JPH0714241B2 - Mobile work vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (A) Field of Industrial Application The present invention relates to a mobile work vehicle that automatically uses a drive unit using an installed storage battery and a drive using a commercial power line or the like.

(B) Conventional Technology As a technology prior to the present invention, there is a power supply system for a self-propelled vehicle for work described in JP-A-60-106302. In the power supply system for a battery-driven work vehicle that stops at a predetermined station and performs a predetermined work at this station, the system is provided with a power supply electrode portion provided at the station and the work vehicle. An external electrode coupling means for coupling with the power supply electrode portion when the self-propelled vehicle for work is stopped at the station, and the battery is charged with the electric power obtained by the external electrode coupling means and the work is performed. It will be done in this way. However, the connection electrode rod urged by the spring which is the external electrode coupling means is simply in contact with the disc-shaped connection electrode plate which is the power supply electrode part and is not mechanically connected and is disconnected from the station. In addition, it is impossible to perform the work in a different position, and when the work vehicle is forcibly moved by an external force such as a drop of a load, the contact portion is easily removed.

(C) Problems to be Solved by the Invention The present invention provides a mobile work vehicle capable of performing stable power supply and work by ensuring the connection between the external power supply connection section and the power supply section.

(D) Means for Solving Problems The present invention provides a working means (101) and a wheel driving means (76).
An external power source connecting means (102) and a power feeding position detecting means (5
2), an external power supply connection detection means (50), a vehicle drive control means (70), and an internal power supply device (10) having a storage battery (28).
3) A mobile work vehicle comprising: a wheel drive means (7
6) is supplied with power from the external power supply connection means (102) or the internal power supply device (103), and is connected to the external power supply connection means (10).
2) is connectable to one or one of a plurality of power feeding means (104) provided in the transition area, and the power feeding position detecting means (52) is a power feeding position provided in the power feeding means (104). The position of the notification means (51) is detected, and the external power supply connection detection means (50) is the power supply means (10) of the external power supply connection means (102).
4) Vehicle drive control means (70) that detects electrical contact with
Based on the output of the power feeding position detecting means (52), the wheel driving means (76) is driven by the electric power of the internal power supply device (103) to self-propel to the predetermined power feeding means (104), and the external power supply connecting means. The power supply means (104) is connected to the power supply means (104), and the external power supply connection detection means (50) detects the electrical contact of the external power supply connection means (102) with the power supply means (104). It controls to drive in the direction toward 104).

(E) Action According to the present invention, the external power supply is connected to the power supply means so as to ensure the connection from the contact state, not to detect the completion of connection by feeding the external power by the electrical contact of the external power supply connection means. The connection means is further pressed against the power supply means.

(F) Embodiment A first embodiment shown in FIGS. 1 to 8 and a second embodiment shown in FIG.
The present invention will be described based on examples.

First, the first embodiment will be described.

FIG. 1 shows an external power supply connection portion held at the rear of the mobile work vehicle 1.
A pair of connecting electrode rods 80 projecting from 48 are cross-sectional views of a main part in a state of contacting a holding electrode plate 81 of a power supply unit 49 formed on a wall W. FIG. 2 shows the connecting electrode rod 80 inserted in the holding electrode plate 81. FIG. 3 is a cross-sectional view of a main part in a connected state, in which the mobile work vehicle 1 is separated from the wall W by pulling out the power cord 54 from the cord reel 31 in a state in which the external power source connection part 48 is connected to the power supply part 49. FIG. 4 is a longitudinal sectional view of the mobile work vehicle 1, which is composed of an upper layer portion 2, an intermediate layer portion 3 and a lower layer portion 4. FIG. 5 is a cross-sectional view taken along the line VV in FIG. 4, and FIG. 6 is VI-VI in FIG.
FIG. 7 is a cross-sectional view taken along a section, FIG. 7 is a cross-sectional view of a main part in the same state as FIG. 2, and FIG. 8 is a block circuit diagram of the mobile work vehicle 1.

As shown in FIG. 4, the lower layer portion 4 of the mobile work vehicle 1 is formed between a chassis plate 5 and a lower substrate 7 supported by a supporting column 6 standing on the chassis plate 5. As shown in FIG. 4, the middle layer 3 has an upper substrate 9 connected to the upper end of a cylindrical column 8 standing upright in a substantially central opening of the lower substrate 7,
Formed between 7 and. The chassis plate 5 and the upper and lower substrates 9,7
Is formed of sheet metal, the cylindrical column 8 is formed of a metal tube, and the support column 6 is formed of a metal rod. The upper layer 2 is formed on the upper surface side of the upper substrate 9, and the chassis plate 5
And a synthetic resin outer case 10 covering the upper and lower substrates 9 and 7.

A right wheel electric motor 13 and a left wheel electric motor 14 for driving the right wheel 11 and the left wheel 12 are fixed to both sides of the chassis plate 5. Rotational positions of the right wheel electric motor 13 and the left wheel electric motor 14,
A right wheel position detection unit 17 and a left wheel position detection unit 18 that detect the positions and rotation speeds of the so-called right wheel 11 and left wheel 12 are formed. A front swivel wheel 19 and a rear swivel wheel 20 are formed in the front-rear direction passing through the center of the latter half semi-circular portion of the chassis plate 5. A bumper body 21 is formed at the front of the chassis plate 5 so as to wrap around the lower edge of the outer case 10 and both sides. The bumper body 21 has a collision detection section 22 formed therein. The collision detection portion 22 is formed by being divided into front, left, and right. In the present embodiment, a pair of linear contact pieces are arranged in the bumper body 21 in proximity to the bumper body 21 to deform it by applying pressure. It is formed so as to detect when both contact pieces come into contact with each other. On the lower surface of the front portion of the chassis plate 5, there is formed a suction tool 23 in which a brush that contacts and slides on the floor F is formed. The tubular connecting portion 24 of the suction tool 23 projects into the chassis plate 5, and the pipe body 25 is connected to the tubular connecting portion 24. The pipe body 25
Is connected to the lower end of the suction ventilation pipe body 26 inserted and fixed in the cylindrical column 8. The suction ventilation pipe body 26 is arranged near the rear portion of the cylindrical column 8 to be piped to form a space for communicating the upper layer 2 and the lower layer 4 in the cylindrical column 8 and to form a power cord, a control line, a signal line, or the like. It is used as a passage for the electric wire 27. On the chassis plate 5, a storage battery 28 that supplies power to the left and right wheel motors 13 and 14, the collision detection unit 22, and the left and right wheel position detection units 17 and 1.
It is equipped with a control circuit 29 that receives signals from various detection units such as 8 and controls the mobile work vehicle 1.

An obstacle detection unit 30 for detecting an obstacle located in the front direction and the left and right direction of the traveling mobile work vehicle 1 is formed in the front portion of the upper layer 2 of the upper substrate 9. The obstacle detection unit 30
Is for measuring the distance to obstacles (walls, desks, chairs, etc.),
In this embodiment, an ultrasonic distance measuring device is used. On the upper surface of the upper substrate 9, a reel electric motor 32 for driving a cord reel 31 described later is formed. A control plate portion 34 having an opening / closing lid 33 is formed on the front upper surface of the outer case 10. The switch formed on the control plate portion 34 serves as the signal input portion 35 and controls and sets the mobile work vehicle 1. The outer case 10
A working part is formed at the rear part, and in this embodiment, it is composed of a dust collecting part 36 and an electric blower part 37. The dust collecting part 36 is housed in a housing part 38 formed in the rear part of the outer case 10. The dust collecting part 36 includes a dust collecting case 39 and a filter body 40. The upper end of the suction ventilation pipe body 26 projects to the bottom of the storage portion 38,
It fits into the bottom suction port of the dust collection case 39. The electric blower unit 37 opens and closes the storage unit 38 so that the outer case 10
And is connected by a clamp body. An electric blower 44 is installed in the electric blower unit 37. By operating the electric blower 44, dust is sucked into the dust collecting portion 36 from the suction tool 23 through the pipe body 25 and the suction ventilation pipe body 26, and the dust is collected by the filter body 40.
At 44, the air from which dust has been removed is exhausted from the exhaust port 45. A filter body 46 is also attached to the exhaust port 45.

The rear wall of the outer case 10 of the upper layer 2 is an outer case.
A groove portion 47 having a curved surface diameter larger than 10 and extending in the left-right direction is formed. Although not shown in the figure, the central portion of the groove portion 47, that is, the portion located at the most rearmost portion, is an external power source connecting portion
It forms 48 joints. The connection part 48 is formed of a plug, and power is supplied by connecting the connection part 48 to a power supply part 49 formed on a wall of the room or the like. The connection of the connecting portion 48 to the connecting portion is freely performed with respect to the movement of the connecting portion 48 in the direction along the groove portion 47, and the rear portion in the state of being connected to the connecting portion, the groove portion 47. It is fixed for movement in the orthogonal direction. The connection of the connection part 48 to the power supply part 49 and the connection of the connection part 48 to the coupling part are performed by the outlet / plug connection detection part 50. The position of the connection part 48 with respect to the power supply part 49 is determined by forming a signal from the outlet position notification part 51 that notifies the position of the power supply part 49 in the groove part 47 or in the vicinity of the connection part 48. And the mobile work vehicle 1 is moved.

A cylindrical intermediate rotation shaft 53 driven by the reel electric motor 32 is pivotally supported on the outer side of the cylindrical column 8, and a cord reel 31 is pivotally supported on the outer side thereof. Between the upper surface of the lower substrate 7 and the cord reel 31, there is arranged a rotation supporting member 56 having an outlet 55 for the power cord 54, and the rotation supporting member 56 is pivotally supported on the cylindrical column 8. . The cylindrical support 8 and the intermediate rotation shaft 53
Bearing bodies 57, 58, 59 and 60 are interposed between the cord reel 31, the rotation support member 56 and the lower substrate 7. The intermediate rotary shaft 5
On the outer periphery of the upper part of 3, the gear 62 meshing with the gear 61 of the reel motor 32 and the clutch pawl formed on the cord reel 31 are provided.
A clutch gear 64 that engages with 63 is formed. The clutch pawl 63 is always urged in the direction of abutting the clutch gear 64. In the present embodiment, the reel motor 32
When the gear 61 is rotated to the right by, the intermediate rotation shaft 53 is driven to rotate to the left, and the clutch gear 64 is rotated to the left to engage the clutch pawl 63, and the cord reel 31 is driven to rotate to the left. It When the cord reel 31 is rotated counterclockwise, the power cord
54 is rolled up. When the gear 61 is rotated counterclockwise by the reel motor 32, the intermediate rotary shaft 53 is rotated clockwise and the clutch gear is rotated.
64 and the clutch claw 63 are clutch gears.
The cord reel 31 is not rotated by being pushed outward at 64, and the cord reel 31 does not rotate. Further, while the reel motor 32 is stopped, if the power cord 54 is pulled by an external force, the cord reel 31 tries to rotate to the right, but the clutch pawl 63 engages with the clutch gear 64, so that the right direction is increased. I can't rotate.
To pull out the power cord 54, the reel electric motor 32 rotates the gear 61 counterclockwise and the intermediate rotating shaft 53 rotates clockwise so that the clutch reel 64 is engaged with the clutch gear 64 by the counterclockwise rotation. This is done by pulling out the power cord 54 with an external force by making it impossible to perform.

A roller body for smoothly pulling out is formed at the outlet 55, and a power cord slack detecting unit 66 and a power cord length detecting unit 67 (not shown) are formed. The rotation support member 56 is formed in a cylindrical shape with a bottom, and the one-half side wall portion forming the outlet portion 55 has an outer case 10.
It is exposed to close the notch formed in. The rotation support member 56 can rotate regardless of the position of the cord reel 31, and the position of the drawer portion 55 with respect to the outer case 10 can be set to the rear side.
It can be freely changed within the opening angle range of 0 degree,
Regardless of the direction of the mobile work vehicle 1, the pull-out part 55 can be directed to the power supply part 49, and the shortest power cord
You can get a drawer length of 54. The power cord 54
The electric power is supplied by contacting a sliding piece 68 formed on the upper surface of the cord reel 31 with a contact piece 69. The power cord slack detecting unit 66 is formed by a micro switch, the power cord length detecting unit 67 is formed by a rotation number detecting device linked with rollers, and signals from the detecting units 66 and 67 are the rotation supporting member 56. It is transmitted by the sliding ring formed on the contact plate and the contact piece formed on the lower substrate 7, and is sent to the control unit 70.

The power supply unit 49 and the outlet position notification unit 51 are embedded in an integrated wall W. The power line 49 has a power line.
A holding electrode plate 81 to which 82 is connected is formed. The holding electrode plate 81 has a structure in which the open end of a conductive plate folded in two is opened to the outside. Further, the connection electrode rod 80 of the external power supply connection portion 48 is formed of a conductive plate body. The connecting electrode rod 80
Is brought into contact with the open end portion of the holding electrode plate 81, and is further pressed to be inserted and held between the holding electrode plates 81, whereby a mechanical connection is made.

Next, the operation of the mobile work vehicle 1 will be described based on the electric circuit shown in FIG.

The mobile work vehicle 1 has a wheel motor drive unit (7) as a wheel drive means for driving the left and right wheel motors (13) and (14).
6), a vehicle drive control unit (70) that controls the wheel electric motor drive unit (76) to control movement, and a cleaner control drive unit (71) that controls the electric blower (44) and the like. (Ten
1) with external power supply connection (48) and connecting electrode rod (80)
External power source connecting means (102) and power feeding means (104)
An outlet position notifying unit (51) provided as a power supply position notifying unit, an outlet position detecting unit (50) as an external power source connection position detecting unit that detects the position of the outlet position notifying unit (51), and an external power source. Outlet / plug connection detection unit (50) as external power supply connection detection means for detecting electrical contact of the connection means (102) with the power supply means (104)
And an internal power supply device (103) having a storage battery (28).

Then, the vehicle drive control unit (70) and the cleaner control drive unit (71)
Thus, the entire operation of the mobile work vehicle 1 is controlled. The vehicle drive control unit 70 and the vacuum cleaner control / drive unit 71 are formed by a microcomputer in the present embodiment, and a compact high function can be easily obtained. The vehicle drive control unit 70
The main input signal generator to the power cord is the signal input unit 35 formed on the control plate 34 and the power cord from the electric cord reel 31.
A power cord length detection unit 67 and a power cord slack detection unit 66 that detect the pulled-out state of 54, an obstacle detection unit 30 and a collision detection unit 22 that detect a front obstacle during movement, and to perform power supply in the workplace. An outlet position detection unit 52 and an outlet / plug connection detection unit 50 that perform a search for connecting the power cord 54 to the power supply unit 49, and a right wheel position detection unit 17 that detects the positions of the left and right wheels 11, 12 and the travel distance. There are a left wheel position detection unit 18, a floor state detection unit 72 that detects the state of the floor F on which the left and right wheels 11 and 12 travel and the suction tool 23 slides, and a cleaner control / drive unit 71. The control signal from the vehicle drive control unit 70 is a display unit that indicates the operating state and abnormality of the mobile work vehicle 1.
73, a notification unit 74 that indicates an abnormality by light or sound, a reel motor drive unit 75 that stops forward / reverse rotation of the electric cord reels 31, 32, and a forward / reverse rotation stop of the left and right wheel motors 13 and 14. The electric motor power supply switching unit that switches between the wheel motor drive unit 76 to perform and the power supply from the storage battery 28 or the power supply unit 49 to each of the motors 13, 14, 32, and 44 and the power supply to the charging unit 78.
77 and the cleaner control / drive unit 71.

When all the functions of the mobile work vehicle 1 are fully automatic, the signal input unit 35 may have a mere stop switch and a manual operation switch for smooth movement between work sites or during transportation. However, in order to adapt to various workplaces, it is necessary to increase the degree of freedom of movement and work by making it possible to change the program. As a structure for that, 10 key parts, IC card input part, ROM cartridge connection Section, floppy disk insertion / reading section, external input / output terminal, etc. may be formed. By forming the program changing unit, it is possible to appropriately store the movement route between the workplaces, the arrangement and shape of the workplace, and the position of the power supply unit 49, and accordingly, the movement and work of the mobile work vehicle 1 can be performed more smoothly. Can be something.

The display unit 73 and the notification unit 74 display / notify various operating states and abnormalities of the mobile work vehicle 1. For example, the storage battery 28
Capacity and charging time, power supply 49 and external power connection 48
During work with falling, falling off wheels, preventing movement due to unavoidable obstacles (doors, stairs, etc.), displaying dust collection amount of dust collecting part 36 and discarding time, displaying work completed part, displaying work completion and notification And so on.

When the mobile work vehicle 1 moves from the garage to the work place and from the work place to the work place, the storage battery 28 is selected by the motor power supply switching unit 77, and the wheel motor drive unit 76 is supplied with power from the storage battery 28 and collides with the obstacle detection unit 30. The wheel motor drive unit 76 is controlled by the signals from the detection unit 22 and the floor state detection unit 72 to drive the vehicle. When the left and right wheel motors 13 and 14 rotate in the same direction at the same speed, they move forward and backward, and when the speeds differ, they turn to the right and left, and when they rotate in the opposite direction, they change direction. Left and right wheels 1
Since the positions of the front free wheel 19 and the rear free wheel 20 with respect to 1 and 12 are the same, the forward and backward movements can be performed in the same manner, and the traveling loci can be the same.

When arriving at the work place, the mobile work vehicle 1 receives the signal (infrared signal) from the outlet position notification unit 51 at the outlet position detection unit 52 formed in the rear portion, moves backward while judging the position of the power supply unit 49, and The external power supply connection unit 48 is connected to the power supply unit 49. When the external power supply connection unit 48 contacts the power supply unit 49, the power supply is detected by the outlet / plug connection detection unit 50, and it is detected that there is an initial contact, and the signal of the vehicle drive control unit 70 is detected. Then, the mobile work vehicle 70 is retracted straight toward the power supply unit 49 to completely connect the external power supply connection unit 48 to the power supply unit 49. When the external power supply connection part 48 and the power supply part 49 are completely connected, the components of the outlet / plug connection detection part 50 formed by the switch incorporated in the external power supply connection part 48 detect the complete connection, Car drive controller 70
Then, the output signal from the vehicle drive control unit 70 is input to the motor power supply switching unit 77, and the power supply from the storage battery is switched to the power supply from the external power supply connection unit 48.
When the power supply is switched, the same 12 V DC power is supplied to the wheel motor drive unit 76 as the storage battery 28 and the input AC 100 V from the external power supply connection unit 48 to the reel motor drive unit 75 and the cleaner control / drive unit 71. Is charged, and the charging section for charging the storage battery 28
Powered to 78. By supplying power to the charging unit 78, the amount of power consumed by the storage battery 28 is replenished, and when the replenishment is completed, the charging unit automatically stops.

When the mobile work vehicle 1 moves to the work start position and stops, a signal from the vehicle drive control unit 70 is input to the cleaner control / drive unit 71, power supply to the electric blower 44 starts, and cleaning is started.
The separation of the groove portion 47 of the external power supply connection portion 48 from the coupling portion is
This is performed by causing the connecting portion 48 to move in the direction along the groove portion 47 by the rotation of the mobile work vehicle 1. When the external power supply connecting portion 48 is separated from the groove portion 47 and the mobile work vehicle 1 starts traveling, the power cord 54 corresponding to the traveling amount is pulled out from the cord reel 31. Further, the traveling amount, the traveling direction, the pull-out amount and the slack of the power cord 54 are detected by the left and right wheel position detecting units 17 and 18, the power cord length detecting unit 67, and the power cord slack detecting unit 66, and the vehicle drive control unit 70 detects them. A signal is output from the vehicle drive control unit 70 to the reel motor drive unit 75 so that an appropriate amount and slack of the power cord 54 can be judged.

The mobile work vehicle 1 starts work, and its route has various patterns. The most orthodox route is:
Work parallel to the room wall on which the power supply unit 49 is formed, repeat the operation by changing the direction by 180 degrees at a position where it collides with or adjoins the adjacent room wall, and again works parallel to the room wall, facing the facing room wall. It is a normal route to finish the work by performing the work in sequence and being unable to turn back. The route is set as one basic pattern, and if there is an obstacle on its movement, it is detected by the obstacle detection unit 30 and the collision detection unit 22 and the work is performed while changing the direction appropriately.

During the operation of the mobile work vehicle 1, the floor state detection unit 72 detects the state of the floor F, for example, a wooden board floor, a concrete floor, tatami mat, jutan, etc., and the traveling speed of the mobile work vehicle 1 and the control / driving of the cleaner. The part 71 is controlled to switch the suction work rate of the electric blower 44 and the suction tool 23 to a suction tool suitable for the floor F. Suction tool
No. 23 is an orthodox switch for switching the sliding contact brush in and out, and stopping the turbine brush suitable for jutan.

When the work of the mobile work vehicle 1 is completed, the electric blower 44 is stopped, and while moving the power cord 54 around the cord reel 31, it moves toward the power supply unit 49 and the external power connection unit. 48 is connected to the joint of the groove 47. When the connection to the coupling portion is detected, a signal is input to the electric motor power supply switching portion 77 to switch the power supply from the storage battery 28, move the mobile work vehicle 1 forward, and connect the external power supply portion.
Disconnect 48 from power supply 49 and move to the next workplace.

In this embodiment, the contact initial power supply from the power supply unit 49 to the external power supply connection unit 48 is exchanged into a control signal to the vehicle drive control unit 70 at the outlet / plug connection detection unit 50, and the vehicle drive control unit 70 is exchanged. The wheel electric motor drive unit 76 is controlled by the control signal from the vehicle, and the mobile work vehicle 1 is retracted toward the power supply unit 49, and the connection electrode rod 80 is inserted into the holding electrode plate 81 to be connected. Therefore, until completely connected, the operation of switching the power supply from the storage battery 28 by the motor power supply switching section 77 to the power supply by the power supply section 49 is not performed in this embodiment. Further, the connection of the external power supply connection part 48 to the power supply part 49 by pressing is detected and controlled by the switch formed in the external power supply connection part 48 in the present embodiment. Simultaneously with the detection by the unit 50, the running timer incorporated in the vehicle drive control unit 70 may be driven to move backward for a certain period of time. Further, the traveling (backward) after the initial contact may be performed after switching by the electric motor power supply switching unit 77 instead of power supply by the storage battery 28. The power supply unit
When 49 is a commercial power supply (100V AC), a step-down transformer and AC / DC conversion rectification / smoothing circuit are required for the motor power supply switching unit 77, but when the power supply unit 49 is a DC power supply, a step-down transformer or the like is required. Not. The pressing of the external power supply connection portion 48 may be performed not by pressing the mobile work vehicle 1 but by directly pushing out the external power supply connection portion 48.

In the second embodiment shown in FIG. 9, the connecting electrode rod 80 of the external power source connecting portion 48 is formed by arranging a pair of conductive plates in one character. Therefore, the degree of freedom (direction) of inserting and connecting the power supply unit 49 to the holding electrode plate 81 is increased, and the mobile work vehicle 1 can be connected even when the mobile work vehicle 1 is slightly displaced or obliquely retracted.

(G) Effect of the Invention As described above, according to the present invention, the electrical contact of the external power source connecting means to the power feeding means is detected, and the external power source connecting means is pressed against the power feeding means, so that a reliable connection between the two is achieved. Can be done,
Stable power supply and work are performed.

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention. FIG. 1 is a sectional view of an essential part in a contact state between an external power source connecting part and a power supply part, FIG. 2 is a sectional view of an essential part in the same connecting state, and FIG. FIG. 4 is a vertical sectional view showing a main part of the power cord pulled out in the same connection state.
FIG. 5 is a transverse sectional view of VV in FIG. 4, and FIG. 6 is VI-VI in FIG.
FIG. 7 is a horizontal cross-sectional view of the main part in the same state as FIG. 2, FIG. 8 is a block circuit diagram, and FIG. 9 is a perspective view of the main part separated showing the second embodiment. 1 ... Mobile work vehicle, 48 ... External power supply connection part, 49 ... Power supply part, 50 ... Outlet / plug connection detection part

 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Kazuyoshi Tsukamoto 2-18 Keihan Hondori, Moriguchi City, Osaka Sanyo Electric Co., Ltd. (72) Masato Osumi 2-18-18 Keihan Hondori, Moriguchi City, Osaka Sanyo Denki Within the corporation

Claims (1)

[Claims] 1. Working means (101) and wheel driving means (76)
An external power source connecting means (102) and a power feeding position detecting means (5
2), an external power supply connection detection means (50), a vehicle drive control means (70), and an internal power supply device (10) having a storage battery (28).
3) A mobile work vehicle including: the wheel drive means (76) is supplied with electric power from the external power supply connection means (102) or the internal power supply device (103), and is connected to the external power supply connection means (102). Is connectable to one or one of a plurality of power supply means (104) provided in the transition area, and the power supply position detection means (52) is a power supply position notification means provided in the power supply means (104). The position of (51) is detected, and the external power supply connection detecting means (50) is connected to the external power supply connecting means (10
The vehicle drive control means (70) detects the electrical contact of the power feeding means (104) of (2), and the wheel drive means (76) controls the internal power supply device (76) based on the output of the power feeding position detection means (52). Ten
It is driven by the power of 3) and self-propelled to a predetermined power supply means (104), and the external power supply connection means (102) is connected to the power supply means (104), and the external power supply connection detection means (50) connects the external power supply. A mobile work vehicle that detects electrical contact of the means (102) with the power supply means (104) and then controls the vehicle to travel in a direction toward the power supply means (104).