US 12,325,317 B2
Autonomous work system and autonomous work machine
Katsumi Matsushita, Kyoto (JP); Hiroyuki Mino, Kyoto (JP); and Atsushi Nomura, Kyoto (JP)
Assigned to OMRON CORPORATION, Kyoto (JP)
Filed by OMRON Corporation, Kyoto (JP)
Filed on Sep. 20, 2023, as Appl. No. 18/470,440.
Claims priority of application No. 2022-159251 (JP), filed on Oct. 3, 2022.
Prior Publication US 2024/0109445 A1, Apr. 4, 2024
Int. Cl. B60L 53/36 (2019.01); A01D 34/00 (2006.01); A01D 34/78 (2006.01); A01D 101/00 (2006.01); B60L 53/12 (2019.01); B60L 53/38 (2019.01); H02J 50/10 (2016.01); H02J 50/90 (2016.01)
CPC B60L 53/36 (2019.02) [A01D 34/008 (2013.01); A01D 34/78 (2013.01); B60L 53/12 (2019.02); B60L 53/38 (2019.02); H02J 50/10 (2016.02); H02J 50/90 (2016.02); A01D 2101/00 (2013.01); B60L 2200/40 (2013.01)] 10 Claims
OG exemplary drawing
 
1. An autonomous working system, comprising:
a charging station including a power transmitter unit for wireless power transfer; and
an autonomous work machine including
a travelling body,
a motor to propel the travelling body,
a battery to supply electric power to the motor, and
a power receiver unit for the wireless power transfer,
the autonomous work machine being configured to perform a predetermined task while autonomously traveling and to move to the charging station to charge the battery by the wireless power transfer,
the power transmitter unit including a power-transmitting coil arranged to be parallel to an installation surface on which the charging station is supported when the charging station is supported on the installation surface,
the power receiver unit including a power-receiving coil arranged to be parallel to the installation surface when the autonomous work machine is supported on the installation surface, and
the autonomous work machine being configured to move to the charging station such that the power-receiving coil is positioned above the power-transmitting coil to wirelessly charge the battery,
wherein the charging station includes a sensor that detects a slope angle of the installation surface when the charging station is supported on the installation surface, and
the autonomous work machine is configured to acquire the slope angle detected by the sensor and to determine an approach direction to the charging station based on the slope angle.