JP2006345588A - Noncontact power supply and power supply system for autonomous mobile unit - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To obtain a noncontact power supply which can supply power with high efficiency without spoiling power supply efficiency even if the stop position of an electric vehicle is shifted. <P>SOLUTION: The noncontact power supply 1 comprises a primary coil 11 coupling electromagnetically with a secondary coil 21 of an autonomous mobile unit 2 (electric vehicle), a communication means 12 for acquiring a power receiving state on the secondary coil 21 side, a means 13 for acquiring a power supply state on the primary coil 11 side, a means 14 for acquiring power supply efficiency from the power supply state on the primary coil 11 side acquired by the power supply state acquiring means 13 and the power receiving state on the secondary coil 21 side acquired by the communication means 12, a positioning means 15 for shifting the position of the primary coil 11 to maximize the power supply efficiency acquired by the power supply efficiency acquiring means 14, a retry designation means 16 for transmitting a retry signal to the secondary coil 21 side through the communication means 12 when the power supply efficiency is below a predetermined value, and a means 10 for controlling each means of the noncontact power supply 1. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a non-contact power feeding device that feeds power to a moving body by electromagnetic coupling between coils and a power feeding system for an autonomous mobile device.

Conventionally, the secondary coil of the electric vehicle and the primary coil on the power supply device side are arranged in a state where they can be electromagnetically coupled to each other, and contact is made from the power supply device side to the electric vehicle side via these coils. Power is being supplied without any problems. In such a non-contact power feeding device, there is known a device that performs positioning of the primary coil and the secondary coil by linearly moving or rotating the primary coil and the secondary coil in different directions, thereby suppressing reduction in power feeding efficiency. (For example, refer to Patent Document 1).
JP-A-8-9512

  However, the non-contact power feeding device as shown in Patent Document 1 described above has a mechanism for correcting the positional deviation between the primary coil and the secondary coil, but feeds back the feeding efficiency with respect to the positional deviation correction. Therefore, the best power supply state is not always obtained.

  The present invention solves the above-described problems, and an object of the present invention is to provide a non-contact power feeding device that enables high-efficiency power feeding without impairing power feeding efficiency even if the stop position of the electric vehicle is shifted.

  In order to achieve the above-mentioned object, the invention of claim 1 has a primary coil that is electromagnetically coupled to a secondary coil on the moving body side on a fixed side, and feeds power from the primary coil side to the secondary coil side. A communication unit that acquires a power reception state on the secondary coil side, a power supply state acquisition unit that acquires a power supply state on the primary coil side, a power supply state on the primary coil side obtained by the power supply state acquisition unit, and The power supply efficiency acquisition means for acquiring the power supply efficiency from the power reception state on the secondary coil side obtained by the communication means, and the position of the primary coil is moved so as to maximize the power supply efficiency obtained by the power supply efficiency acquisition means. Positioning means.

  According to a second aspect of the present invention, in the non-contact power feeding device according to the first aspect, the communication means communicates using electromagnetic coupling between the primary coil and the secondary coil.

  According to a third aspect of the present invention, in the non-contact power feeding device according to the first or second aspect, the positioning means is configured such that the power feeding efficiency is maximized when the power feeding efficiency changes from a predetermined change width. The position of the primary coil is moved again.

  According to a fourth aspect of the present invention, in the non-contact power feeding device according to any one of the first to third aspects, the communication is performed when the maximum power feeding efficiency obtained by operating the positioning unit is equal to or less than a predetermined value. The apparatus further includes retry instruction means for transmitting a retry signal to the mobile body via the means.

  According to a fifth aspect of the present invention, the wireless power supply device according to the fourth aspect and the power supply position set around the wireless power supply device autonomously travels and stops to receive power from the wireless power supply device. In the autonomous mobile device power supply system, the autonomous mobile device controls the traveling means for traveling and the traveling means. A control unit, a battery that stores electric power for driving the device mounted on the autonomous mobile device, and a secondary that electromagnetically couples to a primary coil of the contactless power supply device and receives electric power stored in the battery from the primary coil side A coil and a communication means for communicating with the non-contact power supply device, and when the communication means receives the retry signal from the non-contact power supply device, the control means is the travel means Controlled and performs a positioning operation to re-close and stop to the feeding position.

  According to the first aspect of the present invention, the position of the primary coil is moved so as to maximize the power supply efficiency obtained by the power supply efficiency acquisition means when correcting the positional deviation of the primary coil with respect to the secondary coil. Even when the stop position of the movable body provided, for example, the electric vehicle is shifted, highly efficient power feeding can be performed without impairing the power feeding efficiency.

  According to the invention of claim 2, since communication is performed using the configuration of the coil originally provided so as to be electromagnetically coupled, a separate wireless antenna or the like can be omitted, and the communication means can be configured at low cost.

  According to the third aspect of the present invention, even when a positional deviation between the coils occurs due to a disturbance during power feeding, power can be fed with correction so as to maximize the power feeding efficiency.

  According to the invention of claim 4, when the position adjustment adjustment range is exceeded on the non-contact power supply device side, the movable body side can be positioned and adjusted, so that highly efficient power supply can be performed. it can.

  According to the invention of claim 5, the same effect as that of the invention of claim 4 can be obtained.

  Hereinafter, a non-contact power feeding device according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows a block configuration of a non-contact power feeding device 1 and an autonomous mobile device 2 fed by the power feeding device. The non-contact power feeding device 1 on the fixed side feeds power to the autonomous mobile device 2 on the mobile body side without assuming contact by electromagnetic coupling between the primary coil 11 and the secondary coil 21 included in both devices. It is. The autonomous mobile device 2 is an electric vehicle that autonomously moves using electricity as a power source. Here, non-contact means that a current path that is mechanically electrically connected is not formed. In addition, the line and arrow which connect between each block in FIG. 1 have shown only the main flows of electric power and a control signal.

  The non-contact power feeding device 1 includes a primary coil 11 that is electromagnetically coupled to a secondary coil 21 of an autonomous mobile device 2 that approaches from a predetermined direction, a communication unit 12 that acquires a power reception state on the secondary coil 21 side, and a primary coil 11. The power supply efficiency is obtained from the power supply state acquisition means 13 for acquiring the power supply state on the side, the power supply state on the primary coil 11 side obtained by the power supply state acquisition means 13 and the power reception state on the secondary coil 21 side obtained by the communication means 12. The power supply efficiency acquisition means 14 to be acquired and the positioning means 15 to move the position of the primary coil 11 so as to maximize the power supply efficiency obtained by the power supply efficiency acquisition means 14 are provided.

  Further, the non-contact power supply apparatus 1 transmits a retry signal to the secondary coil 21 side via the communication unit 12 when the maximum power supply efficiency obtained by operating the positioning unit 15 is equal to or less than a predetermined value. Means 16, power supply circuit 11a for supplying power to primary coil 11, and control means 10 for controlling power supply circuit 11a, positioning means 15 and retry instruction means 16 based on information from power supply efficiency acquisition means 14. I have. The power supply state acquisition unit 13 includes an ammeter 13a and a voltmeter 13b, and grasps the amount of power input to the primary coil 11, that is, the power supply state. The positioning means 15 includes a motor M for driving the positioning mechanism.

  The primary coil 11 transmits electric power to the autonomous mobile device 2 side through a secondary coil 21 installed on the autonomous mobile device 2 side, and charges a battery 21b serving as a power source of the autonomous mobile device 2. The communication unit 12 can receive information on the power reception state of the secondary coil 21 and can transmit an instruction signal such as positioning retry to the autonomous mobile device 2. The positioning means 15 moves linearly in one direction, and can correct the positional deviation between the primary coil 11 and the secondary coil 21.

  The autonomous mobile device 2 includes a secondary coil 21 that is electromagnetically coupled to the primary coil 11, a power reception state acquisition unit 23 that acquires a power reception state on the secondary coil 21 side, and a secondary coil 21 obtained by the power reception state acquisition unit 23. Communication means 22 for transmitting the power reception state to the contactless power supply device 1, power supply circuit 21a for receiving power from the secondary coil 21 and charging the battery 21b with the received power, communication means 22 and power reception state acquisition means And control means 20 for controlling 23. The power receiving state acquisition unit 23 includes an ammeter 23a and a voltmeter 23b, and grasps the amount of power received by the secondary coil 21, that is, the power receiving state. The control means 20 is constituted by, for example, a control computer and its peripheral devices.

  In addition, the autonomous mobile device 2 includes traveling means 50 for traveling. The traveling means 50 is driven by being supplied with electric power for performing a traveling operation from the battery 21 b and is controlled by the control means 20. The autonomous mobile device 2 autonomously travels and stops by the traveling means 50 to the power feeding position set around the non-contact power feeding device 1, receives power from the non-contact power feeding device 1, and autonomously uses the power. Moving. The battery 21b stores the received power in order to drive each device mounted on the autonomous mobile device 2. Each device driven by this electric power may be a control computer or the like in addition to the traveling means 50 described above.

  Next, specific structures of the non-contact power feeding device 1 and the autonomous mobile device 2 will be described with reference to FIGS. 2 (a), 2 (b) and 3 (a), 3 (b). As shown in FIG. 2A, the non-contact power feeding apparatus 1 has a housing 3 having a substantially rectangular outer shape, and the above-described power feeding efficiency acquisition means 14 shown in FIG. And it is the apparatus of the stationary side connected to the commercial power source which is not shown in figure, or other power supplies, and is installed on the traveling surface of the autonomous mobile apparatus 2. FIG. A part of the communication means 12 (wireless antenna) that communicates with the autonomous mobile device 2 is provided in the upper part of the housing 3.

  An opening 31 is provided in the lower part of the front (front side of the figure) of the non-contact power feeding device 1, and a flat primary coil holder that is driven to move forward and backward in the forward direction (arrow x direction) from the opening 31. 4 is provided. A primary coil 11 is built in and fixed to the primary coil holder 4. The upper surface 41 of the primary coil holder 4 and the upper edge of the opening 31 are slidably in contact with each other, or are arranged with an appropriate gap, and the upper edge of the primary coil holder 4 is arranged on the primary coil holder 4. When a foreign object gets on the upper surface 41, the upper edge part of the opening 31 functions as a foreign substance removing means. A brush or rubber piece for removing foreign matter can be disposed on the upper edge of the opening 31. 2A shows a state in which the primary coil holding body 4 protrudes from the housing 3, and FIG. 2B shows a state in which the primary coil holding body 4 is housed in the housing 3.

  As shown in FIG. 3 (a), the autonomous mobile device 2 has two left and right drive wheels 51 (overlapping in the figure, only one of them can be seen) and two front and rear auxiliary wheels 52 at the bottom of the device body 5. The drive wheel 51 is driven autonomously by a battery 21b and a drive motor (not shown) built in the apparatus body 5 to move autonomously. The traveling means 50 described above is constituted by these drive wheels 51, auxiliary wheels 52, drive motors and the like. The autonomous mobile device 2 incorporates the above-described secondary coil 21 shown in FIG. 1 in the lower portion of the device main body 5, and also incorporates a power receiving state acquisition means 23 and the like (not shown) in the device main body 5. In addition, a part of the communication means 22 (wireless antenna) that communicates with the non-contact power feeding device 1 and the autonomous mobile device 2 are connected to the outside of a passerby or a user around the upper part of the device body 5. A display 53 for displaying a warning or the like is provided. In addition, FIG.3 (b) has expanded and shown the part which incorporated the secondary coil 21. FIG.

  Next, the positioning structure of the primary coil 11 and the secondary coil 21 will be described with reference to FIGS. FIG. 4A shows a state in which the autonomous mobile device 2 approaches the non-contact power feeding device 1 from the direction of the arrow y and stops at a predetermined position. The primary coil 11 is held by the primary coil holder 4 and housed in the housing 3 of the non-contact power feeding device 1, and the secondary coil 21 is held at the lower part of the device body 5 of the autonomous mobile device 2. ing.

  4B, the primary coil holding body 4 moves along the arrow x direction from the non-contact power feeding apparatus 1 toward the autonomous mobile apparatus 2 stopped at a predetermined position, and the primary coil 11 is moved to the secondary coil 21. The state arrange | positioned at the lower part of is shown. The primary coil holder 4 moves linearly along the arrow x direction (front-rear direction) by positioning means 15 driven by a motor M (not shown).

  FIG. 5 shows a state in which the power transmission efficiency between the primary coil 11 and the secondary coil 21, that is, the power supply efficiency, changes according to the separation distance in the x direction between the primary coil 11 and the secondary coil 21. When the position of the primary coil 11 in the x direction with respect to the secondary coil 21 held and fixed by the stopped autonomous mobile device 2 is changed, the power supply efficiency E is expressed as a mountain shape as shown by the curve a in FIG. Showing change.

  Here, referring to FIG. 1 again, acquisition of the power supply efficiency E will be described. The above-described power supply efficiency E is obtained when the primary coil 11 is electromagnetically coupled to the secondary coil 21 to supply power based on the power supply state in the non-contact power supply device 1 and the power reception state in the autonomous mobile device 2. Determined by means 14. The power feeding state on the non-contact power feeding device 1 side can be expressed by a current value and a voltage value in the primary coil 11, and these values are measured by the ammeter 13 a and the voltmeter 13 b of the power feeding state obtaining unit 13 to obtain power feeding efficiency. Sent to means 14.

  Similarly, the power receiving state on the autonomous mobile device 2 side can be represented by a current value and a voltage value in the secondary coil 21. These values are measured by the ammeter 23 a and the voltmeter 23 b of the power receiving state acquisition unit 23, and are sent to the power supply efficiency acquisition unit 14 of the non-contact power supply device 1 through the communication unit 22. The power supply efficiency acquisition means 14 calculates the power in each coil from the voltage value and current value of both the primary coil 11 and the secondary coil 21, and calculates the power supply efficiency E from the ratio of the power.

  The control means 10 of the non-contact power supply apparatus 1 controls the positioning means 15 to move the position of the primary coil 11 so as to maximize the power supply efficiency E obtained by the power supply efficiency acquisition means 14. That is, since the non-contact power feeding device 1 feeds back the information on the power feeding efficiency E and corrects the positional deviation between the primary coil 11 and the secondary coil 21, the power feeding efficiency is improved even when the stop position of the autonomous mobile device 2 is deviated. Highly efficient power feeding can be performed without loss.

  Next, in addition to the above-described FIG. 1 to FIG. 5, a flow of power supply processing to the autonomous mobile device 2 by the non-contact power supply device 1 will be described with reference to the flowchart of FIG. 6. When the autonomous mobile device 2 stops at a predetermined position on the front surface of the non-contact power feeding device 1 for power reception, the non-contact power feeding device 1 detects the stop by communication via the communication means 12 and 22 and The operation of power supply processing is started. In addition, a stop detection sensor that detects that the autonomous mobile device 2 has stopped may be provided, and the operation of the power supply process may be started by the output of the sensor.

  The non-contact power feeding apparatus 1 first drives the positioning means 15 (S1), moves the primary coil holding body 4 to bring the primary coil 11 closer to the secondary coil 21, and checks the change in the power feeding efficiency E (S2). That is, the non-contact power feeding device 1 performs a power feeding operation for obtaining the power feeding efficiency E at the positioning stage. In the positioning stage, the autonomous mobile device 2 does not charge the battery 21b. When the primary coil 11 approaches the secondary coil 21 and the relative distance between the coils approaches, the power supply efficiency E tends to increase due to the characteristics shown in FIG. 5, and when the power supply efficiency E approaches a peak, the power supply efficiency E increases. The increase rate becomes small, and the power supply efficiency E tends to decrease when the peak is exceeded. When the power supply efficiency E changes from an increasing tendency to a decreasing tendency (YES in S2), the movement of the primary coil holder 4 by the positioning means 15 is stopped (S3).

  At the stop position of the primary coil 11 described above, the power supply efficiency E becomes a peak value in the linear motion direction of the primary coil 11, but in a direction orthogonal to the linear motion direction of the primary coil 11 due to the position of the autonomous mobile device 2 for some reason. If it is shifted, this stop position is not the best position of the primary coil 11 and the secondary coil 21. In order to avoid such a situation and obtain the best position, it is checked whether or not the magnitude of the power supply efficiency E is equal to or greater than a predetermined value. If the power supply efficiency E is not equal to or greater than the predetermined value (NO in S4), the control means 10 of the non-contact power supply apparatus 1 issues a retry signal to the autonomous mobile device 2 via the retry instruction means 16 and the communication means 12. (S10), the positioning means 15 is driven, and the primary coil holder 4 and thus the primary coil 11 are housed in the housing 3. On the other hand, when the communication means 22 of the autonomous mobile device 2 receives the retry signal from the non-contact power feeding device 1, the control means 20 of the autonomous mobile device 2 controls the traveling means 50 to perform the positioning operation again, thereby controlling the apparatus main body 5. Is once removed from the power feeding position, and approaching and stopping the power feeding position are performed again.

  When the power supply efficiency E is equal to or greater than the predetermined value (YES in S4), the autonomous mobile device 2 charges the battery 21b with the power supplied from the primary coil 11 via the secondary coil 21 and the power supply circuit 21a. Even during this charging, the control means 10 of the non-contact power feeding device 1 monitors the fluctuation of the power feeding efficiency E, and when the fluctuation has changed more than a predetermined change width (YES in S6), during power feeding. Assuming that some abnormality such as a shift in position between the coils has occurred due to disturbance, the positioning means 15 is driven to house the primary coil 11 in the housing 3 (S12), and the control returns to step S1. The positional deviation of the coil due to disturbance or the like is eliminated by steps S1 to S4 and steps S10 and S11.

  If the change in the power supply efficiency E is not equal to or greater than the predetermined change width (NO in S6), power supply is continued while monitoring the completion of charging. The completion of charging can be determined based on the information on the power reception state from the autonomous mobile device 2. When charging is completed (YES in S7), the non-contact power feeding device 1 stops power feeding (S8), the primary coil 11 is housed inside the housing 3 (S9), and a series of power feeding processing operations is finished. The repetition in each step described above is performed according to a predetermined control cycle in the non-contact power feeding device 1.

  As described above, the non-contact power feeding device 1 monitors the power feeding efficiency E in real time while the battery 21b is being charged, and when the power feeding efficiency E changes significantly, the primary coil 11 and the secondary coil 21 are affected by disturbance. Assuming that the relative position has shifted, the primary coil 11 is temporarily stored, and the positioning operation is performed again. As a result, the primary coil 11 can be positioned and fed in a state where the feeding efficiency E is maximized.

  Next, with reference to FIG. 7, the non-contact electric power feeder 1 which concerns on other embodiment of this invention is demonstrated. FIG. 7 shows a block configuration of the autonomous mobile device 2 that is fed by the non-contact power feeding device 1 and the power feeding device, as in FIG. In addition, the line and arrow which connect between each block have shown only the main flows of electric power and a control signal. The non-contact power feeding device 1 shown in this figure has a primary coil 11 and a secondary coil 21 instead of communication using the communication means 12 in the non-contact power feeding device 1 and the communication means 22 in the autonomous mobile device 2 shown in FIG. 1 is different from that shown in FIG. 1 in that communication is performed using electromagnetic coupling with the other points.

  In order to perform communication using electromagnetic coupling, the non-contact power feeding apparatus 1 transmits a high-frequency signal having a frequency different from the frequency for transmitting power between the control means 10 and the primary coil 11. 17 and a communication data receiving circuit 18 that receives a high-frequency signal transmitted from the secondary coil 21. The retry signal from the retry instruction means 16 is transmitted to the autonomous mobile device 2 side via the communication data transmission circuit 17.

  Similarly, the autonomous mobile device 2 includes a communication data transmission circuit 27 that transmits a high-frequency signal, and a communication data reception circuit 28 that receives a high-frequency signal transmitted from the primary coil 11. According to such a non-contact power feeding device 1, since communication is performed using the configuration of the primary coil 11 and the secondary coil 21 for power feeding originally provided to be electromagnetically coupled, a separate wireless antenna or the like can be omitted, Communication means can be configured at low cost.

  The present invention is not limited to the above-described configuration, and various modifications can be made. For example, in the above description, the radio wave via the antenna or the electromagnetic coupling between the coils is used as the communication means. However, the communication may be performed using light such as infrared rays. In the above description, each of the primary coil 11 and the secondary coil 21 is composed of one coil and electromagnetically coupled with one surface facing each other. It is also possible to use a plurality of surfaces that are fitted between the coils and face each other. Further, the coil is not limited to be provided parallel to the traveling surface, that is, horizontally, but may be provided vertically. Further, the positioning means 15 is not limited to linearly moving the primary coil 11 in one direction, but can also have a function of moving and positioning the primary coil 11 in two directions. In addition, the autonomous mobile device 2 includes a drive device that moves the position of the secondary coil 21 with respect to the device main body 5. When the autonomous mobile device 2 receives a retry signal, the autonomous mobile device 2 itself drives this drive. You may make it move the secondary coil 21 using the apparatus, without moving the apparatus main body 5. FIG. You may make it move the secondary coil 21 using this drive device while the autonomous mobile device 2 moves.

  Moreover, the autonomous mobile device 2 which constitutes the autonomous mobile device power supply system together with the non-contact power supply device 1 can include various means for autonomously moving. These are, for example, route generation means for generating a travel route to a predetermined movement target location, map information on the travel area, obstacle detection means, self-position recognition means for recognizing the self-position on the map, and the like. The control means 20 moves the apparatus main body 5 along the traveling route by controlling the traveling means 50 while recognizing its own position and avoiding an obstacle using these means. In addition, the autonomous mobile device 2 should just be able to move autonomously from the position near the non-contact power feeding device 2 to the power feeding position. That is, the autonomous mobile device 2 is normally traveling on a predetermined track, and can autonomously move to the nearest power feeding position by leaving the predetermined track according to the necessity of power reception. .

The block block diagram of the autonomous mobile device electrically fed by the non-contact electric power feeder which concerns on one Embodiment of this invention, and the electric power feeder. (A) is a perspective view in the state which can supply electric power of a non-contact electric power feeder same as the above, (b) is a perspective view in the non-electric power supply body of the non-contact electric power feeder. (A) is an external side view of the autonomous mobile device fed by the contactless power feeding device, and (b) is an enlarged view of part A of (a). (A) is a partially broken side view showing a state in which the autonomous mobile device approaches the non-contact power feeding device, and (b) is a partially broken view for explaining the operation when the non-contact power feeding device supplies power to the autonomous mobile device. Side view. The graph explaining the relationship between the relative position of the primary coil which a non-contact electric power feeder same as the above and the secondary coil which an autonomous mobile device has, and electric power feeding efficiency. The flowchart of the electric power feeding process which a non-contact electric power feeder same as the above performs. The block block diagram of the autonomous mobile device electrically fed by the non-contact electric power feeder which concerns on other embodiment of this invention, and the electric power feeder.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Non-contact electric power feeder 2 Autonomous mobile device 11 Primary coil 12 Communication means 13 Power supply state acquisition means 14 Power supply efficiency acquisition means 15 Positioning means 16 Retry instruction means 20 Control means 21 Secondary coil 21b Battery 22 Communication means 50 Traveling means

Claims (5)

A non-contact power feeding device that has a primary coil that is electromagnetically coupled to a secondary coil on the moving body side on a fixed side and that feeds power from the primary coil side to the secondary coil side,
A communication means for acquiring a power reception state on the secondary coil side;
Power supply state acquisition means for acquiring the power supply state of the primary coil side;
Power supply efficiency acquisition means for acquiring power supply efficiency from the power supply state on the primary coil side obtained by the power supply state acquisition means and the power reception state on the secondary coil side obtained by the communication means;
Positioning means for moving the position of the primary coil so as to maximize the power supply efficiency obtained by the power supply efficiency acquisition means.   The non-contact power feeding apparatus according to claim 1, wherein the communication unit performs communication using electromagnetic coupling between a primary coil and a secondary coil.   3. The positioning device according to claim 1, wherein when the power supply efficiency changes from a predetermined change width, the positioning unit moves the position of the primary coil again so that the power supply efficiency is maximized. 4. Non-contact power feeding device.   The apparatus further comprises a retry instruction means for transmitting a retry signal to the mobile body via the communication means when the maximum power supply efficiency obtained by operating the positioning means is equal to or less than a predetermined value. The non-contact electric power feeder in any one of Claim 1 thru | or 3. The contactless power supply device according to claim 4, and autonomously travels to and stops at a power supply position set around the contactless power supply device, receives power from the contactless power supply device, and autonomously by the power An autonomous mobile device power supply system comprising an autonomous mobile device that is a moving body that moves to
The autonomous mobile device includes a travel unit for traveling, a control unit for controlling the travel unit, a battery for storing electric power for driving a device mounted on the autonomous mobile device, and a primary coil of the non-contact power feeding device. A secondary coil that receives the electric power that is electromagnetically coupled and stored in the battery from the primary coil side, and a communication unit that communicates with the non-contact power supply device, the communication unit from the non-contact power supply device When receiving a retry signal, the control means controls the running means to perform a positioning operation for re-approaching and stopping the power supply position.

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