JP3586955B2 - Electric vehicle charging system - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a charging system for charging an electric vehicle.
[0002]
[Prior art]
Conventionally, a configuration practically used as this type of charging system is as shown in FIG. The vehicle body of the electric vehicle 1 is provided with a vehicle-side connector 2 connected to a power battery, to which a power supply connector 3 is connected from outside the vehicle. The power supply connector 3 is provided at the end of a cable 5 from a charging power supply 4 installed outside the vehicle. Electric power from the charging power supply 4 is supplied to the power battery through both connectors 2 and 3 to perform charging. Be done.
[0003]
[Problems to be solved by the invention]
In the above-described charging system, it is necessary to take out the power supply connector 3 from the charging facility, carry it out to the automobile 1 while pulling out the cable 5, open the connector cover 1a of the vehicle body, and connect it to the vehicle-side connector 2. It is quite troublesome.
In addition, since the conventional charging connector has a configuration in which terminals are fitted to each other to establish an energizing path, the resistance of the fitting operation is large, and it is necessary to perform the fitting operation of the connector with a relatively large force. Further, there is a problem that a function of preventing a current leak due to water droplets such as rainwater must be provided.
[0004]
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an electric vehicle charging system that can easily charge an electric vehicle.
[0005]
[Means for Solving the Problems and Functions / Effects]
<Invention of claim 1>
In order to achieve the above object, the invention according to claim 1 is a system for charging a power storage device by electromagnetically coupling a primary coil connected to an external power supply to a secondary coil connected to a power storage device of an electric vehicle. A coil position detecting means for detecting a positional relationship between the primary coil and the secondary coil, and a driving unit, wherein at least one of the primary coil and the secondary coil is at an arbitrary position. A coil moving unit that moves, and a control unit that controls a drive unit of the coil moving unit based on a detection result of the coil position detecting unit to guide the two coils to a position where they are magnetically coupled.The coil position detecting means is arranged such that three magnetic sensors divide a circle surrounding the primary coil into three on the primary coil side, excites the secondary coil, and detects the three magnetic sensors. The positional relationship between the primary coil and the secondary coil is detected based on the result of the comparison of the magnetic field strengths.
[0006]
With such a configuration, the coil is guided to the electromagnetic coupling position while detecting the position of the coil, so that the coils are not electromagnetically coupled in a displaced state. Therefore, charging operation with good energy transmission efficiency can be performed.
With such a configuration, it is originally provided for power transmissionSecondary coilCan be used to detect the positional relationship between the two coils, so that the number of components can be reduced and the cost can be reduced.
[0008]
In such a configuration,Three magnetic sensors are arranged on the primary coil side so as to divide a circle surrounding the primary coil into three equal parts.Therefore, the detection result of the magnetic field strength detected by each magnetic sensor differs depending on the distance and direction between both coils. Therefore, from the different detection results and the positional relationship between the magnetic sensors, the positional relationship with the secondary coil can be detected by calculation.
<Claim2Invention>
Claim2The invention according to the aboveClaim 1In the electric vehicle charging system ofThe coil moving means includes a body installed on a parking floor and supporting a primary coil, an X-axis driving means for linearly moving the body in a predetermined direction, and moving the body in a direction orthogonal to the X-axis driving means. Y-axis driving means for linearly moving, wherein two magnetic sensors among the three magnetic sensors are arranged along one of two linear moving directions in the coil moving means, and the remaining one magnetic sensor is It is characterized by being arranged on a straight line along the other of the two linear movement directions and passing through an intermediate position between the two magnetic sensors.
[0009]
Claims above2With this configuration, the primary coil can be freely moved to a required position by the two types of driving means, and the rectangular coordinates are formed. Therefore, arithmetic processing in the control means of these driving means is easy.
<Claim3Invention>
Claim3The invention according to the aboveClaim 1In the electric vehicle charging system ofThe coil moving means includes a body for supporting a primary coil, a pair of concentric running wheels provided on the body for running the body on a parking floor, and a pair of concentric running wheels controlled by the control means. A pair of drive mechanisms for driving each of the running wheels, wherein when the pair of running wheels are driven in the same manner, they go straight, and when they are driven differently, the directions change. Of the magnetic sensors, two magnetic sensors are arranged along the arrangement direction of the pair of traveling wheels, and the other magnetic sensor is arranged on a straight line along the straight traveling direction and passing an intermediate position between the two magnetic sensors. It is characterized by being arranged in.
[0010]
Claims3With this configuration, the body provided with the primary coil travels on the parking floor toward the secondary coil. Therefore, the present invention can be adopted without extensive modification to existing parking facilities.
<Invention of Claim 4>
The invention according to claim 4 is a system for charging a power storage device by electromagnetically coupling a primary coil connected to an external power supply to a secondary coil connected to a power storage device of an electric vehicle, wherein the primary coil and the secondary coil are connected to each other. Coil position detecting means for detecting the positional relationship with the next coil, and a coil moving means, comprising a driving unit, to move at least one of the two coils of the primary coil and the secondary coil to an arbitrary position, Control means for controlling a drive unit of the coil moving means based on the detection result of the coil position detecting means to guide the two coils to a position where the coils are magnetically coupled, wherein the coil position detecting means comprises: A primary coil is excited at a predetermined frequency, and the primary coil and the secondary coil are excited based on a phase difference between a load current of the primary coil and an excitation voltage due to a mutual induction action with the secondary coil. Electrical charging system for a motor vehicle, characterized in that the arrangement for detecting the positional relationship between Le.
According to the configuration of claim 4, when the primary coil is excited, the phase of the current flowing in the primary coil differs according to the degree of magnetic coupling between the primary coil and the secondary coil. By measuring, the distance between the primary and secondary coils can be detected.
[0011]
BEST MODE FOR CARRYING OUT THE INVENTION
<First embodiment>
Hereinafter, a first embodiment of the present invention will be described with reference to FIGS.
FIG. 1 shows a state where an electric vehicle E enters a parking lot provided with a charging system according to the present invention.
In the electric vehicle E, a battery 21 as a power storage device is used as a main power supply source, and power is supplied from the battery 21 so that a driving motor and various electric devices function. A secondary coil 20 is connected to the battery 21 via a charging circuit 22. The battery 21 is charged by converting an alternating current induced in the secondary coil 20 into rectification.
[0012]
The secondary coil 20 is formed in a flat disk shape formed by winding an electric wire around a magnetic core made of, for example, ferrite, and is housed in a protective case made of, for example, a synthetic resin material. As shown in FIG. The magnetic core is mounted so as to face the ground at the bottom of the vehicle body with the axial direction of the magnetic core oriented vertically. The secondary coil 20 is excited at a predetermined frequency based on the operation of an operation unit provided in the electric vehicle E to form an alternating magnetic field for position detection.
On the other hand, a recess A is formed on the floor of the parking lot, and a coil moving device 30 (coil moving means) for movably supporting the primary coil 10 is provided inside the recess A. The width of the recess A is such that the left and right wheels of the electric vehicle E are straddled, and the length of the recess A is approximately half of the length of the electric vehicle E.
[0013]
As shown in FIG. 3, the coil moving device 30 in the recess A forms a so-called XY table that is moved by two slide drive units 31 in which the direction of driving the flat box-shaped body 40 is orthogonal. ing.
Hereinafter, the two slide drive units will be distinguished from each other by adding x and y to the reference numerals (31 to 37), and when x and y are not added, the two will be generically referred to and their configurations will be described.
The slide drive unit 31 includes a pair of rails 32 supported so as to be parallel, and a slider 33 that linearly moves on each rail 32 with low friction. A ball screw mechanism is provided between the pair of rails 32 so as to be parallel to the rail 32. The female screw portion 34 is attached to the object supported by the slider 33, and the male screw portion 35 is attached to the rotating shaft of the motor 36. It is connected. The housing of the motor 36 is fixed to the side supporting the rail 32, and the driving force acts to slide the object supported by the slider 33 along the rail 32.
[0014]
In the coil moving device 30, the rail 32x of one slide drive unit is fixed to the bottom surface in the recess A to form an X-axis drive unit 31x, and the rail 32y of another slide drive unit is perpendicular to the X-axis drive unit 31x. The Y-axis drive unit 31y is supported by the slider 33x of the X-axis drive unit 31x. A thin box-shaped body 40 is supported on the slider 33y of the Y-axis drive unit 31y, and the body 40 can be moved to an arbitrary position with respect to the floor of the parking lot by moving both drive units 31x and 31y. It has become. The driving direction of the X-axis drive unit 31x is a direction in which the electric vehicle E enters in the parking lot as shown in FIG. 1 (here, for convenience, the direction of each drive unit is simply X. Direction, Y direction).
[0015]
As shown in FIG. 4, the body 40 has a circular opening 41 on the upper surface, the primary coil 10 is provided inside the circular opening 41, and three magnetic sensors 50 (coil position detecting means) are provided on the periphery. . In addition, a pantograph 43 that can be expanded and contracted by driving the motor 42 shown in FIG. 5 is provided inside the body 40, one end of which is attached to the bottom surface of the body 40 and the other end is attached to the lower surface of the primary coil 10, and FIG. As shown, the primary coil 10 can be moved up and down.
The primary coil 10 is formed in a flat plate shape formed by winding an electric wire around a ferrite core, for example, and is housed in a circular protective case made of a synthetic resin material, for example. The outer diameter of this protective case is so large that it is just fitted with a slight gap in the opening 41. That is, the circle in which the primary coil 10, the opening 41, and the magnetic sensor are provided is concentric. A circle (L1 in FIGS. 3 and 5) connecting three magnetic sensors 50, which will be described in detail later, is also arranged so as to divide the concentric circle from the opening 41 into three equal parts.
[0016]
The pantograph 43 has a structure in which gears 44 and 45 are provided in a part thereof so as to be symmetrically movable, so that the pantograph 43 can expand and contract in the vertical direction, and the motor 42 is connected to one of the gears to transmit the driving force. ing. The motor 42 is provided with a speed reducer 42a so that an appropriate driving force can be generated. In this embodiment, the pantograph 43 is used to move the primary coil 10 up and down. However, a pantograph using a ball screw or an air-driven cylinder may be used.
For example, the three magnetic sensors 50 are formed by molding a small coil around which an electric wire is wound with a synthetic resin material, and can detect the magnetic field strength by an electromotive force induced in the small coil. One of the magnetic sensors 50 is provided on a line in the Y direction (L2 in FIGS. 3 and 5) passing through the center of the primary coil 10 and is divided into three equal parts on the periphery of the opening 41 as described above. I have. (Hereinafter, the one located on the line L2 will be referred to as the magnetic sensor 50a, and the other two clockwise from the magnetic sensor 50a will be referred to as the magnetic sensors 50b and 50c.)
The basic principle of this coil position detection is as follows.
[0017]
As shown in the schematic diagram of FIG. 7, when the electric vehicle E is stopped in a parking lot and its secondary coil 20 is excited to generate a magnetic field, the distance (R1, R2 shown) from the secondary coil 20 differs. The detected magnetic field strength differs between the sensors (S1, S2 in the figure). When the body 40 is moved in the direction of the magnetic sensor S1 that has strongly detected the magnetic field strength, as shown in FIG. 8, the magnetic sensors S1 and S2 are positioned at an equal distance (R1 = R2) from the secondary coil 20. , The detected magnetic field strengths match. When this is applied between the three magnetic sensors 50a, 50b, and 50c of the present embodiment, when the magnetic field intensities of the respective sensors match, a circle connecting the three magnetic sensors and a concentric circular primary coil 10 and secondary coil 20 will face directly.
[0018]
The magnetic sensor is not limited to the coil type described above, but may be a Hall element, a magnetoresistive element, or the like.
As described above, the primary coil 10, the three magnetic sensors 50, and the signal lines or power lines of the motors (36x, 36y, 42) of the respective parts are arranged inside the external power supply 11 as shown in the block diagram of FIG. The main controller 12 (control means) or power supplies 13a to 13e are connected (the magnetic sensor is via the amplifier 14), and the signals detected by the magnetic sensor 50 are processed by the main controller 12 to operate each part. . The algorithm of the data processing in the main controller 12 will be described below together with the charging procedure of the present embodiment.
[0019]
The electric vehicle E enters the parking lot (FIG. 1), parks so as to straddle the recess A with left and right wheels (FIG. 10), and puts the secondary coil 20 in a state ready for charging at the operation unit of the electric vehicle E. Switch.
Then, the secondary coil 20 is excited, and a predetermined alternating magnetic field is formed in the parking lot. Here, if the secondary coil 20 and the primary coil 10 do not correctly face each other, the distances Ra, Rb, Rc from the three magnetic sensors 50a, 50b, 50c to the secondary coil 20 are different, and the magnetic sensor 50 The detected magnetic field intensity will also be different.
The different detection results are compared in main controller 12 as follows, and coil moving device 30 is driven based on the comparison result.
First, a comparison is made between the magnetic sensors 50b and 50c arranged in the X direction in order to correct the displacement of both coils in the X direction. The primary coil 10 is moved by the X-axis drive unit 31x in the direction of the magnetic sensor 50c, which has detected the magnetic field strength strongly, until there is no difference between the detection results. Then, as shown in FIG. 11, when the primary coil 10 and the secondary coil 20 are located on the same line in the Y direction, that is, when there is no displacement in the X direction, the two magnetic sensors 50b and 50c , The same distance (Rb = Rc), and the X-axis drive unit 31x stops.
[0020]
Next, in order to correct the displacement in the Y direction, the detection results of the magnetic sensor 50b (or 50c) and the magnetic sensor 50a are compared, and the Y-axis drive unit 31y is driven in the same manner as described above. Then, as shown in FIG. 12, the distance between the two magnetic sensors and the secondary coil 20 becomes equal at the position where the primary coil 10 and the secondary coil 20 face each other, and the Y-axis drive unit 31y stops.
At this position, when the main controller confirms that the detection results of the three sensors are equal (if not equal, the position is re-aligned), the motor 42 is driven to change the pantograph 43 as shown in FIGS. Extend it upward and bring the protective cases of both coils into contact with each other. At this time, the current value of the motor 42 is fed back to the main controller 12 to prevent the coils from being forcibly pressed. When the contact between the coils is recognized by the feedback of the current value, the primary coil 10 is excited. On the side of the electric vehicle E, the charging circuit 22 recognizes from the voltage generated in the secondary coil 20 by the magnetic field of the primary coil 10 that the charging preparation has been completed. Charging is done.
[0021]
When the charging of the battery 21 is completed, the secondary coil 20 is excited again to generate a magnetic field. On the primary coil 10 side, the change in the magnetic field caused by the change is sensed by the sensor 50, the excitation is terminated, and the primary coil 10 is lowered. Thus, the charging operation of one electric vehicle E is terminated.
Subsequently, when another electric vehicle is stopped in the parking lot, the primary coil 10 and the secondary coil 20 are electromagnetically coupled and charged in the same manner. At this time, since the magnetic sensor 50 detects the location of the secondary coil 20, it is possible to cope with any electric vehicle without human intervention. For example, a parking lot for charging can be operated unattended.
[0022]
<Second embodiment>
This embodiment is a system in which a self-propelled vehicle 60 equipped with a primary coil is used as a coil moving unit, and guides the same primary coil to a position where it is electromagnetically coupled to a secondary coil. Hereinafter, the contents will be described with reference to FIGS.
FIG. 15 shows a state in which the electric vehicle E enters a parking lot provided with the above system.
A self-propelled vehicle 60 connected to the external power supply device 11 is on standby on the floor of the parking lot. The self-propelled vehicle 60 is provided with four wheels on the lower surface side of a flat box-shaped car body 61 so as to be able to travel on a parking floor. These four wheels are composed of large front wheels 62, 62 and small rear wheels 63, 63, as shown in FIGS. 16 and 17, and the front wheels 62, 62 are separately provided as shown in FIG. Motors 64, 64 are connected via speed reducers 64a, 64a so that the wheels can be freely changed in direction. Therefore, if the left and right front wheels 62, 62 are driven in the same manner, the self-propelled vehicle 60 can go straight, and if they are driven differently, the self-propelled vehicle 60 can change direction.
[0023]
As shown in FIG. 19, an opening 65 is formed on the upper surface of the car body 61, in which the primary coil 10 is arranged, and three magnetic sensors 50 are arranged in three parts on the periphery thereof. As shown in FIG. 17, the primary coil 10 and the magnetic sensor 50 are arranged symmetrically with respect to the center line (M in the drawing) in the width direction of the wheel. One (magnetic sensor 50a) is located in front of the car body 61 on its center line. Further, a pantograph 43 and a drive motor 42 thereof are provided in the car body 61 similarly to the first embodiment, so that the primary coil 10 can be moved up and down.
[0024]
The driving motors 64, 64, the driving motor 42 of the pantograph 43, and the power lines or signal lines of the primary coil 10 described above are bundled together from the back of the car body 61 and extend to the external power supply 11. I have.
The remaining structure is the same as that of the first embodiment, and the same portions are denoted by the same reference numerals, without redundant description, and the operation of the charging system will be described.
The electric vehicle E enters the parking lot, and is parked at an appropriate position in front of the self-propelled vehicle 60 waiting on the parking floor behind (FIGS. 20, 23). Then, the secondary coil 20 is switched to the charging preparation state by the operation unit of the electric vehicle E to form an alternating magnetic field for position detection.
[0025]
Then, a magnetic field is also applied to the three magnetic sensors 50 provided in the self-propelled vehicle 60, and each detects the strength of the magnetic field. The detection result is compared in the main controller 12 as follows, and the coil moving device 30 is driven based on the result.
First, in order to determine the direction in which the self-propelled vehicle 60 moves forward, the detection results of the two magnetic sensors 50b and 50c arranged in the rear of the car body 61 (the magnetic sensors 50b and 50c are clockwise from the magnetic sensor 50a) are compared. . Then, the front wheel 64, which is the drive wheel for the magnetic sensor 50b which has detected the magnetic field intensity weakly, is rotated forward until the difference in the intensity disappears. Then, the self-propelled vehicle 60 stops in the direction of the secondary coil 20 as shown in FIG.
[0026]
Next, the detection results of the magnetic sensor 50a and the magnetic sensor 50b (or 50c may be 50c) behind the car body 61 are compared, and the left and right drive wheels are rotated forward until the difference between the two detection results is eliminated. To move forward. Then, as shown in FIGS. 22 and 24, the primary coil 10 and the secondary coil 20 stop at a position where they face each other.
At this position, the pantograph 43 is extended upward to bring the protective cases of both coils into contact with each other (FIG. 25), and the charging operation described above is performed. When the charging operation is completed, the drive motors 64, 64 are moved in the reverse order to move the self-propelled vehicle 60 to the original position. Subsequently, when another electric vehicle is stopped at the parking lot, the primary coil and the secondary coil are similarly electromagnetically coupled and charged.
[0027]
As described above, in the present embodiment, the electric vehicle E may be stopped just before the self-propelled vehicle 60, and there are few restrictions on parking, so that parking becomes easy. In addition, when the charging operation is not performed, the self-propelled vehicle 60 can be lowered to the standby position, and no space is required for the charging equipment. Further, the present invention can be adopted without major modifications to existing parking facilities.
<Other embodiments>
The present invention is not limited to the above-described embodiments, and, for example, the following embodiments are also included in the technical scope of the present invention. Various modifications can be made.
(1) Coil position detecting means
The above-described coil position detecting means detects the position of the coil using a magnetic sensor. For example, a light source is provided on the secondary coil side, and a plurality of optical sensors are provided on the primary coil side. May be detected. Alternatively, a source of a radio wave may be provided on the secondary coil side, and the position of the coil may be detected based on the source. However, if a magnetic field is used, a position detection magnetic field can be formed using a charging coil, so that a new light source and a radio wave transmission source need not be provided, thereby reducing costs. Can be.
[0028]
In addition, as described below, the number of magnetic sensors is not limited to a plurality, and even a single magnetic sensor can guide a primary coil to a coupling position with a secondary coil. That is, the magnetic field strength detected by the magnetic sensor is inversely proportional to the distance from the secondary coil. Therefore, the primary coil is experimentally moved a predetermined distance in a predetermined direction, and as a result, if the magnetic field intensity detected by the magnetic sensor is weak, the primary coil is moved in a direction inverted by 180 degrees, and if the magnetic field strength is strong, the primary coil is moved in that direction. By doing so, the magnetic field is always moved in the direction in which the magnetic field intensity becomes strong. Next, by repeatedly moving the test coil in the direction changed by 90 degrees, finding the direction in which the magnetic field intensity becomes stronger as described above, and moving in that direction, the primary coil becomes a zigzag secondary coil. They approach each other and finally reach the position of connection with the secondary coil.
[0029]
Further, the primary coil can be used as a magnetic sensor for position detection in the following manner. That is, when the electric vehicle is parked, the secondary coil is excited at a predetermined frequency to generate an alternating magnetic field for position detection. When this magnetic field reaches the primary coil, an electromotive force of the same frequency is induced in the primary coil, and the intensity is inversely proportional to the distance from the primary coil of the secondary coil. Therefore, the intensity of the magnetic field formed by the secondary coil can be measured by measuring the induced electromotive force induced in the primary coil, and thus the distance from the secondary coil can be measured.
Further, in the following manner, the generation of the alternating magnetic field for position detection by the secondary coil can be omitted. When the electric vehicle is parked, the primary coil is excited at a predetermined frequency. Then, since the magnetic flux from the primary coil links to the secondary coil, an induced electromotive force is generated in the secondary coil. At this time, if an appropriate load is connected to the secondary coil, the load current flows through the secondary coil, and accordingly, the load current also flows through the primary coil by the mutual induction action. The phase difference between the primary load current and the excitation voltage depends on the degree of coupling between the two coils, that is, the distance between the two coils. The closer the distance between the two coils, the higher the degree of magnetic coupling. The phase difference between the coil and the excitation voltage is reduced. Therefore, the distance between both coils can be measured by measuring the phase difference.
(2) Coil moving means
In addition to the above-described coil moving means, for example, as shown in FIG. 26, a manipulator 70 may be used, and the primary coil 10 and the magnetic sensor 50 may be provided at the tip thereof. With such a configuration, even if the secondary coil on the side of the electric vehicle E is provided on the side surface or the ceiling surface of the vehicle body, it can be handled by changing the mounting position of the manipulator. Further, if the number of drive shafts of the manipulator itself is increased, it is possible to cope without changing the mounting position.
[0030]
Further, the coil moving means does not necessarily have to be configured to move only the primary coil side. For example, as shown in FIG. 27, the secondary coil 20 on the side of the electric vehicle E is also provided with a rotating lever 80 as a coil moving means, so that the secondary coil 20 is moved and the primary coil 10 is also moved. May be used. Further, a large displacement may be performed by the coil moving means on the electric vehicle E side, and fine positioning may be performed by the coil moving means on the parking lot side.
(3) Control means
The above-mentioned control means compares the three sensors two by two and separates the coil movement means into two stages (shift in two directions of X and Y in the first embodiment, direction and distance in the second embodiment). For example, instead of dividing it into two stages, three sensors can be compared at once and continuously controlled, or the shortest path to the target position can be calculated based on the detection result that changes as the sensors move. The positioning may be performed as follows.
[Brief description of the drawings]
FIG. 1 is a perspective view showing a first embodiment of the present invention.
FIG. 2 is a partially cutaway side view showing an attached state of a secondary coil in the electric vehicle.
FIG. 3 is a perspective view showing a coil moving unit of the first embodiment.
FIG. 4 is a sectional view taken along a line IV-IV in FIG. 3;
FIG. 5 is a sectional view taken along a line VV in FIG. 4;
FIG. 6 is a perspective view showing a state where a pantograph is extended and a primary coil is raised.
FIG. 7 is a schematic diagram showing a state where magnetic sensors a and b are located at different distances.
FIG. 8 is a schematic diagram showing a state where magnetic sensors a and b are located at the same distance.
FIG. 9 is a block diagram illustrating a system configuration according to the first embodiment.
FIG. 10 is a plan view showing a state in which a primary coil of the coil moving means is separated from a secondary coil of the electric vehicle.
FIG. 11 is a plan view showing a state in which the same primary coil and the secondary coil are not displaced in the X direction.
FIG. 12 is a plan view showing a state in which the same primary coil and the secondary coil are not displaced in the Y direction.
FIG. 13 is a perspective view showing a state where the same primary coil and the secondary coil are in contact with each other.
FIG. 14 is a side view showing a state where the same primary coil and the secondary coil are in contact with each other.
FIG. 15 is a perspective view showing a second embodiment of the present invention.
FIG. 16 is a side view showing a self-propelled vehicle as a coil moving means.
FIG. 17 is a plan view showing the self-propelled vehicle.
18 is a sectional view taken along line XVIII-XVIII in FIG.
19 is a sectional view taken along the line XVIIII-XVIIII in FIG. 16;
FIG. 20 is a plan view showing a state in which a primary coil of the self-propelled vehicle is separated from a secondary coil of the electric vehicle.
FIG. 21 is a plan view showing a state in which the direction of the self-propelled vehicle is directed to the secondary coil side.
FIG. 22 is a plan view showing a state where the primary vehicle is moved below the secondary coil by moving the self-propelled vehicle forward.
FIG. 23 is a side view showing a state in which a primary coil of the self-propelled vehicle is separated from a secondary coil of the electric vehicle.
FIG. 24 is a side view showing a state where the primary vehicle is moved below the secondary coil by moving the self-propelled vehicle forward.
FIG. 25 is a side view showing a state where the primary coil and the secondary coil are in contact with each other.
FIG. 26 is a perspective view showing a first modification of the coil moving means as another embodiment.
FIG. 27 is a perspective view showing a second modification of the coil moving means as another embodiment.
FIG. 28 is a side view showing a conventional charging system.
[Explanation of symbols]
10 ... primary coil
11 External power supply
12 Main controller
20 Secondary coil
21 ... Battery
30 ... Coil moving device
31x ... X-axis drive unit
31y ... Y-axis drive unit
40 ... body
50 ... magnetic sensor
50a, 50b, 50c ... magnetic sensor
60… Self-propelled car
61 ... Car body
62 ... front wheel
63 ... rear wheel

Claims (4)

A system for charging a power storage device by electromagnetically coupling a primary coil connected to an external power source to a secondary coil connected to a power storage device for an electric vehicle,
Coil position detecting means for detecting a positional relationship between the primary coil and the secondary coil,
A coil moving unit that includes a driving unit and moves at least one of the primary coil and the secondary coil to an arbitrary position.
Control means for controlling a driving unit of the coil moving means based on the detection result of the coil position detecting means to guide the two coils to a position where they are magnetically coupled ,
The coil position detecting means is disposed such that three magnetic sensors divide a circle surrounding the primary coil into three on the primary coil side,
A charging device for an electric vehicle, wherein the secondary coil is excited, and a positional relationship between the primary coil and the secondary coil is detected based on a comparison result of magnetic field strengths detected by the three magnetic sensors. system. The coil moving means includes a body installed on a parking floor and supporting a primary coil, an X-axis driving means for linearly moving the body in a predetermined direction, and moving the body in a direction orthogonal to the X-axis driving means. Y-axis driving means for linearly moving,
  Of the three magnetic sensors, two magnetic sensors are arranged along one of two linear moving directions in the coil moving unit, and the other magnetic sensor is arranged in the other direction of the two linear moving directions. The charging system for an electric vehicle according to claim 1, wherein the charging system is arranged along a straight line that passes along an intermediate position between the two magnetic sensors. The coil moving means includes a body for supporting a primary coil, a pair of concentric running wheels provided on the body for running the body on a parking floor, and a pair of concentric running wheels controlled by the control means. A pair of drive mechanisms for driving each of the traveling wheels, wherein the pair of traveling wheels are driven in the same manner, go straight, and are driven in different directions to change directions,
  Of the three magnetic sensors, two magnetic sensors are arranged along the arrangement direction of the pair of traveling wheels, and the other one is along the straight traveling direction and passes an intermediate position between the two magnetic sensors. The charging system for an electric vehicle according to claim 1, wherein the charging system is arranged on a straight line. A system for charging a power storage device by electromagnetically coupling a primary coil connected to an external power source to a secondary coil connected to a power storage device for an electric vehicle,
  Coil position detecting means for detecting a positional relationship between the primary coil and the secondary coil,
  A coil moving unit that includes a driving unit and moves at least one of the primary coil and the secondary coil to an arbitrary position.
  Control means for controlling a driving unit of the coil moving means based on a detection result of the coil position detecting means to guide the two coils to a position where they are magnetically coupled,
The coil position detecting means excites the primary coil at a predetermined frequency, and based on a phase difference between a load current of the primary coil and an excitation voltage due to a mutual induction action with the secondary coil, the primary coil and the secondary coil are excited. A charging system for an electric vehicle, which is configured to detect a positional relationship with a next coil.

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