Management device, management method, and program

Abstract

The present invention appropriately manages arrangement locations for power supply devices relative to a plurality of work locations. According to the present invention, a management device manages arrangement locations for non-contact power supply–type power supply devices for an autonomous travel device that comprises a power storage unit and moves in sequence between a plurality of work locations to perform work at the plurality of work locations. The management device comprises a first acquisition unit that acquires discharged power amounts for the power storage unit for the work performed by the autonomous travel device at the plurality of work locations, a second acquisition unit that acquires charged power amounts that would be charged to the power storage unit were power supply devices to be provided at one or more of the plurality of work locations, a calculation unit that, on the basis of the discharged power amounts and the charged power amounts, calculates one or more arrangement patterns that include arrangement locations for the power supply devices as arranged at one or more of the plurality of work locations such that a prescribed condition is satisfied, and an output unit that outputs arrangement information about the one or more arrangement patterns calculated by the calculation unit.

Description

Management apparatus, management method and program

[0001] The present invention relates to a management apparatus, a management method, and a program.

[0002] Conventionally, a power feeding system that uses a wireless power transfer (WPT) method to charge a storage battery included in an autonomous traveling device such as an Autonomous Mobile Robot (AMR) is known. For example, Patent Literature 1 discloses a power feeding method that uses a wireless power transfer system to feed power to an AMR that is a transport vehicle for carrying components.

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

[0004] In an AMR used in a factory where a power feeding system using the wireless power transfer method is installed, a charging method that uses a work location may be used. For example, a charging system is constructed by attaching a power receiving unit to an AMR and arranging a power transmitting unit at a work location. Conventionally, since an AMR works at a plurality of work locations, power transmitting units are arranged at all work locations so that the AMR can be charged at any of all work locations. Therefore, there is a problem that the number of power transmitting units increases, which increases installation costs.

[0005] The present invention has been made in view of the above problems, and an object of the present invention is to provide a technology capable of appropriately managing the arrangement positions of power feeding devices for a plurality of work locations.

[0006] To achieve the above objective, the present invention adopts the following configuration. That is, a management device for managing the placement locations of contactless power supply devices when an autonomous driving device equipped with a power storage unit moves sequentially to a plurality of work locations and performs work at the plurality of work locations, comprising: a first acquisition unit that acquires the amount of discharged power from the power storage unit when the autonomous driving device performs work at the plurality of work locations; a second acquisition unit that acquires the amount of charged power charged to the power storage unit when the power supply device is placed at least one of the plurality of work locations; a calculation unit that calculates at least one placement pattern including the placement location of the power supply device placed at at least one of the plurality of work locations, based on the amount of discharged power and the amount of charged power, such that predetermined conditions are met; and an output unit that outputs placement information relating to the at least one placement pattern calculated by the calculation unit. According to the above management device, by outputting placement information relating to at least one placement pattern including the placement location of the power supply device placed at at least one of the plurality of work locations, the placement locations of power supply devices for the plurality of work locations can be appropriately managed. As a result, power supply devices can be placed in an appropriate number, and the installation cost of power supply devices can be reduced.

[0007] The arrangement information may include the number of power supply devices located in at least one of the multiple work locations. The user can quickly grasp the number of power supply devices located in at least one of the multiple work locations.

[0008] The predetermined conditions may include the condition that the remaining power of the energy storage unit is above a threshold, and the condition that the number of power supply devices is minimized when the remaining power of the energy storage unit is above the threshold. The condition that the remaining power of the energy storage unit is above a threshold prevents the autonomous driving device from running out of power while working at multiple work locations. The condition that the number of power supply devices is minimized when the remaining power of the energy storage unit is above a threshold helps to reduce the cost of deploying power supply devices.

[0009] The predetermined conditions may include a first condition that the amount of charge exceeds the sum of the discharge amounts at each of the multiple work locations, a second condition that the remaining power in the energy storage unit is above a threshold, and a third condition that the number of power supply devices is minimized when the first and second conditions are met. When the first and second conditions are met, the autonomous vehicle will not run out of power while working at multiple work locations. When the third condition is met, the cost of deploying power supply devices can be reduced. The predetermined conditions may also include a fourth condition that the power supply device is deployed at the last work location reached by the autonomous vehicle. By deploying a power supply device at the last work location reached by the autonomous vehicle, the remaining power in the energy storage unit can be kept above a certain amount when the autonomous vehicle finishes work at the last work location reached by the autonomous vehicle.

[0010] When the autonomous driving device reaches the last of the multiple work locations, it may move to a predetermined location different from the multiple work locations. When the autonomous driving device moves to a predetermined location different from the multiple work locations after reaching the last work location, the placement locations of the power supply devices for the multiple work locations can be appropriately managed.

[0011] The autonomous driving device may move to the first of the multiple work locations after reaching the last of the multiple work locations. When the autonomous driving device moves to the first of the multiple work locations after reaching the last of the multiple work locations, the placement of power supply devices for the multiple work locations can be appropriately managed.

[0012] The present invention can also be understood as a management method including at least a part of the above process, a program for causing a computer to execute at least a part of the above process, or a computer-readable recording medium that non-temporarily stores such a program. Furthermore, it can also be understood as a management system including at least a part of the above process. Each of the above configurations and processes can be combined to constitute the present invention, provided that no technical inconsistencies arise.

[0013] According to the present invention, the placement of power supply devices for multiple work locations can be appropriately managed.

[0014] Figure 1 is a diagram showing the configuration of the management system. Figure 2 is a diagram showing an example of a job command. Figure 3 is a diagram showing an example of the process by which the AMR executes multiple jobs. Figure 4 is a diagram showing an example of the process by which the AMR executes multiple jobs. Figure 5 is a plan view of the AMR and the power supply device. Figure 6 is a block diagram showing an overview of the functional configuration of the AMR. Figure 7 is a block diagram showing an overview of the functional configuration of the management device. Figure 8 is a flowchart showing an example of the processing of the management device. Figure 9 is a diagram showing an example of placement information. Figure 10 is a diagram showing an example of placement information. Figure 11 is a diagram showing an example of placement information when the predetermined conditions include the first condition, the second condition, and the third condition. Figure 12 is a diagram showing the change in the remaining power of the energy storage unit when the predetermined conditions include the first condition, the second condition, and the third condition. Figure 13 is a flowchart showing an example of the processing of the calculation unit and the output unit when the predetermined conditions include the first condition, the second condition, and the third condition. Figure 14 is a diagram showing an example of placement information when the predetermined conditions include the first condition, the second condition, the third condition, and the fourth condition. Figure 15 shows the change in the remaining power of the energy storage unit when the predetermined conditions include the first, second, third, and fourth conditions.

[0015] The embodiments will be described below with reference to the figures. The embodiments shown below are one aspect of the present application and do not limit the scope of the rights of the present application.

[0016] Figure 1 shows the configuration of the management system 1. The management system 1 includes an AMR 10 equipped with a battery (storage battery) and a management device 20. The AMR 10 is an example of an autonomous driving device (mobile body). The AMR 10 and the management device 20 are connected by wireless communication. The management device 20 is connected to a higher-level system such as an MES (Manufacturing Execution System) via a network. The management device 20 assigns multiple jobs (tasks) to the AMR 10 in order to have the AMR 10 execute multiple jobs (tasks). The management device 20 sends a job command to the AMR 10 that includes multiple jobs, the execution order of the multiple jobs, multiple work locations, and the work content. The work content is, for example, transporting parts, picking up parts, etc., but is not limited to these. The AMR 10 receives the job command from the management device 20. Based on the job command, the AMR 10 moves sequentially to multiple work locations and performs work at multiple work locations.

[0017] Although Figure 1 shows one AMR10, the management system 1 is not limited to the example in Figure 1, and may be equipped with multiple AMR10s. Furthermore, the AMR10s do not all need to be of the same type; the management system 1 may be equipped with multiple types of AMR10s with different functions (roles). The AMR10 can be used not only in fully automated work environments but also in environments where collaborative work between humans and robots is envisioned. In other words, the management system 1 can be introduced in factories, warehouses, commercial facilities, hospitals, construction sites, etc.

[0018] The operation of AMR10 will be explained with reference to Figures 2 to 4. Figure 2 is a diagram showing an example of a job command. Figures 3 and 4 are diagrams showing an example of the process by which AMR10 executes multiple jobs. In the example shown in Figure 2, the job command includes jobs A, B, C, D, E, and F. Also, in the example shown in Figure 2, the job command includes the execution order of jobs A, B, C, D, E, and F. Jobs A, B, C, D, E, and F are executed in that order. In Figures 3 and 4, AMR10 is stopped in the stop area (waiting area) 100. AMR10 receives a job command from the management device 20.

[0019] After receiving a job command from the management device 20, AMR10 begins moving to execute jobs A through F. The arrows in Figures 3 and 4 indicate the movement path of AMR10. AMR10 executes job A. Specifically, AMR10 moves from the stopping area 100 to the work area 101A and performs work at work area 101A based on the job content corresponding to job A. After executing job A, AMR10 executes job B. Specifically, AMR10 moves from work area 101A to work area 101B and performs work at work area 101B based on the job content corresponding to job B. After executing job B, AMR10 executes job C. Specifically, AMR10 moves from work area 101B to work area 101C and performs work at work area 101C based on the job content corresponding to job C.

[0020] AMR10 executes job C, then executes job D. Specifically, AMR10 moves from work location 101C to work location 101D and performs work at work location 101D based on the job content corresponding to job D. After executing job D, AMR10 executes job E. Specifically, AMR10 moves from work location 101D to work location 101E and performs work at work location 101E based on the job content corresponding to job E. After executing job E, AMR10 executes job F. Specifically, AMR10 moves from work location 101E to work location 101F and performs work at work location 101F based on the job content corresponding to job F.

[0021] As shown in Figure 3, when AMR 10 reaches work location 101F, it may move to a predetermined location (stopping area 100) different from work locations 101A to 101F. Work location 101F is an example of "the last work location among multiple work locations". As shown in Figure 4, when AMR 10 reaches work location 101F, it may move to work location 101A. Work location 101A is an example of "the first work location among multiple work locations".

[0022] By placing a contactless power supply device (charger) in at least one of the work areas 101A to 101F, it is possible to supply power to the AMR 10 while it is performing work. For example, as shown in Figure 5, by placing the power supply device 30 in work area 101F, it is possible to supply power to the AMR 10 while it is performing work in work area 101F. Figure 5 is a plan view of the AMR 10 and the power supply device 30.

[0023] The power supply device 30 is a contactless power supply type power supply device. The power supply device 30 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 30 and the power transmission unit 40; they may be installed on the ground (floor) 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. The power transmission unit 40 of the power supply device 30 has a power transmission coil.

[0024] Figure 6 is a block diagram illustrating the schematic functional configuration of the AMR10. As shown in Figure 6, the AMR10 comprises 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 (battery) 160.

[0025] 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.

[0026] 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 enable power transmission by an electric field coupling method.

[0027] 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.

[0028] The communication unit 140 is a functional unit that communicates information with the management device 20. 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.

[0029] 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.

[0030] 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 30 via the power receiving unit 120 using a contactless power supply method.

[0031] The management device 20 manages the location of the power supply device 30. The management device 20 may be composed of dedicated equipment or a general-purpose computer. The management device 20 is equipped with hardware resources such as a processor, memory, and storage. The processor may be a general-purpose processor such as a CPU or MPU, or a dedicated processor. The processor may be configured as a single circuit or as a combination of multiple independent circuits. The memory may be RAM. The storage may be a non-volatile storage device such as ROM or flash memory.

[0032] Figure 7 is a block diagram illustrating the schematic functional configuration of the management device 20. As shown in Figure 7, the management device 20 includes a control unit 200, a first database 250, a second database 260, and a display unit 270. The first database 250 and the second database 260 may be composed of memory or storage. The display unit 270 is, for example, a device for displaying information such as a display. The control unit 200 includes a first acquisition unit 210, a second acquisition unit 220, a calculation unit 230, and an output unit 240. The functions of each processing unit (function unit) of the control unit 200 may be realized by expanding a program stored in storage into memory and executing it by a processor. Not all of the components of the management device 20 shown in Figure 7 are essential, and components of the management device 20 may be added or deleted as appropriate. All or part of the functions of the management device 20 may be configured using circuits such as ASIC (Application Specific Integrated Circuit) or FPGA (Field Programmable Gate Array), or all or part of the functions of the management device 20 may be executed by a cloud server or other device.

[0033] The first acquisition unit 210 acquires the discharge power (power consumption) of the energy storage unit 160 (battery) when the AMR 10 is working at multiple work locations. Hereinafter, the discharge power of the energy storage unit 160 when the AMR 10 is working at multiple work locations will be referred to as the first discharge power. The discharge power of the energy storage unit 160 when the AMR 10 is working at each work location will be referred to as the second discharge power. For example, when the AMR 10 is working at work locations 101A to 101F, the first discharge power is the sum of the second discharge power values ​​for each work location 101A to 101F when the AMR 10 is working at each location. For example, if the work performed at work location 101A is different from the work performed at work location 101B, the second discharge energy will be a different value when AMR10 performs work at work location 101A than when AMR10 performs work at work location 101B. For example, if AMR10 performs work at work location 101A, and the power consumption is 10W and the work time is 5s, then the second discharge energy will be 50Ws.

[0034] The second discharge power amount may include the amount of discharge power required for the AMR 10 to move to each work location. For example, when the AMR 10 is working at work location 101B, the second discharge power amount may include the amount of discharge power required for the AMR 10 to move from work location 101A to work location 101B. The first acquisition unit 210 may acquire the first discharge power amount from the first database 250. The first discharge power amount may be calculated from the AMR 10's past operational performance and stored in the first database 250. The first discharge power amount may be calculated by simulation and stored in the first database 250.

[0035] The second acquisition unit 220 acquires the amount of charging power to be charged to the energy storage unit 160 when the power supply device 30 is placed in at least one of the multiple work locations. The second acquisition unit 220 may acquire the above amount of charging power from the second database 260. Alternatively, the above amount of charging power may be calculated from the past operational performance of the AMR 10 and stored in the second database 260. Alternatively, the above amount of charging power may be calculated by simulation and stored in the second database 260.

[0036] For example, if the power supply device 30 is placed in the work area 101A, the energy storage unit 160 will be charged while the AMR 10 is working in the work area 101A. Therefore, the amount of energy stored in the energy storage unit 160 in the work area 101A will be a value corresponding to the amount of time the AMR 10 is working in the work area 101A. If the AMR 10 is working in the work area 101A for a long time, the charging time will be longer, and the amount of energy stored in the energy storage unit 160 in the work area 101A will be greater. If the AMR 10 is working in the work area 101A for a short time, the charging time will be shorter, and the amount of energy stored in the energy storage unit 160 in the work area 101A will be less. For example, if the power supply device 30 is placed in the work area 101A, and the charging power is 20W and the charging time is 5s, the amount of energy stored will be 100Ws.

[0037] The calculation unit 230 calculates at least one arrangement pattern, including the arrangement location of the power supply device 30, which is to be placed in at least one of a plurality of work locations, based on the discharge amount and the charge amount, such that predetermined conditions are met. The output unit 240 outputs arrangement information relating to the at least one arrangement pattern calculated by the calculation unit 230. The output unit 240 may output the arrangement information to the display unit 270, and the display unit 270 may display the arrangement information. The output unit 240 may output the arrangement information to an external display device, and the external display device may display the arrangement information.

[0038] According to the management device 20 of this embodiment, by outputting placement information relating to at least one placement pattern including the placement location of the power supply device 30 which is placed in at least one of the multiple work locations, the placement locations of the power supply device 30 for multiple work locations can be appropriately managed. As a result, the power supply device 30 can be placed in an appropriate number, and the installation cost of the power supply device 30 can be reduced.

[0039] Figure 8 is a flowchart showing an example of the processing of the management device 20. Here, we assume that the management device 20 sends the job command shown in Figure 2 to the AMR 10. In step S301, the first acquisition unit 210 acquires the first discharge power amount. For example, in the case of the job command shown in Figure 2, the first discharge power amount is the sum of the second discharge power amounts when the AMR 10 performs work in work locations 101A to 101F. In step S302, the second acquisition unit 220 acquires the amount of charge power that is charged to the energy storage unit 160 when the power supply device 30 is placed in at least one of the work locations 101A to 101F.

[0040] In step S303, the calculation unit 230 calculates at least one arrangement pattern, including the location of the power supply device 30 to be placed in at least one of the work areas 101A to 101F, based on the discharge power amount and the charge power amount, such that predetermined conditions are met. In step S304, the output unit 240 outputs arrangement information relating to the at least one arrangement pattern calculated by the calculation unit 230.

[0041] Figures 9 and 10 show examples of arrangement information. Figure 9 shows arrangement information for one arrangement pattern. The arrangement information may include the number of power supply devices 30 placed in at least one of the work areas 101A to 101F. The user can quickly grasp the number of power supply devices 30 placed in at least one of the work areas 101A to 101F. As shown in Figure 9, a power supply device 30 is placed in work area 101D, so the number of power supply devices 30 is 1. Figure 10 shows arrangement information for two arrangement patterns. As shown in the first arrangement pattern in Figure 10, a power supply device 30 is placed in each of the work areas 101B and 101E, so the number of power supply devices 30 is 2. As shown in the second arrangement pattern in Figure 10, a power supply device 30 is placed in each of the work areas 101C and 101F, so the number of power supply devices 30 is 2. In the example shown in Figure 9, there is one power supply device 30, and in the example shown in Figure 10, there are two power supply devices 30, but the number is not limited to these. There may be three or more power supply devices 30.

[0042] The specified conditions may include the following first, second, and third conditions, or may include the following second and third conditions. (First condition) The amount of charge exceeds the first amount of discharge (charge amount > first amount of discharge). (Second condition) The remaining power of the energy storage unit 160 is above a threshold. (Third condition) The number of power supply devices 30 is smallest when the first and second conditions are met. When the first and second conditions are met, the AMR 10 does not run out of power while working at multiple work locations. When the third condition is met, the cost of arranging the power supply devices 30 can be reduced. When the second condition is met, the first condition is also met, so the first condition may be omitted.

[0043] FIG. 11 is a diagram illustrating an example of arrangement information when a predetermined condition includes a first condition, a second condition, and a third condition. FIG. 12 is a diagram illustrating a change in the remaining power of a power storage unit 160 when the predetermined condition includes the first condition, the second condition, and the third condition. A calculation unit 230 sets an initial value for the remaining power of the power storage unit 160. The initial value of the remaining power of the power storage unit 160 may be obtained through simulation or actual measurement. The initial value of the remaining power of the power storage unit 160 may be, for example, 100% (a value indicating full charge), 90%, 80%, or 70%. In the example illustrated in FIG. 12, the initial value of the remaining power of the power storage unit 160 is set to 70%. The calculation unit 230 sets a threshold T1 for the remaining power of the power storage unit 160. The threshold T1 may be obtained through simulation or actual measurement. The threshold T1 may be, for example, 10%, 20%, or 30%. In the example illustrated in FIG. 12, the threshold T1 is set to 20%.

[0044] The discharge rate illustrated in FIG. 12 represents a percentage of a second discharge power amount relative to the full-charge capacity of the power storage unit 160. The charge rate illustrated in FIG. 12 represents a percentage of a charging power amount relative to the full-charge capacity of the power storage unit 160. In the example illustrated in FIG. 12, a power feeding device 30 is arranged at each of work locations 101B and 101E. By arranging the power feeding device 30 at each of work locations 101B and 101E, the first condition and the second condition are satisfied. The total discharge rate of work locations 101A to 101F is 80%, and the total charge rate of work locations 101B and 101E is 90%, so the first condition is satisfied. The remaining power of the power storage unit 160 at work locations 101A to 101F is 60% or more, so the second condition is satisfied. Furthermore, in the example illustrated in FIG. 11 and FIG. 12, when the first condition and the second condition are satisfied, the minimum number of arranged power feeding devices 30 is 2, so the third condition is also satisfied.

[0045] As shown in FIG. 12, the remaining power of the power storage unit 160 at the work site 101F is 80%. Therefore, the remaining power of the power storage unit 160 at the work site 101F exceeds the initial value (70%) of the remaining power of the power storage unit 160. Therefore, even if the AMR 10 moves to the work site 101A to perform work after reaching the work site 101F, power shortage will not occur. Accordingly, the AMR 10 can operate continuously for a predetermined period of time (for example, 24 hours). Productivity can be improved while suppressing the cost for arranging the power feeding devices 30.

[0046] FIG. 13 is a flowchart illustrating an example of processing performed by a calculation unit 230 and an output unit 240 when a predetermined condition includes a first condition, a second condition, and a third condition. In step S401, the calculation unit 230 sets the number of installed power feeding devices 30 to a predetermined value (=1). When the processing of step S401 is performed for the first time, the predetermined value is 1. In step S402, the calculation unit 230 calculates an arrangement pattern when the power feeding device 30 is arranged at any one of the work sites 101A to 101F. First, the calculation unit 230 calculates an arrangement pattern P1 when the power feeding device 30 is arranged at the work site 101A.

[0047] In step S403, the calculation unit 230 determines whether the first condition is satisfied for the arrangement pattern P1. If the determination result in step S403 is affirmative, the process proceeds to step S404.

[0048] In step S404, the calculation unit 230 determines whether the second condition is satisfied for the arrangement pattern P1. If the determination result in step S404 is affirmative, the process proceeds to step S405.

[0049] If the result of the determination in step S403 is a negative determination, the process returns to step S402. If the result of the determination in step S404 is a negative determination, the process returns to step S402. In these cases, the calculation unit 230 calculates arrangement patterns P2 to P6, and the determination process in step S403 and the determination process in step S404 are performed in the same way as for arrangement pattern P1. Arrangement pattern P2 is the arrangement pattern when the power supply device 30 is placed in the work area 101B. Arrangement pattern P3 is the arrangement pattern when the power supply device 30 is placed in the work area 101C. Arrangement pattern P4 is the arrangement pattern when the power supply device 30 is placed in the work area 101D. Arrangement pattern P5 is the arrangement pattern when the power supply device 30 is placed in the work area 101E. Arrangement pattern P6 is the arrangement pattern when the power supply device 30 is placed in the work area 101F. The process may proceed to step S405 after the determination process in step S403 and the determination process in step S404 have been performed for all of the multiple arrangement patterns (arrangement patterns P1 to P6).

[0050] In step S405, the calculation unit 230 determines whether the first and second conditions are met for at least one of the multiple arrangement patterns (arrangement patterns P1 to P6). If the determination result in step S405 is positive, the process proceeds to step S406. In step S406, the output unit 240 outputs arrangement information for the arrangement pattern among arrangement patterns P1 to P6 that satisfies the first and second conditions.

[0051] If the result of the determination in step S405 is a negative determination, the process returns to step S401. In this case, in step S401, the calculation unit 230 adds 1 to the predetermined value to set the number of power supply devices 30 to the predetermined value (=2). In this way, 1 is added to the predetermined value each time the process of step S401 is repeated.

[0052] The predetermined conditions may further include a fourth condition, which is that the power supply device 30 is placed at the work location that the AMR 10 finally reaches. Figure 14 shows an example of placement information when the predetermined conditions include the first, second, third, and fourth conditions. Figure 15 shows the change in the remaining power of the power storage unit 160 when the predetermined conditions include the first, second, third, and fourth conditions. In the example shown in Figure 15, the initial value of the remaining power of the power storage unit 160 is set to 70%. In the example shown in Figure 15, the threshold T1 is set to 20%.

[0053] The discharge rate shown in Figure 15 is the percentage of the second discharged energy amount relative to the capacity of the energy storage unit 160 when fully charged. The charge rate shown in Figure 15 is the percentage of the charge amount relative to the capacity of the energy storage unit 160 when fully charged. In the example shown in Figure 15, power supply devices 30 are placed in each of the work areas 101B and 101F. By placing power supply devices 30 in each of the work areas 101B and 101F, the first and second conditions are met. The total discharge rate of work areas 101A to 101F is 80%, and the total charge rate of work areas 101B and 101F is 90%, so the first condition is met. The remaining power of the energy storage unit 160 in work areas 101A to 101F is 50% or more, so the second condition is met. Furthermore, in the examples shown in Figures 14 and 15, the minimum number of power supply devices 30 to be installed when the first and second conditions are met is 2, and the third condition is also met. Moreover, by installing a power supply device 30 at the work area 101F, the fourth condition is also met. By installing a power supply device 30 at the work area 101F, which is the last place AMR 10 reaches, the remaining power in the energy storage unit 160 can be kept above a certain amount when AMR 10 finishes work at the work area 101F.

[0054] As shown in Figure 15, the remaining power of the energy storage unit 160 at work location 101F is 80%. Therefore, the remaining power of the energy storage unit 160 at work location 101F is higher than the initial value of the remaining power of the energy storage unit 160 (70%). As a result, even if the AMR 10 moves to work location 101A after reaching work location 101F and performs work there, it will not run out of power. Therefore, the AMR 10 can operate continuously for a predetermined time (for example, 24 hours). Productivity can be improved while suppressing the cost of arranging the power supply device 30.

[0055] The specified conditions may include the following first and fifth conditions: (First condition) The amount of charge exceeds the first amount of discharge (charge amount > first amount of discharge). (Fifth condition) The number of power supply devices 30 is the smallest when the first condition is met.

[0056] The specified conditions may include the following second and sixth conditions: (Second condition) The remaining power of the energy storage unit 160 is equal to or greater than the threshold. (Sixth condition) The number of power supply devices 30 is the smallest when the second condition is met.

[0057] The AMR 10 may stop or wait at the work location where the power supply device 30 is located until the remaining power in the energy storage unit 160 exceeds a predetermined value. The predetermined value may be determined by simulation or actual measurement. The predetermined value may be, for example, 100% (a value indicating full charge), 90%, 80%, or 70%. This allows the AMR 10 to perform work at the next work location when the remaining power in the energy storage unit 160 exceeds the predetermined value.

[0058] The present invention can also be understood as a management method including at least a part of the above process, a program for causing a computer to execute at least a part of the above process, or a computer-readable recording medium on which such a program is non-temporarily recorded.

[0059] <Note 1> A management device (20) for managing the placement of a contactless power supply device (30) when an autonomous driving device (10) equipped with a power storage unit (160) moves sequentially to a plurality of work locations and performs work at the plurality of work locations, comprising: a first acquisition unit (210) that acquires the amount of discharged power of the power storage unit (160) when the autonomous driving device (10) performs work at the plurality of work locations; a second acquisition unit (220) that acquires the amount of charge that is charged to the power storage unit (160) when the power supply device (30) is placed at least one of the plurality of work locations; a calculation unit (230) that calculates at least one placement pattern including the placement of the power supply device (30) placed at at least one of the plurality of work locations such that predetermined conditions are met, based on the amount of discharged power and the amount of charge; and an output unit (240) that outputs placement information relating to the at least one placement pattern calculated by the calculation unit (230). <Note 2> The management device (20) according to Note 1, wherein the arrangement information includes the number of power supply devices (30) arranged in at least one of the multiple work locations. <Note 3> The management device (20) according to Note 1 or 2, wherein the predetermined conditions include the condition that the remaining power of the energy storage unit (160) is equal to or greater than a threshold, and the condition that the number of power supply devices (30) is the smallest when the remaining power of the energy storage unit (160) is equal to or greater than the threshold. <Note 4> The management device (20) according to Note 1 or 2, wherein the predetermined conditions include the first condition that the amount of charged power exceeds the sum of the discharge amounts of each of the multiple work locations, the second condition that the remaining power of the energy storage unit (160) is equal to or greater than a threshold, and the third condition that the number of power supply devices (30) is the smallest when the first and second conditions are met. <Note 5> The management device (20) described in Note 3 or 4, wherein the predetermined conditions include a fourth condition that the power supply device (30) is located at the work location to which the autonomous driving device (10) last reaches.<Note 6> The autonomous driving device (10) moves to a predetermined location different from the multiple work locations when it reaches the last work location among the multiple work locations, as described in any one of Notes 1 to 5, as described in the management device (20). <Note 7> The autonomous driving device (10) moves to the first work location among the multiple work locations when it reaches the last work location among the multiple work locations, as described in any one of Notes 1 to 5, as described in the management device (20). <Note 8> A management method for a management device (20) that manages the placement locations of a contactless power supply device (30) when an autonomous driving device (10) equipped with a power storage unit (160) moves sequentially to a plurality of work locations and performs work at the plurality of work locations, comprising: acquiring the amount of discharged power of the power storage unit (160) when the autonomous driving device (10) performs the work at the plurality of work locations; acquiring the amount of charge that is charged to the power storage unit (160) when the power supply device (30) is placed at least one of the plurality of work locations; calculating at least one placement pattern that includes the placement location of the power supply device (30) placed at at least one of the plurality of work locations, based on the amount of discharged power and the amount of charge, such that predetermined conditions are met; and outputting placement information relating to the at least one placement pattern. <Note 9> A program to cause the computer of a management device (20) that manages the placement locations of contactless power supply devices (30) when an autonomous driving device (10) equipped with a power storage unit (160) moves sequentially to a plurality of work locations and performs work at the plurality of work locations to perform the following: acquire the amount of discharged power of the power storage unit (160) when the autonomous driving device (10) performs the work at the plurality of work locations; acquire the amount of charge that is charged to the power storage unit (160) when the power supply device (30) is placed at least one of the plurality of work locations; calculate at least one placement pattern including the placement location of the power supply device (30) placed at at least one of the plurality of work locations such that predetermined conditions are met, based on the amount of discharged power and the amount of charge; and output placement information relating to the at least one placement pattern.

[0060] 1: Management system 10: AMR 20: Management device 30: Power supply device 40: Power transmission unit 101A, 101B, 101C, 101D, 101E, 101F: Work area 200: Control unit 210: First acquisition unit 220: Second acquisition unit 230: Calculation unit 240: Output unit 250: First database 260: Second database 270: Display unit

Claims

1. A management device for managing the placement locations of a contactless power supply device when an autonomous driving device equipped with a power storage unit moves sequentially to a plurality of work locations and performs work at the plurality of work locations, comprising: a first acquisition unit that acquires the amount of discharged power from the power storage unit when the autonomous driving device performs work at the plurality of work locations; a second acquisition unit that acquires the amount of charged power that is charged to the power storage unit when the power supply device is placed at least one of the plurality of work locations; a calculation unit that calculates at least one placement pattern, including the placement location of the power supply device, which is placed at at least one of the plurality of work locations, based on the amount of discharged power and the amount of charged power, such that predetermined conditions are met; and an output unit that outputs placement information relating to the at least one placement pattern calculated by the calculation unit.

2. The management device according to claim 1, wherein the arrangement information includes the number of power supply devices arranged in at least one of the plurality of work locations.

3. The management device according to claim 1, wherein the predetermined conditions include the condition that the remaining power of the energy storage unit is equal to or greater than a threshold, and the condition that the number of power supply devices is the smallest when the remaining power of the energy storage unit is equal to or greater than the threshold.

4. The management device according to claim 1, wherein the predetermined conditions include a first condition that the amount of charge exceeds the sum of the amounts of discharge in each of the multiple work locations, a second condition that the remaining power in the energy storage unit is equal to or greater than a threshold, and a third condition that the number of power supply devices is the smallest when the first and second conditions are met.

5. The management device according to claim 3 or 4, wherein the predetermined conditions include a fourth condition that the power supply device is located at the work location to which the autonomous driving device last reaches.

6. The management device according to any one of claims 1 to 4, wherein when the autonomous driving device reaches the last of the plurality of work locations, it moves to a predetermined location different from the plurality of work locations.

7. The management device according to any one of claims 1 to 4, wherein the autonomous driving device moves to the first work location among the plurality of work locations when it reaches the last work location among the plurality of work locations.

8. A management method for a management device that manages the placement locations of a contactless power supply device when an autonomous driving device equipped with a power storage unit moves sequentially to a plurality of work locations and performs work at the plurality of work locations, comprising: acquiring the amount of discharged power from the power storage unit when the autonomous driving device performs work at the plurality of work locations; acquiring the amount of charged power charged to the power storage unit when the power supply device is placed at least one of the plurality of work locations; calculating at least one placement pattern, including the placement location of the power supply device placed at at least one of the plurality of work locations, based on the amount of discharged power and the amount of charged power, such that predetermined conditions are met; and outputting placement information relating to the at least one placement pattern.

9. A program to cause a computer in a management device that manages the placement locations of contactless power supply devices to perform the following actions when an autonomous driving device equipped with a power storage unit moves sequentially to multiple work locations and performs work at the multiple work locations: to obtain the amount of discharged power from the power storage unit when the autonomous driving device performs work at the multiple work locations; to obtain the amount of charged power that is charged to the power storage unit when the power supply device is placed at least one of the multiple work locations; to calculate at least one placement pattern, including the placement location of the power supply device placed at at least one of the multiple work locations, based on the amount of discharged power and the amount of charged power, such that predetermined conditions are met; and to output placement information relating to the at least one placement pattern.

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