Mobile charging apparatus and charging system
A charge support vehicle according to one or more embodiments may be capable of charging a battery of a travel robot without interrupting traveling, and a charging system. A charge support vehicle according to one or more embodiments may track a cleaning robot based on positional information of the cleaning robot, and may be docked to the cleaning robot in a state of traveling, thereby charging a battery of the cleaning robot while traveling.
1. A mobile charging apparatus configured to travel autonomously, and charge a battery of an electrically-powered travel object, the mobile charging apparatus comprising
a vehicle body equipped with a power-feeding battery, wherein
in response to a battery feed request to feed the battery of the electrically-powered travel object that is traveling being received, the mobile charging apparatus is configured to:
start traveling from a predetermined standby position while searching for the electrically-powered travel object;
approach, in response to the electrically-powered travel object being found, the electrically-powered travel object according to a feeding position in which power feeding is possible from the power-feeding battery to the battery of the electrically-powered travel object, and keep the vehicle body in the feeding position; and
feed power from the power-feeding battery to the battery of the electrically-powered travel object in the feeding position while the electrically-powered travel object travels.
2. The mobile charging apparatus according to claim 1 , further comprising:
a first control unit configured to track the electrically-powered travel object based on position specifying information for specifying a position of the electrically-powered travel object;
a distance detection unit configured to detect a distance between the electrically-powered travel object and the vehicle body by outputting measurement light forward;
a second control unit configured to keep the vehicle body in the feeding position in response to the vehicle body being located in the feeding position based on a result of the detection by the distance detection unit; and
a third control unit configured to start feeding power from the power-feeding battery to the battery of the electrically-powered travel object in the feeding position.
3. The mobile charging apparatus according to claim 2 , wherein
the second control unit controls travel of the vehicle body so that the vehicle body is kept in the feeding position while the electrically-powered travel object travels.
4. The mobile charging apparatus according to claim 2 , wherein
the first control unit tracks the electrically-powered travel object based on positional information of the electrically-powered travel object that is received as the position specifying information, together with the battery feed request, from the electrically-powered travel object.
5. The mobile charging apparatus according to claim 1 , wherein
the vehicle body comprises a power-feeding connection part connected to the power-feeding battery,
the electrically-powered travel object comprises a power-receiving connection part connected to the battery of the electrically-powered travel object, and
the feeding position comprises a position in which the power-feeding connection part and the power-receiving connection part are electrically connected to each other.
6. The mobile charging apparatus according to claim 1 , wherein
the vehicle body comprises a wireless power-feeding part connected to the power-feeding battery,
the electrically-powered travel object comprises a wireless power-receiving part connected to the battery of the electrically-powered travel object, and
the feeding position comprises a position in which charging is possible from the wireless power-feeding part to the wireless power-receiving part by a noncontact charging method.
7. A charging system in which a battery of an electrically-powered travel object is charged from a mobile charging apparatus equipped with a power-feeding battery, the mobile charging apparatus being configured to travel autonomously, wherein
the electrically-powered travel object comprises a request transmission unit configured to transmit a battery feed request in response to a residual amount of the battery of the electrically-powered travel object being less than a predetermined threshold, and
the mobile charging apparatus comprises:
a first control unit configured to track the electrically-powered travel object based on position specifying information for specifying a position of the electrically-powered travel object;
a distance detection unit configured to detect a distance between the electrically-powered travel object and the mobile charging apparatus by outputting measurement light forward;
a second control unit configured to, in response to the mobile charging apparatus being located in a feeding position in which power feeding is possible from the power-feeding battery to the battery of the electrically-powered travel object based on a result of the detection by the distance detection unit, keep the mobile charging apparatus in the feeding position; and
a third control unit configured to start feeding power from the power-feeding battery to the battery of the electrically-powered travel object in the feeding position while the electrically-powered travel object travels.
8. The mobile charging apparatus according to claim 3 , wherein
the first control unit tracks the electrically-powered travel object based on positional information of the electrically-powered travel object that is received as the position specifying information, together with the battery feed request, from the electrically-powered travel object.
9. The mobile charging apparatus according to claim 2 , wherein
the vehicle body comprises a power-feeding connection part connected to the power-feeding battery,
the electrically-powered travel object comprises a power-receiving connection part connected to the battery of the electrically-powered travel object, and
the feeding position comprises a position in which the power-feeding connection part and the power-receiving connection part are electrically connected to each other.
10. The mobile charging apparatus according to claim 3 , wherein
the vehicle body comprises a power-feeding connection part connected to the power-feeding battery,
the electrically-powered travel object comprises a power-receiving connection part connected to the battery of the electrically-powered travel object, and
the feeding position comprises a position in which the power-feeding connection part and the power-receiving connection part are electrically connected to each other.
11. The mobile charging apparatus according to claim 4 , wherein
the vehicle body comprises a power-feeding connection part connected to the power-feeding battery,
the electrically-powered travel object comprises a power-receiving connection part connected to the battery of the electrically-powered travel object, and
the feeding position comprises a position in which the power-feeding connection part and the power-receiving connection part are electrically connected to each other.
12. The mobile charging apparatus according to claim 2 , wherein
the vehicle body comprises a wireless power-feeding part connected to the power-feeding battery,
the electrically-powered travel object comprises a wireless power-receiving part connected to the battery of the electrically-powered travel object, and
the feeding position comprises a position in which charging is possible from the wireless power-feeding part to the wireless power-receiving part by a noncontact charging method.
13. The mobile charging apparatus according to claim 3 , wherein
the vehicle body comprises a wireless power-feeding part connected to the power-feeding battery,
the electrically-powered travel object comprises a wireless power-receiving part connected to the battery of the electrically-powered travel object, and
the feeding position comprises a position in which charging is possible from the wireless power-feeding part to the wireless power-receiving part by a noncontact charging method.
14. The mobile charging apparatus according to claim 4 , wherein
the vehicle body comprises a wireless power-feeding part connected to the power-feeding battery,
the electrically-powered travel object comprises a wireless power-receiving part connected to the battery of the electrically-powered travel object, and
the feeding position comprises a position in which charging is possible from the wireless power-feeding part to the wireless power-receiving part by a noncontact charging method.