JPWO2016147571A1 - 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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- JPWO2016147571A1 JPWO2016147571A1 JP2016547197A JP2016547197A JPWO2016147571A1 JP WO2016147571 A1 JPWO2016147571 A1 JP WO2016147571A1 JP 2016547197 A JP2016547197 A JP 2016547197A JP 2016547197 A JP2016547197 A JP 2016547197A JP WO2016147571 A1 JPWO2016147571 A1 JP WO2016147571A1
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- 230000007613 environmental effect Effects 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 9
- 238000013459 approach Methods 0.000 description 10
- 238000012937 correction Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 238000007373 indentation Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000007796 conventional method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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
Abstract
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 (11)
- 給電用の端子を有し、移動体に設けた受電部を介して前記移動体に搭載の電池に給電する自動給電装置を用いて、
周辺の環境情報を取得する環境情報取得センサを備えた移動体が、前記環境情報取得センサの検出範囲内の安全停止エリアに前記自動給電装置を為す筐体の少なくとも一部が含まれた状態で、前記移動体の前記受電部を介して給電することを特徴とする自動給電システム。 - 給電用の端子を有し、移動体に設けた受電部を介して前記移動体に搭載の電池に給電する自動給電装置であって、
前記給電用の端子を含む給電部を駆動させる駆動機構を備え、前記自動給電装置を為す筐体の一部にくぼみ部または溝部を有すること、
を特徴とする自動給電装置。 - 前記くぼみ部または前記溝部は、その一部に突起を有する、請求項2記載の自動給電装置。
- 前記くぼみ部の形状は、矩形状である、請求項2又は3に記載の自動給電装置。
- 前記くぼみ部の形状は、扇状である、請求項2又は3に記載の自動給電装置。
- 前記自動給電装置が複数台配置され、前記複数の自動給電装置の各々は、くぼみ部の形状が他と異なる、請求項2〜5の何れか一項に記載の自動給電装置。
- 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7記載の自律移動システム。
- 前記くぼみの形状は、矩形状である、請求項7又は8に記載の自律移動システム。
- 前記くぼみの形状は、扇状である、請求項7又は8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、前記複数第の自動給電装置の各々は、くぼみ部の形状が他と異なる、請求項7〜10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 |
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JPWO2016147571A1 true JPWO2016147571A1 (ja) | 2017-04-27 |
JP6123081B2 JP6123081B2 (ja) | 2017-05-10 |
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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 |
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US (1) | US10023060B2 (ja) |
EP (1) | EP3240137B1 (ja) |
JP (1) | JP6123081B2 (ja) |
WO (1) | WO2016147571A1 (ja) |
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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. |
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JP2006345588A (ja) * | 2005-06-07 | 2006-12-21 | Matsushita Electric Works Ltd | 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 |
JP2009238055A (ja) * | 2008-03-28 | 2009-10-15 | Hitachi Appliances Inc | 自走式掃除システム |
US20090315501A1 (en) * | 2008-06-19 | 2009-12-24 | Hong Fu Jin Precision Industry(Shenzhen) Co., Ltd. | Robot battery charging station and robot for use therewith |
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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 |
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JP2006081310A (ja) | 2004-09-09 | 2006-03-23 | Matsushita Electric Works Ltd | 給電装置 |
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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
Patent Citations (4)
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JP2006345588A (ja) * | 2005-06-07 | 2006-12-21 | Matsushita Electric Works Ltd | 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 |
JP2009238055A (ja) * | 2008-03-28 | 2009-10-15 | Hitachi Appliances Inc | 自走式掃除システム |
US20090315501A1 (en) * | 2008-06-19 | 2009-12-24 | Hong Fu Jin Precision Industry(Shenzhen) Co., Ltd. | Robot battery charging station and robot for use therewith |
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Publication number | Publication date |
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EP3240137A4 (en) | 2018-09-26 |
EP3240137B1 (en) | 2020-05-06 |
WO2016147571A1 (ja) | 2016-09-22 |
JP6123081B2 (ja) | 2017-05-10 |
US10023060B2 (en) | 2018-07-17 |
US20180029487A1 (en) | 2018-02-01 |
EP3240137A1 (en) | 2017-11-01 |
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