JP6123081B2 - 自動給電システム、自動給電装置および自律移動システム - Google Patents
自動給電システム、自動給電装置および自律移動システム Download PDFInfo
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- JP6123081B2 JP6123081B2 JP2016547197A JP2016547197A JP6123081B2 JP 6123081 B2 JP6123081 B2 JP 6123081B2 JP 2016547197 A JP2016547197 A JP 2016547197A JP 2016547197 A JP2016547197 A JP 2016547197A JP 6123081 B2 JP6123081 B2 JP 6123081B2
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- Prior art keywords
- autonomous mobile
- mobile device
- power supply
- automatic power
- automatic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
- B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2310/00—The network for supplying or distributing electric power characterised by its spatial reach or by the load
- H02J2310/40—The network being an on-board power network, i.e. within a vehicle
- H02J2310/48—The network being an on-board power network, i.e. within a vehicle for electric vehicles [EV] or hybrid vehicles [HEV]
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Description
本開示の第1の実施形態にかかる自律移動装置1の構成を、図1の斜視図に示す。図1に示すように、自律移動装置1は、環境情報取得センサ2、受電部5、充電池6、および移動手段7を有する。
この条件を成立させるため、L1、L2およびL3は、例えば、以下に設定することができる。
L2:5cm
L3:8cm
従来、くぼみ部14が存在しない状況においては(L1=0と同義)、L3を固定した状態で自律移動装置1が自動給電装置11の前に接触せず停止するためには、例えばL2は10cmとなり、自律移動装置1は、自動給電装置11より安全停止エリア4の外側に停止する必要がある。一方、本開示にかかる発明において、自律移動装置1は、自動給電装置11より安全停止エリア4の内側に停止する。
第1の実施形態において、くぼみ部14の形状が矩形状であることを説明したが、くぼみ部14の形状は種々の形状をとることができる。くぼみ部14に関する別の形状について、第2の実施形態として、図9を用いて説明する。
次に、複数の自動給電装置11が並んで設置される場合に、自律移動装置1の自動給電装置11の前での停止性能を向上させる技術について説明する。
上記に説明した自動給電装置11について、変形例として、くぼみ部14において、図11Aに示すようにエッジ16の一部を突起17に置き換えてもよい。また、図11Bに示すように、くぼみ部14の代わりに溝部18を用い、エッジ16に対応する位置に突起17を設けてもよい。
2 環境情報取得センサ
3 計測平面
4 安全停止エリア
5 受電部
6 充電池
7 移動手段
R 走行面
11,11a,11b,11c 自動給電装置
12 給電部
13 給電端子
14,14a,14b,14c くぼみ部
15 表示部
16 エッジ
17 突起
18 溝部
Claims (5)
- 周辺の環境情報を取得する環境情報取得センサと、
前記環境情報に基づき、現在地から所定距離にある地点へ移動させる制御部と、を有する自律移動装置と、
一部にくぼみ部または溝部を有する筐体を備えた自動給電装置と、を備え、
前記環境情報取得センサの一部に安全停止エリアを設定し、かつ、
前記くぼみ部の深さは、
前記自律移動装置の先端から前記安全停止エリアの先端までの距離から、
前記自律移動装置が前記自動給電装置に到着したときの、前記自律移動装置の前記先端と前記自動給電装置との間の距離を引いたときの距離よりも大きいこと、
を特徴とする自律移動システム。 - 前記くぼみ部は、その一部に突起を有する、請求項1記載の自律移動システム。
- 前記くぼみ部の形状は、矩形状である、請求項1又は2に記載の自律移動システム。
- 前記くぼみ部の形状は、扇状である、請求項1又は2に記載の自律移動システム。
- 前記自動給電装置が複数台配置され、前記複数台の自動給電装置の各々は、前記くぼみ部の形状が他と異なる、請求項1〜4の何れか一項に記載の自律移動システム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015050843 | 2015-03-13 | ||
JP2015050843 | 2015-03-13 | ||
PCT/JP2016/000973 WO2016147571A1 (ja) | 2015-03-13 | 2016-02-24 | 自動給電システム、自動給電装置および自律移動システム |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2016147571A1 JPWO2016147571A1 (ja) | 2017-04-27 |
JP6123081B2 true JP6123081B2 (ja) | 2017-05-10 |
Family
ID=56919530
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2016547197A Active JP6123081B2 (ja) | 2015-03-13 | 2016-02-24 | 自動給電システム、自動給電装置および自律移動システム |
Country Status (4)
Country | Link |
---|---|
US (1) | US10023060B2 (ja) |
EP (1) | EP3240137B1 (ja) |
JP (1) | JP6123081B2 (ja) |
WO (1) | WO2016147571A1 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10365656B2 (en) * | 2017-11-22 | 2019-07-30 | Locus Robotics Corp. | Robot charger docking localization |
US20210323423A1 (en) * | 2018-10-31 | 2021-10-21 | Hirschmann Automotive Gmbh | Conductive charger with contacts |
FR3115241B1 (fr) * | 2020-10-16 | 2023-09-08 | Stanley Robotics | Système de recharge électrique autonome pour robot mobile extérieur. |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4944357A (en) | 1989-04-27 | 1990-07-31 | Caterpillar Industrial Inc. | Power transferring arrangement |
JPH033618A (ja) | 1989-05-30 | 1991-01-09 | Shinko Electric Co Ltd | 無人車のバッテリー自動充電装置 |
JPH0515073A (ja) | 1991-06-28 | 1993-01-22 | Shinko Electric Co Ltd | 無人搬送車バツテリ−の自動充電用給電装置 |
DE4344563C1 (de) | 1993-12-24 | 1994-12-08 | Daimler Benz Ag | Batterieladevorrichtung für ein Elektrofahrzeug |
JP2920884B2 (ja) | 1997-05-27 | 1999-07-19 | 川崎重工業株式会社 | 無人誘導車両用充電装置 |
US7332890B2 (en) * | 2004-01-21 | 2008-02-19 | Irobot Corporation | Autonomous robot auto-docking and energy management systems and methods |
JP2006081310A (ja) | 2004-09-09 | 2006-03-23 | Matsushita Electric Works Ltd | 給電装置 |
JP4442517B2 (ja) | 2005-06-07 | 2010-03-31 | パナソニック電工株式会社 | 非接触給電装置及び自律移動装置用給電システム |
JP2009015611A (ja) | 2007-07-05 | 2009-01-22 | Figla Co Ltd | 充電システム、充電ユニットおよび移動ロボットの自動充電システム |
JP4909930B2 (ja) * | 2008-03-28 | 2012-04-04 | 日立アプライアンス株式会社 | 自走式掃除システム |
CN101607399A (zh) * | 2008-06-19 | 2009-12-23 | 鸿富锦精密工业(深圳)有限公司 | 充电装置 |
NL2007566C2 (en) | 2011-10-11 | 2013-04-15 | Lely Patent Nv | Vehicle system. |
JP5949734B2 (ja) * | 2013-11-29 | 2016-07-13 | トヨタ自動車株式会社 | 異常判定システム、及びその判定方法 |
-
2016
- 2016-02-24 EP EP16764404.6A patent/EP3240137B1/en active Active
- 2016-02-24 WO PCT/JP2016/000973 patent/WO2016147571A1/ja active Application Filing
- 2016-02-24 JP JP2016547197A patent/JP6123081B2/ja active Active
- 2016-02-24 US US15/549,665 patent/US10023060B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
EP3240137A4 (en) | 2018-09-26 |
JPWO2016147571A1 (ja) | 2017-04-27 |
EP3240137B1 (en) | 2020-05-06 |
WO2016147571A1 (ja) | 2016-09-22 |
US10023060B2 (en) | 2018-07-17 |
US20180029487A1 (en) | 2018-02-01 |
EP3240137A1 (en) | 2017-11-01 |
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