 1231. Contact portions 1233a and 1233b, formed of plate-shaped metal, are arranged on both sides of the tip 1232. The contact portions 1233a and 1233b are supported so as to protrude elastically to both sides horizontally relative to the tip 1232. A cable 126 is connected to the base 1231 on the side opposite to the tip 1232.

[0035] As shown in Figure 8C, which views the autonomous robot 10 from the bottom, the tip portion 1232 of the connector 123 is shaped to fit between the second wall portions 1313 and 1314 of the guide portion 131, and the base portion 1231 of the connector 123 is shaped to fit between the first wall portions 1311 and 1312 of the guide portion 131. When the connector 123 is inserted from the tip portion 1232 side along the guide portion 131 from the end portion 102 of the bottom portion 101, it fits between the first wall portions 1311 and 1312, and also between the second wall portions 1313 and 1314. The contact portions 1233a and 1233b provided on the tip portion 1232 of the connector 123 are pressed against the contact portions 132 and 133 respectively by biasing force, thereby electrically connecting the contactless power receiving unit 120 and the connecting portion 130. The connector 123 of the contactless power receiving unit 120 is shaped similarly to the connector 423 of the contact power supply device 40 connected to the connection part 130. This allows the connection part 130 to be shared, enabling contactless power reception of the battery 170 without changing the electrical configuration such as internal wiring. Furthermore, by removing the connector 123 from the connection part 130, power can be returned to being received from the contact power supply device 40.

[0036] The contactless power supply device 30 is a device that supplies power to the autonomous mobile robot 10 (its battery 170) using a contactless power supply method. There are no particular restrictions on its external shape or installation method.

[0037] The work area 50 is an area where the contactless power supply device 30 is installed, and may be a workbench where the autonomous mobile robot 10 works alone, or it may be an area where collaborative work is performed with workers or other equipment (not shown), such as near the start or end of a transport lane, or a pickup location on a luggage rack.

[0038] The contactless power supply device 30 includes a power transmission unit 33 that supplies power to the battery 200 of the autonomous mobile robot 10 using a contactless power supply (WPT: Wireless Power Transfer) method.

[0039] The management device 20 is an information processing device that manages and controls the entire power supply system 1, and can be configured using a general-purpose computer system or the like. The management device 20 may be configured using a single computer system, or it may be realized by the coordinated operation of multiple computer systems.

[0040] <Embodiment 1> Hereinafter, Embodiment 1 of the present invention will be described in more detail based on the drawings (including those already described in the Application Examples). Since the power supply system 1 according to Embodiment 1 has the same configuration as that described in the Application Examples, each component will be denoted by the same reference numerals as in the Application Examples, and repeated explanations will be omitted. The autonomous mobile robot 10 included in the power supply system 1 according to each embodiment described below corresponds to the autonomous mobile robot according to the present invention.

[0041] (System Configuration) (Autonomous Mobile Robot) Figures 2 and 3 are block diagrams illustrating the schematic functional configuration of an autonomous mobile robot 10 according to Embodiment 1 of the present invention. Figure 2 shows an autonomous mobile robot 10 in which a storage battery 170 is charged by power supplied by a contact-type power supply method in connection with a contact power supply device 40. This autonomous mobile robot 10 utilizes a connection part 130 used in a contact-type power supply method, and is designed to charge the storage battery 170 by power supplied by a non-contact power supply method without requiring any work such as rewiring inside the autonomous mobile robot 10. Figure 3 is a block diagram illustrating the schematic functional configuration of an autonomous mobile robot 10 equipped with a non-contact power receiving unit 120.

[0042] As shown in Figure 2, the autonomous mobile robot 10 includes a control unit 110, a connection unit 130, a storage unit 140, a communication unit 150, a driving unit 160, a storage battery 170, multiple voltmeters, ammeters (none of which are shown), and the like. The driving unit 160 corresponds to the driving unit according to the present invention.

[0043] The control unit 110 is a functional unit that oversees the control of the entire autonomous mobile robot 10. The control unit 110 corresponds to the control unit according to the present invention.

[0044] Further, as shown in FIG. 2, the control unit 110 includes functional modules such as a power storage information acquisition unit 111, a charging control unit 112, and a traveling control unit 113.

[0045] The power storage information acquisition unit 111 acquires the voltage value and current value of the power storage battery 170, calculates an index of the power storage amount such as SOC using these voltage values and current values, and stores them in the storage unit 140.

[0046] The charging control unit 112 controls the power supply to the power storage battery 200 from the contact power supply device 40 or the non-contact power reception unit 120 connected to the connection unit 130. When the charging control unit 112 uses a contact power supply method in the autonomous driving robot 10, when the connection unit 130 is connected to the contact points 4234a and 4234b of the contact power supply device 40 and charging is in progress, the traveling control unit 113 is controlled to prohibit the driving of the wheels 161 and 162 so that the autonomous driving robot 10 does not move. As will be described later, when receiving power from the non-contact power supply device 30, it is not always necessary to prohibit movement during charging of the power storage battery 170. Therefore, when the non-contact power reception unit 120 is connected to the connection unit 130, the control for prohibiting movement during charging may be released.

[0047] The switching of the above-described control can be performed by the control unit 110 determining (discriminating) whether it is receiving power from the contact power supply device 40 or the non-contact power supply device 30. As a method of discrimination, for example, it is performed by detecting the charging current to the power storage battery 200, the charging voltage, the power storage amount per unit time, and other physical quantities related to charging. These pieces of information can be acquired by the power storage information acquisition unit 111 or calculated based on the acquired information. According to this form, discrimination can be performed without adding a new member or the like for discrimination. Here, the charging current to the power storage battery 200, the charging voltage, the power storage amount per unit time, and other physical quantities related to charging correspond to the power storage information of the present invention.

[0048] As another form for discrimination, a switch may be added, an externally switchable switch 134a may be provided, or a switch 134b that functions only when the connector 123 of the non-contact power receiving unit 120 is connected may be provided at the connection portion 130. Further, the switch 134b may be configured as a switch that functions only when the connector portion 423 of the contact power supply device 40 is connected, or may be configured as a switch whose output is different when the connector 123 of the non-contact power receiving unit 120 is connected and when the connector portion 423 of the contact power supply device 40 is connected. Here, the switch 134a and the switch 135b respectively correspond to the first switch and the second switch of the present invention.

[0049] As another form for discrimination, it may be performed using the sensor 135. By using a sensor 135 such as an optical sensor or a proximity sensor capable of detecting metal, the connection state when either the connector portion 423 of the contact power supply device 40 or the connector 123 of the non-contact power receiving unit 120 is connected to the connection portion 130 is detected as being different. The sensor 135 corresponds to the sensor of the present invention. Further, the connection state when either the connector portion 423 of the contact power supply device 40 or the connector 123 of the non-contact power receiving unit 120 detected by the sensor 135 is connected to the connection portion 130 corresponds to the detection result of the present invention.

[0050] Another method of discrimination may involve providing a signal line that outputs a discrimination signal to the connector 423 of the contact power supply device 40 or the connector 123 of the non-contact power receiving unit 120, and detecting the discrimination signal with the connection part 130. Specifically, when the connector 423 of the contact power supply device 40 is connected to the connection part 130 of the autonomous mobile robot 10, the signal line connection part 423a (see Figure 5) provided on the connector 423 of the contact power supply device 40 and the signal line connection part 130a provided on the connection part 130 of the autonomous mobile robot 10 are connected, so that the discrimination signal output from the control unit 41 of the contact power supply device 40 through the signal line is input to the autonomous mobile robot 10 via the signal line connection part 423a and the signal line connection part 130a, and the control unit 110 of the autonomous mobile robot 10 can detect it. Similarly, when the connector 123 of the contactless power receiving unit 120 is connected to the connection part 130 of the autonomous mobile robot 10, the signal line connection part 123a (see Figure 3) provided on the connector 123 of the contactless power receiving unit 120 and the signal line connection part 130a provided on the connection part 130 of the autonomous mobile robot 10 are connected, and the discrimination signal output from the unit control unit 122 of the contactless power receiving unit 120 through the signal line is input to the autonomous mobile robot 10 via the signal line connection part 123a and the signal line connection part 130a, and the control unit 110 of the autonomous mobile robot 10 can detect it. The discrimination signal may indicate that at least one of the contact power supply device 40 and the non-contact power receiving unit 120 is connected to the connection part 130. In this case, the signal line connection part 130a provided on the connection part 130 of the autonomous mobile robot 10 corresponds to the discrimination signal input part of the present invention.

[0051] Another method of determination may be to use wireless communication. For example, wireless communication may be performed between the communication unit 44 of the contact power supply device 40 and the communication unit 150 of the autonomous mobile robot 10. If there is no signal via wireless communication, it may be determined that power is being supplied from the non-contact power supply device 30. In this case, the state of wireless communication between the communication unit 44 of the contact power supply device 40 and the communication unit 150 of the autonomous mobile robot 10 is the communication state of the present invention, and the interruption of wireless communication is an example of the communication state of the present invention. Another method using wireless communication is for the management device 20 to instruct the autonomous mobile robot 10 via wireless communication to change its control.

[0052] The driving control unit 113 controls the driving drive unit 160, which will be described later. By controlling the driving drive unit 160, the driving control unit 113 moves the autonomous mobile robot 10 to a preset charging point or work point based on the position information of the autonomous mobile robot 10. The driving control unit 113 also moves the autonomous mobile robot 10 to a charging point or work point acquired via the communication unit 150 by controlling the driving drive unit 160.

[0053] The connection portion 130 is a connector equipped with contacts to which the connector of the contact power supply device 40 or the connector 123 of the non-contact power receiving unit 120 is electrically connected. The connection portion 130 is provided with a signal line connection portion 130a to which the signal line connection portion 123a of the connector 123 of the non-contact power receiving unit 120 or the signal line connection portion 423a of the connector portion 423 of the contact power supply device 40 is connected. The connection portion 130 corresponds to the connection portion according to the present invention.

[0054] Switch 134a is an externally switchable switch that toggles whether to prohibit the movement of the autonomous mobile robot 10 while the battery 170 is charging, or to release the control that prohibits this movement. Switch 134b is a switch that functions only when the connector 123 of the contactless power receiving unit 120 is connected to the connection part 130. Switch 134b operates to release the control that prohibits the movement of the autonomous mobile robot 10 while the battery 170 is charging when the connector 123 of the contactless power receiving unit 120 is connected to the connection part 130. Switch 134b is in a state where the movement of the autonomous mobile robot 10 while the battery 170 is charging is prohibited when the connector part 423 of the contact power supply device 40 is connected to the connection part 130.

[0055] Sensor 135 is an optical sensor or a proximity sensor capable of detecting metal, and detects the connection state as different when either the connector portion 423 of the contact power supply device 40 or the connector 123 of the non-contact power receiving unit 120 is connected to the connection portion 130. The signal line connection portion 130a, switch 134a or 134b, and sensor 135 described above can be omitted depending on the control switching method for prohibiting or releasing the movement of the autonomous mobile robot 10 while charging (the same applies to the signal line connection portion 123a of the non-contact power receiving unit 120 and the signal line connection portion 423a of the contact power supply device 40). Figures 3 and 5 show these configurations together, but similarly, they can be omitted as appropriate depending on the control switching method.

[0056] The memory unit 140 is a functional unit that stores various types of information processed by the control unit 110. The hardware of the memory unit 140 includes main memory devices such as flash memory, RAM (Random Access Memory), and ROM (Read Only Memory), as well as auxiliary storage devices such as SSD (Solid State Drive), EPROM (Erasable Programmable ROM), flash memory, USB memory, and SD (Secure Digital) memory cards.

[0057] The communication unit 150 is a functional unit that communicates information with the management device 20, the contactless power supply device 30, and the contact power supply device 40, etc. The communication unit 150 is configured to include a communication antenna (not shown) that supports a desired communication standard, such as Wi-Fi®, Bluetooth®, or infrared communication.

[0058] The driving unit 160 is a functional unit for the autonomous mobile robot 10 to move. The driving unit 160 is composed of hardware including wheels 161-162 (see Figure 3), a motor, brakes, and a steering mechanism (none of which are shown). The driving unit 160 corresponds to the driving unit according to the present invention.

[0059] The storage battery 170 is a power source for the operation of the autonomous mobile robot 10 and is implemented by a known secondary battery such as a lithium-ion battery. The storage battery 170 not only supplies power to various parts of the autonomous mobile robot 10, but can also receive power in a contactless manner from a contactless power supply device 30 via a contactless power receiving unit 120 connected to the connection part 130 by a connector 123, and can also receive power in a contact manner from a contact power supply device 40 connected to the connection part 130 by a connector part 423.

[0060] Figure 3 is a block diagram illustrating the schematic functional configuration of an autonomous mobile robot 10 with a contactless power receiving unit 120 attached. In addition to the control unit 110, connection unit 130, switch 134a (134b), sensor 135, memory unit 140, communication unit 150, driving unit 160, storage battery 170, multiple voltmeters, and ammeter described in Figure 2, the autonomous mobile robot 10 can be fitted with a contactless power receiving unit 120. By connecting the connector 123 of the contactless power receiving unit 120 to the connection unit 130 for connecting to a contact power supply device 40 that supplies power in a contact manner, the autonomous mobile robot 10 can receive power supplied by a contactless power supply method without changing the electrical configuration such as the wiring of the autonomous mobile robot 10. Furthermore, by removing the contactless power receiving unit 120, it is also possible to receive power from the contact power supply device 40 as before. The contactless power receiving unit 120 corresponds to the contactless power receiving unit according to the present invention. The connector 123 corresponds to the unit connection unit according to the present invention.

[0061] The above-mentioned explanation of the functional parts will be omitted, and here we will explain the contactless power receiving unit 120. The contactless power receiving unit 120 is a unit that receives power transmitted by a contactless power supply method and supplies power to the battery 170 of the autonomous mobile robot 10 through a connector 123 connected to the connection part 130. The contactless power receiving unit 120 can be realized by, for example, a power receiving part 121, a unit control unit 122, a male connector 123, and a unit communication part 124. The power receiving coil 1211 is magnetically coupled to the power transmission coil 322 provided in the power transmission part 33 of the contactless power supply device 30, which will be described later, and receives power from the power transmission coil 322 by electromagnetic induction. The connector 123 is provided with a signal line connection part 123a to which a signal line attached to the power line is connected. The signal line connection part 123a, when connected to the signal line connection part 130a of the connection part 130, transmits a discrimination signal to the control unit 110 indicating that the contactless power receiving unit 120 is connected. Note that at least one of the power transmission coil 322 and the power receiving coil 1211 may include means for forming a resonant circuit, or they may be configured to allow power transmission by an electric field coupling method. The unit control unit 122 is a functional unit that converts the power received by the power receiving coil 1211 into power for charging the storage battery 170 and supplies it to the storage battery 170, and includes, for example, a rectifier circuit and a DC / DC conversion circuit. The contactless power receiving unit 120 receives power from the power transmission coil 332 of the contactless power supply device 30 and charges the storage battery 170 if it is in a state where it can receive power from the power transmission coil 332 of the contactless power supply device 30.

[0062] Figure 4 is a bottom view of the autonomous mobile robot 10 when the contactless power receiving unit 120 is not connected. The bottom 101 of the autonomous mobile robot 10 is provided with a roller 163 and a connecting portion 130. The connecting portion 130 has a guide portion 131 that widens toward the end 102. The guide portion 131 has roughly triangular first wall portions 1311 and 1312 that narrow toward the central portion 103a from the end 102, and parallel second wall portions 1313 and 1314 that are continuous with the central portion 103a side of the first wall portions 1311 and 1312, which are formed projecting downward from the bottom 101. Contact portions 132 and 133, made of plate-shaped metal, are arranged on the opposing inner wall surfaces 1313a and 1314a of the second wall portions 1313 and 1314.

[0063] (Contact Power Supply Device) The contact power supply device 40 is installed in a suitable location and supplies power to the battery 170 of the autonomous mobile robot 10 by contact power supply. The contact power supply device 40 corresponds to the contact power supply device according to the present invention.

[0064] Figure 5 is a functional block diagram showing an example of the functional configuration of the contact power supply device 40. As shown in Figure 5, the contact power supply device 40 includes functional units: a control unit 41, a power supply unit 42, a power supply unit 43, and a communication unit 44. The control unit 41 is a functional unit that controls the entire contact power supply device 40. The control unit 41 includes an efficiency acquisition unit 311 that acquires the efficiency of the power transmitted from the power transmission unit 33 by the power transmission coil 332 based on the current and voltage detected in the power transmission unit 33. The control unit 41 can be implemented by any arithmetic processing unit, such as a CPU (Central Processing Unit), an MPU (Micro-Processing Unit), or a DSP (Digital Signal Processor).

[0065] The power supply unit 42 is a functional unit that receives power from the commercial power grid or a private power generation system (neither of which is shown) via a distribution board or the like. It may also include a rectifier circuit, a transformer circuit, and the like.

[0066] The power supply unit 43 is a functional unit that supplies power by contact power supply and includes a male connector unit 423 that is connected to the connection unit 130 of the autonomous mobile robot 10. The connector unit 423 is provided with a signal line connection unit 423a to which a signal line attached to the power line is connected. The signal line connection unit 423a is connected to the signal line connection unit 130a of the connection unit 130 of the autonomous mobile robot 10, thereby transmitting a discrimination signal to the control unit 110 of the autonomous mobile robot 10 indicating that the contact power supply device 40 is connected. The connector unit 423 corresponds to the power supply side connection unit according to the present invention.

[0067] The communication unit 44 is a functional unit that communicates information with the management device 20 and the autonomous mobile robot 10, etc. The communication unit 44 is configured to include a communication antenna (not shown) that supports a desired communication standard, such as Wi-Fi®, Bluetooth®, or infrared communication.

[0068] Figure 6A is a plan view showing the external shape of the contact power supply device 40, and Figure 6B is a side view showing the external shape of the contact power supply device 40.

[0069] The contact power supply device 40 includes a main body 401 that stands upright on the installation surface and a roughly plate-shaped power supply mechanism 402 that extends substantially horizontally from the lower end of the main body 401. The main body 401 houses the control unit 41, power supply unit 42, and communication unit 44 described above.

[0070] The power supply mechanism 402 is provided at the lower end of the main body 401. The power supply mechanism 402 includes a connector support portion 421 extending from the center of the lower end of the main body 401, and a step plate portion 422 positioned below the connector support portion 421 via a stepped portion. On the upper surface of the connector support portion 421, a connector portion 423 is provided at the center of the connector support portion 421 in the width direction. The connector portion 423 generally includes a base portion 4231 on the main body 401 side and a tip portion 4232 that protrudes from the base portion 4231. A roller 4233 that can rotate about a vertical axis in order to smoothly enter the guide portion 131 of the autonomous mobile robot 10 is arranged on the tip portion 4232. Furthermore, contact portions 4234a and 4234b, formed from plate-shaped metal, are arranged on both horizontal sides of the tip portion 4232 that extends from the roller 4233 of the connector portion 423 to the main body portion 401. The contact portions 4234a and 4234b are supported so as to protrude elastically from both sides of the connector portion 423 in the horizontal direction.

[0071] Figure 7 is a plan view showing the relationship between the autonomous mobile robot 10 and the contact power supply device 40 when the autonomous mobile robot 10 receives power from the contact power supply device 40. As described above, the power supply mechanism 402 is biased vertically upward by a biasing means such as a spring. When the autonomous mobile robot 10 receives power from the contact power supply device 40, the roller 163 of the autonomous mobile mobile robot 10 rides onto the foot plate portion 422, pushing the foot plate portion 422, which is biased vertically upward, vertically downward against the biasing force. The connector support portion 4211 is biased vertically upward relative to the foot plate portion 422 by a connector support biasing means such as a spring. Since it is biased upward from the foot plate portion 422 which is pushed downward by the roller 163, the connector portion of the contact power supply device 40 is biased toward the bottom 101 side of the autonomous mobile robot 10. This ensures a more secure connection between the connector portion 423 of the contact power supply device 40 and the connection portion 130 of the autonomous mobile robot 10.

[0072] Figure 8A is a perspective view showing the external shape of the autonomous mobile robot 10 with the contactless power receiving unit 120 connected. Figure 8B is a plan view showing the connector 123 of the contactless power receiving unit 120. Figure 8C is a bottom view showing the connector 123 connected to the connection part 130 of the autonomous mobile robot 10. The autonomous mobile robot 10 with the contactless power receiving unit 120 connected can also be considered as the autonomous mobile robot system 2.

[0073] As shown in Figure 8A, for example, the main body 125 housing the power receiving section 121 of the contactless power receiving unit 120 is attached to the top surface 103. The main body 125 and the connector 123 are connected by a cable 126. The cable 126 is connected to the connector 123 which is connected to the connection section 130, via the top surface 103 and side surface 104 of the autonomous mobile robot 10.

[0074] As shown in Figure 8B, the connector 123 includes a substantially triangular base 1231 and a tip 1232 protruding from the vertex of the base 1231. Contact portions 1233a and 1233b, formed of plate-shaped metal, are arranged on both sides of the tip 1232. The contact portions 1233a and 1233b are supported so as to protrude elastically to both sides horizontally relative to the tip 1232. A cable 126 is connected to the base 1231 on the side opposite to the tip 1232.

[0075] As shown in Figure 8C, the tip portion 1232 of the connector 123 is shaped to fit between the second wall portions 1313 and 1314 of the guide portion 131, and the base portion 1231 of the connector 123 is shaped to fit between the first wall portions 1311 and 1312 of the guide portion 131. When the connector 123 is inserted from the tip portion 1232 side along the guide portion 131 starting from the end portion 102 of the bottom portion 101, it fits between the first wall portions 1311 and 1312, and also between the second wall portions 1313 and 1314. The contact portions 1233a and 1233b provided on the tip portion 1232 of the connector 123 are pressed against the contact portions 132 and 133 respectively by biasing force, thereby electrically connecting the non-contact power receiving unit 120 and the connecting portion 130.

[0076] In this way, the connection part 130 can be selectively connected to either the connector part 423 of the contact power supply device 40 or the connector 123 of the non-contact power receiving unit 120. Therefore, it is possible to receive power to the storage battery 170 using a non-contact method without changing the electrical configuration such as the internal wiring. Furthermore, by removing the connector 123 from the connection part 130, it is possible to revert to receiving power from the contact power supply device 40, and both charging methods can be used.

[0077] To maintain the connection between the connector 123 and the connection part 130, for example, a magnet may be placed on the base 1231 or tip 1232 of the connector 123, on the surface facing the bottom 101 of the autonomous mobile robot 10. The bottom 101 may be made of metal, or a magnet with the opposite polarity to the magnet on the connector 123 side may be placed on the bottom 101 to magnetically attract the connector 123 to the bottom 101. Alternatively, the cable 126 connecting the main body 125, which houses the power receiving unit 121, etc., and the connector 123 may be housed in a rigid case, and the case may be formed in a shape that conforms to the external shape of the autonomous mobile robot. For example, a case formed in a roughly U-shape may be placed so as to sandwich the top surface 103 and the bottom 101 of the autonomous mobile robot 10, and the connector 123 may be held in place by the rigidity of the case.

[0078] (Contactless power supply device) The contactless power supply device 30 is installed in the work area 50 and supplies power to the battery 170 of the autonomous mobile robot 10 using the WPT method.

[0079] Figure 9 is a functional block diagram showing an example of the functional configuration of the contactless power supply device 30. As shown in Figure 9, the contactless power supply device 30 comprises functional units: a control unit 31, a power supply unit 32, a power transmission unit 33, and a communication unit 34. The control unit 31 is the functional unit that controls the entire contactless power supply device 30. The control unit 31 can be implemented by any arithmetic processing unit, such as a CPU (Central Processing Unit), an MPU (Micro-Processing Unit), or a DSP (Digital Signal Processor).

[0080] The power supply unit 32 is a functional unit that receives power from the commercial power grid or a private power generation system (neither of which is shown) via a distribution board or the like. It may also include a rectifier circuit, a transformer circuit, and the like.

[0081] The power transmission unit 33 is a functional unit that transmits power using a contactless power supply method, and includes a power transmission control circuit 331 and a power transmission coil 332. The power transmission coil 332 is, for example, a coil for power supply using an electromagnetic induction method. The power transmission control circuit 331 converts the power supplied from the power supply unit 32 into power of a predetermined frequency for generating a magnetic field in the power transmission coil 332 and supplies it to the power transmission coil 332.

[0082] The communication unit 34 is a functional unit that communicates information with the management device 20 and the autonomous mobile robot 10, etc. The communication unit 34 is configured to include a communication antenna (not shown) that supports a desired communication standard, such as Wi-Fi®, Bluetooth®, or infrared communication.

[0083] (Work area) The work area 50 is the area where the autonomous mobile robot 10 performs its work, and as described above, a contactless power supply device 30 is installed there. However, it is not necessary for a contactless power supply device 30 to be installed in all of the work areas 50, and it is possible to operate in a way that prioritizes installing the contactless power supply device 30 in the work areas 50 that are used most frequently.

[0084] (Management Device) Figure 10 is a block diagram showing the schematic hardware configuration of the management device 20. As shown in Figure 10, the management device 20 includes a processor 21, memory 22, input interface (IF) 23, communication IF 24, and output IF 25, which are interconnected by a connection bus 29. The management device 20 may be installed at the site where the autonomous mobile robot 10 is operated, or it may be installed in a remote location and constitute a so-called cloud system. Here, the management device 20 corresponds to the external device of the present invention.

[0085] The processor 21 can be any arithmetic processing unit, such as a CPU or DSP. At least a portion of the processing performed by the processor 21 may be performed by integrated circuits (ICs) or other digital circuits. In addition, at least a portion of the processor 21 may include analog circuits.

[0086] Memory 22 includes main memory such as RAM and ROM, and auxiliary storage devices such as SSD, EPROM, HDD, USB memory, and SD memory card. Memory 22 stores information such as programs executed by processor 11, data processed by processor 21, operation setting information, and various tables. When the programs stored in memory 22 are executed by processor 21, the various functional units described later are realized.

[0087] Input IF 23 is an interface for connecting to various input devices such as microphones, keyboards, mice, cameras, and other devices (not shown). Output IF 25 is an interface for connecting to output devices such as displays and speakers (not shown). A touch panel display can also be used as a device that serves both input and output functions.

[0088] The communication interface 24 includes a communication antenna that supports a desired communication standard such as Wi-Fi®, Bluetooth®, or infrared communication, as well as a communication connection terminal for connecting to an external network, for communicating with the autonomous mobile robot 10, the contactless power supply device 30, and the contact power supply device 40.

[0089] The management device 20 acquires battery information such as the work process, location information, and SOC information of the battery 170 of each autonomous mobile robot 10, stores it in the memory 22, and transmits commands such as movement and charging to each autonomous mobile robot 10 via the communication IF 24 as needed.

[0090] <Other> The above examples are merely illustrative illustrations of the present invention, and the present invention is not limited to the specific forms described above. The present invention can be modified in various ways within the scope of its technical concept.

[0091] <Note 1> An autonomous mobile robot (10) is provided with a battery (170) that receives power via a connection part (130), wherein the connection part (130) is provided on a contact power supply device (40) that supplies power by a contact power supply method and is characterized in that it is selectively connectable to a power supply side connection part (423) for supplying power from the contact power supply device (40) and a unit connection part (123) provided on a non-contact power receiving unit (120) that receives power supplied from a non-contact power supply device (30) that supplies power by a non-contact power supply method. <Note 2> The autonomous mobile robot (10) according to Note 1, comprising: a driving drive unit (160) for moving the autonomous mobile robot (10); and a control unit (110) for controlling the movement by the driving drive unit (160), wherein the control unit (110) prohibits the movement of the autonomous mobile robot (10) when the power supply side connection unit (423) is connected to the connection unit (130), and does not prohibit the movement of the autonomous mobile robot (10) when the unit connection unit (123) is connected to the connection unit (130). <Note 3> The autonomous mobile robot (10) according to Note 2, wherein the control unit (110) includes a power storage information acquisition unit (111) for acquiring power storage information relating to the power to be charged in the battery (170), and determines, based on the power storage information, whether the power supply side connection unit (423) or the unit connection unit (123) is connected to the connection unit (130). <Note 4> The autonomous mobile robot (10) according to Note 2, comprising a switchable first switch (134a), wherein the control unit (110) determines, according to the output of the first switch (134a), whether the power supply side connection unit (423) or the unit connection unit (123) is connected to the connection unit (130).<Note 5> The autonomous mobile robot (10) according to Note 2, further comprising a second switch (134b) whose output changes depending on whether the power supply side connection part (423) or the unit connection part (123) is connected to the connection part (130), wherein the control unit (110) determines whether the power supply side connection part (423) or the unit connection part (123) is connected to the connection part (130) according to the output of the second switch (123). <Note 6> The autonomous mobile robot (10) according to Note 2, further comprising a sensor (135) that detects whether the power supply side connection part (423) or the unit connection part (123) is connected to the connection part (110), wherein the control unit (110) determines whether the power supply side connection part (423) or the unit connection part (123) is connected to the connection part (130) based on the detection result of the sensor (135). <Note 7> The autonomous mobile robot (10) according to Note 2, comprising a discrimination signal input unit (130a) to which a discrimination signal is input indicating at least one of the following: that the power supply side connection unit (423) is connected to the connection unit (110), and that the unit connection unit (123) is connected to the connection unit (110), wherein the control unit (110) determines whether the power supply side connection unit (423) or the unit connection unit (123) is connected to the connection unit (130) in accordance with the discrimination signal input via the discrimination signal input unit (130a). <Note 8> The autonomous mobile robot (10) according to Note 2, further comprising a communication unit (150) capable of wireless communication with the contact power supply device (40), wherein the control unit (110) determines, based on the communication status with the contact power supply device (40), whether the power supply side connection unit (423) or the unit connection unit (123) is connected to the connection unit (130). <Note 9> The autonomous mobile robot (10) according to Note 2, further comprising a communication unit (150) capable of wireless communication with an external device (20), wherein the control unit (110) determines, based on information from the external device (20), whether the power supply side connection unit (423) or the unit connection unit (123) is connected to the connection unit (130).<Note 10> An autonomous mobile robot system (2) comprising the autonomous mobile robot (10) described in any one of Notes 1 to 9, and the contactless power receiving unit (120).

[0092] 2...Autonomous mobile robot system 10...Autonomous mobile robot 30...Contactless power supply device 40...Contact power supply device 170...Battery

Claims

1. An autonomous mobile robot equipped with a battery that receives power via a connection part, wherein the connection part is provided on a contact power supply device that supplies power by a contact power supply method and is characterized in that it is selectively connectable to a power supply side connection part for supplying power from the contact power supply device and a unit connection part provided on a non-contact power receiving unit that receives power supplied from a non-contact power supply device that supplies power by a non-contact power supply method.

2. The autonomous mobile robot according to claim 1, comprising: a driving unit for moving the autonomous mobile robot; and a control unit for controlling the movement by the driving unit, wherein the control unit prohibits the movement of the autonomous mobile robot when the power supply side connection unit is connected to the connection unit, and does not prohibit the movement of the autonomous mobile robot when the unit connection unit is connected to the connection unit.

3. The autonomous mobile robot according to claim 2, wherein the control unit includes a power storage information acquisition unit that acquires power storage information relating to the power to be charged in the storage battery, and determines whether the power supply side connection unit or the unit connection unit is connected to the connection unit based on the power storage information.

4. The autonomous mobile robot according to claim 2, further comprising a switchable first switch, wherein the control unit determines, according to the output of the first switch, whether the power supply side connection part or the unit connection part is connected to the connection part.

5. The autonomous mobile robot according to claim 2, further comprising a second switch whose output changes depending on whether the power supply side connection or the unit connection is connected to the connection, wherein the control unit determines whether the power supply side connection or the unit connection is connected to the connection according to the output of the second switch.

6. The autonomous mobile robot according to claim 2, wherein the connection portion is equipped with a sensor that detects whether the power supply side connection portion or the unit connection portion is connected to the connection portion, and the control unit determines whether the power supply side connection portion or the unit connection portion is connected to the connection portion based on the detection result of the sensor.

7. The autonomous mobile robot according to claim 2, comprising a discrimination signal input unit that receives a discrimination signal indicating at least one of the following: that the power supply side connection unit is connected to the connection unit, and that the unit connection unit is connected to the connection unit, wherein the control unit determines whether the power supply side connection unit or the unit connection unit is connected to the connection unit in accordance with the discrimination signal input via the discrimination signal input unit.

8. The autonomous mobile robot according to claim 2, comprising a communication unit capable of wireless communication with the contact power supply device, wherein the control unit determines, based on the communication status with the contact power supply device, whether the power supply side connection unit or the unit connection unit is connected to the connection unit.

9. The autonomous mobile robot according to claim 2, comprising a communication unit capable of wireless communication with an external device, wherein the control unit determines, based on information from the external device, whether the power supply side connection unit or the unit connection unit is connected to the connection unit.

10. An autonomous mobile robot system comprising the autonomous mobile robot according to any one of claims 1 to 9, and the contactless power receiving unit.

Images