CN108473067A - Movable body system - Google Patents

Movable body system Download PDF

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Publication number
CN108473067A
CN108473067A CN201680076754.2A CN201680076754A CN108473067A CN 108473067 A CN108473067 A CN 108473067A CN 201680076754 A CN201680076754 A CN 201680076754A CN 108473067 A CN108473067 A CN 108473067A
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CN
China
Prior art keywords
power
capacitor
power transmission
voltage
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
CN201680076754.2A
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Chinese (zh)
Inventor
加藤昌树
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Nidec Corp
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Nidec Corp
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Filing date
Publication date
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Publication of CN108473067A publication Critical patent/CN108473067A/en
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
    • B60M7/00—Power lines or rails specially adapted for electrically-propelled vehicles of special types, e.g. suspension tramway, ropeway, underground railway
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

By comparing simple structure electric power is transmitted to moving body in a non-contact manner.Moving body is driven by the electric power wirelessly transmitted from the wireless power transmission device with power transmission resonator.The moving body has：By electrical resonator；Rectifier is converted to described direct current power by the AC power that electrical resonator receives and exported；Capacitor accumulates the electric power exported from the rectifier；Motor is acted using the electric power accumulated in the capacitor, and the moving body is made to move；DC DC converters will be supplied to the motor after the boost in voltage or decompression that the capacitor exports；And power control circuit, the DC DC converters are controlled according to the voltage for being provided to the motor, in a period of providing electric power to the motor from the capacitor, so that the step-up ratio of the DC DC converters is increased, or step-down ratio is made to reduce.

Description

Movable body system
Technical field
This application involves the movable body systems to transmit electric power in a non-contact manner to the moving body with capacitor.
Background technology
Patent document 1 discloses in a non-contact manner to unmanned waggon (Automated Guided Vehicle： AGV) the example for the system powered.Within the system, it is coupled from for electric installation by electromagnetic induction and transmits electromagnetic energy to AGV. The electromagnetic energy is converted to direct current power by AGV, is supplied to the parallel circuit of battery and capacitor.Capacitor is disclosed in short-term It is interior to be electrically charged, it also charges from capacitor to battery after the charging complete.
Patent document 2 discloses following method：To the resonance of resonator system frequency in the non-contact power transmission using resonance method Rate and impedance both sides are adjusted.In the method, first, by controlling the variable condenser being connect with secondary self-resonant coil Capacity adjust the resonant frequency of secondary self-resonant coil.Then, by controlling the impedance matching box being connect with secondary coil To adjust the input impedance of resonator system, wherein the secondary coil receives electricity by electromagnetic induction from secondary self-resonant coil Power.
Patent document 3 is disclosed with the different power transmission inductor of size and by the Wireless power transmission system of electric inductor Example.It discloses the following contents：The inductor of power transmission inductor and the smaller side of size in by electric inductor will be constituted The resistance value of per unit length of at least part wiring be set as, less than the wiring of the inductor of a larger-size side Resistance value.
Existing technical literature
Patent document
【Patent document 1】Japanese Unexamined Patent Publication 2008-137451 bulletins
【Patent document 2】No. 2012/111085 specification of International Publication No.
【Patent document 3】No. 2011/125328 specification of International Publication No.
Invention content
Problems to be solved by the invention
In a manner of wireless (non-contact) to unmanned waggon etc. more small-sized and light weight moving body transmit electric power be In system, it is desirable that make as possible simple in structure.
Embodiment of the present disclosure, which provides, to convey electricity to moving body in a non-contact manner with fairly simple structure The new movable body system of power.
The means used to solve the problem
The movable body system of one mode of the disclosure has wireless power transmission device and by being filled from the wireless power transmission Set the electric power wirelessly transmitted and driven moving body.The wireless power transmission device has：Inverter circuit, will be from The direct current power that DC power supply provides is converted to AC power；Power transmission resonator, the institute that will be exported from the inverter circuit At least part for stating AC power passes out to space；1st detector detects the electricity flowed through in the power transmission resonator Stream；And power transmission control circuit, according to the detected electric current, the exchange to being exported from the inverter circuit The frequency of electric power is controlled.The moving body has：By electrical resonator, can by magnetic field resonance or electromagnetic induction with The power transmission resonator coupling；Rectifier is connect with described by electrical resonator, by the exchange received by electrical resonator Electrical power conversion exports for direct current power；Capacitor accumulates the electric power exported from the rectifier；Motor, described in use The electric power accumulated in capacitor is acted, and the moving body is made to move；DC-DC converter is connected to the capacitor Between the motor, the voltage exported from the capacitor is subjected to boost or depressurization and is supplied to the motor；2nd detection Device, detection are provided to the voltage of the motor；And power control circuit, it is controlled according to the detected voltage The DC-DC converter, and in a period of providing electric power to the motor from the capacitor, the DC-DC is made to convert The step-up ratio of device increases or the step-down ratio of the DC-DC converter is made to reduce.
Above-mentioned blanket or specific mode can pass through system, method, integrated circuit, computer program or recording medium To realize.Alternatively, can by system, device, method, integrated circuit, computer program and recording medium it is arbitrary combination come It realizes.
The effect of invention
According to embodiment of the present disclosure, movable body system can be with fairly simple structure in a non-contact manner to shifting Kinetoplast transmits electric power.
Description of the drawings
Fig. 1 is the figure of the summary of the movable body system for illustrating embodiment 1.
Fig. 2 is the stereogram of an example for the moving body 200 for schematically illustrating embodiment 1.
Fig. 3 is the vertical of an example of the configuration relation of the power transmission coil unit 105 and power receiving coil unit 205 when showing charging Body figure.
Fig. 4 is the block diagram of the structure for the movable body system for showing embodiment 1.
Fig. 5 is the figure for the configuration example for showing inverter circuit 120 and control circuit 140.
Fig. 6 is to show to be supplied to the pulse signal of switch element G1~G4 from control circuit 140 and from inverter circuit 120 The figure of an example of the waveform of the voltage of output.
Fig. 7 is to show power transmission resonator 110 and schemed by the equivalent circuit of electrical resonator 210.
Fig. 8 A are the vertical of shape for power transmission coil 112 and power receiving coil 212 to be described in more detail and configuration relation Body figure.
Fig. 8 B are the figures of shape when schematically illustrating the power transmission coil 112 from Y-direction.
Fig. 8 C are the figures of shape when schematically illustrating the power receiving coil 212 from Y-direction.
Fig. 9 A are the figures for the configuration example for showing rectifier 220, capacitor 230, DC-DC converter 250 and motor 240.
Fig. 9 B are the other configuration examples for showing rectifier 220, capacitor 230, DC-DC converter 250 and motor 240 Figure.
Figure 10 is the flow chart of an example of the action of the power transmission device 100 when showing charging.
Figure 11 is the block diagram for the structure for showing the movable body system in present embodiment.
Figure 12 is rectifier 220, bi-directional DC-DC converter 250A, capacitor 230 and the motor shown in moving body 200A The figure of 240 circuit structure.
Figure 13 is show action when power transmission device 100A in present embodiment and moving body 200A are charged one The flow chart of example.
Figure 14 is the figure for the relationship being shown input between the pulse signal of switch element G5, G6 and duty ratio D.
Specific implementation mode
The embodiment illustrated of the disclosure is illustrated below.But unnecessary detailed description is omitted sometimes.Example Such as, the repeated explanation for the detailed description of item having been known and substantially same structure is omitted sometimes.This is to keep away Exempting from following explanation unnecessarily becomes tediously long, to making skilled addressee readily understands that.In addition, inventor is in order to make ability Field technique personnel fully understand content of this disclosure and provide attached drawing and the following description, it is not intended to by these attached drawings and say The bright theme that record is limited in the range of claims.In the following description, to same or similar structural element mark Note identical reference numeral.
(embodiment 1)
＜ overall structures ＞
Fig. 1 is the figure of the summary of the movable body system for illustrating present embodiment.The movable body system of present embodiment Such as the system that may be used as the conveying of article in factory.Movable body system have the wireless power transmission device of at least one (with Under, referred to as " power transmission device ".) 100 and at least one moving body 200.Moving body 200 can independently be moved in factory Unmanned waggon (AGV) that is dynamic and delivering articles to necessary place.Fig. 1 instantiates 4 power transmission devices 100 and 4 moving bodys 200.But power transmission device 100 and 200 respective quantity of moving body are arbitrary.
Power transmission device 100 wirelessly transmits electric power to moving body 200.Power transmission device 100 has power transmission coil unit 105, which includes the power transmission coil that AC power is passed out to space.Moving body 200 has comprising by electricity The power receiving coil unit 205 of coil.Power transmission coil and power receiving coil are coupled by magnetic field resonance, thus wirelessly from sending Electric coil transmits electric power to power receiving coil.In this way, in the present embodiment, (being sometimes referred to as using based on the coupling of magnetic field resonance " magnetic resonance coupling " or " oscillating magnetic field coupling ".) carry out wireless power transmission.According to the wireless of magnetic field resonance coupled modes Power transmission can carry out the power transmission of longer distance compared with the method based on electromagnetic induction.In addition, the skill of the disclosure Art is not limited to magnetic field resonance coupled modes, can also be applied to the wireless power transmission based on electromagnetic induction method.Therefore, this public affairs Open also includes the structure based on electromagnetic induction method.
Moving body 200 has capacitor and motor.The electric power that power receiving coil in power receiving coil unit 205 is received into Row rectification is simultaneously accumulated in the capacitor.Capacitor can use the large capacity such as electric double layer capacitor or lithium-ion capacitor And low-resistance capacitor.That is, capacitor is electric double layer capacitor or lithium-ion capacitor.Moving body 200 can pass through electricity The electric power accumulated in container carrys out drive motor and is moved.
When moving body 200 moves, the charge capacity (i.e. charge volume) of capacitor reduces.Therefore, it is necessary to recharge to continue It is mobile.Therefore, moving body 200 in moving process charge volume be less than defined threshold value when, be moved near power transmission device 100 It charges.As shown in Figure 1, if power transmission device 100 is arranged in multiple positions, moving body 200 is moved to nearest power transmission Device 100 is nearby.Therefore, moving body 200 can shorten displacement distance.
As previously mentioned, the system that such system may be used as the conveying of the article in such as factory.200 allusion quotation of moving body There is to type the microscope carrier for loading article.Moving body 200 delivers articles to necessary place as the autonomous in factory Trolley functions.In addition, movable body system is not limited to use in factory, for example, can be also used for shop, hospital, family, other All places.In addition, moving body 200 is not limited to AGV, can also be other industrial machineries or service robot.Moving body 200 Such as can be vehicle or sweeping robot of someone etc. have can be in the arbitrary machine of the mechanism of transverse shifting." in transverse direction It is mobile " it is meant that on the direction along horizontal plane (or ground) (according to circumstances different, to cross scale, bumps or inclined surface) It is mobile.
Fig. 2 is the stereogram of an example for the moving body 200 for schematically illustrating present embodiment.The moving body 200, which has, to be set It is placed in the power receiving coil unit 205 of side, multiple wheels comprising the driving wheel 207 being driven by a motor and mounting article Microscope carrier 206.Power receiving coil unit 205 is accommodated with comprising power receiving coil by electrical resonator.
Fig. 3 is the vertical of an example of the configuration relation of the power transmission coil unit 105 and power receiving coil unit 205 when showing charging Body figure.Fig. 3 shows XYZ coordinate, which shows X, Y perpendicular to one another, Z-direction.In the following description, using in figure Shown in coordinate system.The faces XY are parallel with horizontal plane or ground.The positive direction of X-axis is the direction that moving body 200 advances, and Z axis is just Direction is vertical upwardly direction.
In addition, the direction of the structure shown in the drawings of the application is to consider to set, the reality of the disclosure convenient for explanation Apply direction when mode does not limit actual implementation.In addition, the shapes and sizes of the whole or part of structure shown in figure Actual shapes and sizes are not limited yet.
As shown in figure 3, the power transmission coil 112 in power transmission coil unit 105 has with relatively long, Z-direction in the X direction The upper conductor lines (winding) wound relatively shortly.Equally, the power receiving coil 212 in power receiving coil unit 205 has in X-direction On the longer, conductor lines (winding) that are wound shortlyer in Z-direction.As shown, the power transmission coil 112 of present embodiment and by electricity The shape and size of coil 212 are asymmetrical.In the present embodiment, region as defined in the winding by power receiving coil 212 Size is less than the size in region as defined in the winding by power transmission coil 112.Power transmission is in power transmission coil 112 and power receiving coil 212 it is opposed in the state of carry out.More specifically, the face as defined in the winding by power transmission coil 112 with by power receiving coil 212 Winding as defined in face (parallel with the faces XZ in the example of diagram) it is opposed in the state of charge.In addition, being not limited to these faces The case where being substantially parallel can charge being mutually inclined.Further, since power transmission coil 112 have in the X direction compared with Long shape, therefore, even if moving body 200 in the X direction slightly offset from if be able to maintain that opposed state between coil, can Maintain the power transmission under greater efficiency.
Moving body 200 can grasp the position and orientation of the machine and the position of power transmission coil 112 using various sensors It sets and direction.Thereby, it is possible to determine the power transmission device 100 nearest with the machine (in addition to being sent to what other moving bodys 200 were powered Other than electric installation 100.).Then, moving body 200 can be moved near the power transmission device 100, and acquirement can carry out efficiently The posture (that is, power receiving coil 212 posture) close and opposed with power transmission coil 112 of the power transmission of rate.
The moving body 200 of present embodiment does not carry secondary cell that patent document 1 etc. uses in the prior art (hereinafter referred to as For " battery ".).That is, the moving body 200 of present embodiment is no battery moving body.In addition, compared with power transmission coil 112, by electricity Coil 212 is smaller.Therefore, it is possible to which moving body 200 is configured to small-sized, light weight and low cost.Thereby, it is possible to extend continuously to move The dynamic time.According to the present embodiment, such as 30 minutes to several hours continuous can be carried out by the charging of a few minutes Action.In turn, the movable body system of present embodiment can make moving body 200 or power transmission by aftermentioned circuit structure and action The structure of device 100 is simple.
Hereinafter, the structure of the movable body system of present embodiment is described in more detail.
Fig. 4 is the block diagram of the structure for the movable body system for showing present embodiment.Power transmission device 100 has：With outside The inverter circuit 120 that direct current (DC) power supply 50 connects；The power transmission resonator 110 being connect with inverter circuit 120；Detection is being sent The current detector 130 of the electric current flowed through in electrical resonator 110；And power transmission control circuit 140, according to by current detector The amounts of 130 electric currents detected controls inverter circuit 120.Power transmission resonator 110 includes power transmission coil 112 above-mentioned.It moves Kinetoplast (power receiving device) 200 have by electrical resonator 210, the rectifier (rectification circuit) 220 being connect with by electrical resonator 210, The capacitor 230 that is connect with rectifier 220, the DC-DC converter 250 being connect with capacitor 230 connect with DC-DC converter 250 The motor 240 connect.Included power receiving coil 212 above-mentioned by electrical resonator 210.Moving body 200 also has：Detection is supplied to motor The voltage detector 260 of 240 voltage；DC-DC converter 250 is controlled according to the voltage detected by voltage detector 260 Power control circuit 270.In addition, power transmission device 100 and moving body 200 can also have other structures (not shown) to want Element.In addition, movable body system is not required have entire infrastructure element shown in Fig. 4, can suitably omit.
Hereinafter, each structural element is described in more detail.
＜ DC power supplies ＞
DC power supply 50 is the power supply of the DC voltage of size as defined in output.DC power supply 50 for example can include to hand over commercialization Galvanic electricity power is converted to the direct current power of the operation voltage with power transmission device 100 and the converter that is exported.
＜ inverter circuits and power transmission control circuit ＞
The direct current power provided from DC power supply 50 is converted to AC power by inverter circuit 120.Inverter circuit 120 It such as can be full-bridge inverter circuit.Full-bridge inverter circuit can be adjusted by the timing of the switch to 4 switch elements It is whole, to export the AC power of desired frequency and voltage value.Each switch element is provided according to from power transmission control circuit 140 Pulse signal and switched conductive and non-conduction state.
Fig. 5 is the figure for the configuration example for showing inverter circuit 120 and control circuit 140.Inverter circuit shown in fig. 5 120 have the structure of the full-bridge inverter circuit of 4 switch element G1~G4.Each switch element can be IGBT (Insulated-gate bipolar transistor：Insulated gate bipolar transistor) or MOSFET (Metal Oxide Semiconductor Field-Effect Transistor：Mos field effect transistor) etc. transistors.
Control circuit 140 has control IC 142, gate drivers 144, memory 143.Control IC 142 passes through execution The control program stored in memory 143, to determine the voltage for the AC power for making inverter circuit 120 export, (meaning is really Valid value.It is same as below.) and frequency.In the present embodiment, particularly, the electric current I1's detected according to current detector 130 Value determines the maximum frequency of efficiency.Describe the action in detail below.Gate drivers 144 will have control IC 142 to determine Frequency and the pulse signal of duty ratio be supplied to the grid of each switch element G1~G4.Control as a result, each switch element G1~ The state of the conducting (ON) of G4/non-conduction (OFF).In addition, the part or entirety of control circuit 140 for example can be by miniature calculating The integrated circuits such as machine (microcomputer) are realized.
When (conducting state) is connected in the switch element G1 and G4 in 4 switch element G1~G4, from inverter circuit 120 Output polarity voltage identical with the DC voltage provided from DC power supply 50.On the other hand, when switch element G2 and G3 conducting (is led Logical state) when, the voltage opposite with the DC voltage provided from DC power supply 50 from 120 output polarity of inverter circuit.Control electricity Road 140 adjusts the timing to each switch element G1~G4 pulse signals provided, desired to make inverter circuit 120 export Frequency and voltage AC power.
Fig. 6 is to show to be supplied to the pulse signal of switch element G1~G4 from control circuit 140 and from inverter circuit 120 The figure of an example of the waveform of the voltage of output.In figure 6, mark E indicates the size of the voltage exported from DC power supply 50, mark T Indicate the period.The output voltage V1 of inverter circuit 120 and the output voltage of DC power supply 50 are controlled by duty ratio dinv Size E identical periods.That is, control circuit 140 can be adjusted with sine wave by adjusting duty ratio dinv to output voltage V1 Carry out the amplitude and virtual value of approximate obtained alternating voltage.
In addition, inverter circuit 120 is not limited to structure shown in fig. 5.For example, it may be by switch element shown in fig. 5 G3 and G4 is replaced into the structure for the semi-bridge type that capacitor obtains respectively.In this case, by adjusting 2 switch element G1 are applied to With the timing of the gate driving pulse of G2, desired alternating voltage can be also exported.Inverter circuit 120 is for example by commercially available High intensity light source realize.
＜ power transmissions resonator and by electrical resonator ＞
Fig. 7 is to show power transmission resonator 110 and schemed by the equivalent circuit of electrical resonator 210.Power transmission resonator 110 has The series resonant circuit of inductance ingredient (L1), capacitive component (C1) and resistance components (R1) based on power transmission coil 112.It is humorous by electricity The device 210 that shakes is humorous with the inductance ingredient (L2) based on power receiving coil 122, capacitive component (C2), the series connection of resistance components (R2) Shake circuit.Capacitive component (C1 and C2) can be the parasitic capacitance component of power transmission coil 112 and power receiving coil 212 respectively, also may be used To be the capacitive component based on capacitor set in addition.The resonant frequency of power transmission resonator 110 and by the humorous of electrical resonator 210 Vibration frequency is set to roughly the same value.Resonant frequency is not particularly limited, but can for example be set as 5 kilo hertzs (kHz) with Upper, 50 megahertzs (MHz) below.Resonant frequency is more preferably 10kHz or more, 1MHz or less.In the present embodiment, as one Example, resonant frequency is 85kHz.Each resonator is not limited to series resonant circuit, can also be antiresonant circuit.It is not limited to illustrate Structure, such as can also be as disclosed in Patent Document 1, be arranged by electromagnetic induction with 110 coupling of power transmission resonator The primary coil of conjunction and the secondary coil coupled with by electrical resonator 210 by electromagnetic induction.
Fig. 8 A are the solids of the shape and configuration relationship for power transmission coil 112 and power receiving coil 212 to be described in more detail Figure.In addition, Fig. 8 A show the width of the Y-direction of power transmission coil 112 example smaller compared to the example of Fig. 3.Shown in Fig. 8 A Double dot dash line indicates the normal in the face as defined in coil 112,212.Fig. 8 B schematically illustrate the power transmission coil 112 from Y-direction When shape.Fig. 8 C schematically illustrate the shape when power receiving coil 212 from Y-direction.
Power transmission coil 112 is the winding (that is, the winding wound by the 1st conductor lines) formed by the 1st conductor, is included in cross To the 1st upper portion 112a of extension and the 1st lower portion 112b and by the 1st upper portion 112a and the 1st lower portion 2 parts of the arc-shaped that 112b is connected.Power receiving coil 212 is the winding that is formed by the 2nd conductor (that is, by the 2nd conductor The coil of wire around winding), included in the 2nd upper portion 212a being laterally extended and the 2nd lower portion 212b and by the 2nd upside 2 parts of the arc-shaped that part 212a and the 2nd lower portion 212b are connected.In this embodiment, the ratio of the 2nd conductor Resistance (resistivity) is less than the specific resistance of the 1st conductor.The number of turns of power receiving coil 212 is less than the number of turns of power transmission coil 112.Pass through this The structure of sample, the resistance value of power receiving coil 212 are less than the resistance value of power transmission coil 121.
The upper portion 212a and lower portion 212b of power receiving coil 212 are respectively than the upper portion of power transmission coil 112 112a and lower portion 112b are short.For example, the length of the upper portion 112a and lower portion 112b of power transmission coil 112 can divide It is not 1.2 times or more of the length of the upper portion 212a and lower portion 212b of power receiving coil 212.Power transmission coil 112 it is upper The distance between side section 112a and lower portion 112b for example can be upper portion 212a and the following side of power receiving coil 212 Divide the distance between 212b 0.8 times or more 1.2 times or less.In some example, the upper portion 212a of power receiving coil 212 is opposite It is equal to or less than the upper portion 112a of power transmission coil 112 relative to water in the height of the horizontal plane (such as ground) as benchmark The height of plane.Moreover, the lower portion 212b of power receiving coil 212 is equal to or more than power transmission line relative to the height of the horizontal plane Height of the lower portion 112b of circle 112 relative to the horizontal plane.
1st rectangular surfaces 112c (Fig. 8 B) and the 2nd rectangular surfaces 212c (Fig. 8 C) is with respect to the horizontal plane vertical or tilts, the 1st Rectangular surfaces 112c provides that the 2nd rectangular surfaces 212c is by by electricity by the upper portion 112a and lower portion 112b of power transmission coil 112 2nd upper portion 212a of coil 212 and the 2nd lower portion 212b regulations.Power receiving coil 112 is configured in the side of moving body 200 Face.Moreover, in power transmission, the 2nd rectangular surfaces 212c is opposed with the 1st rectangular surfaces 112c of power transmission coil 112.
In the present embodiment, power transmission coil 112 is made of less expensive material, and power receiving coil 212 is by comparing high price The smaller material of specific resistance constitute.It, can thereby, it is possible to make the line length of power receiving coil 212 be less than the line length of power transmission coil 112 Reduce the size of moving body 200.By constituting the power transmission coil 112 with relatively long winding by less expensive material, The cost of power transmission device 100 can be reduced.
Non-contact power is the flux by being generated between power transmission coil 112 and power receiving coil 212 to carry out.Cause This, the mutual inductance between the resistance value and coil of each coil is important parameter.In the past, power transmission coil 112 and power receiving coil 212 were general It is made of materials such as the copper of conductivity higher (that is, specific resistance is relatively low), to reduce loss.In addition, in order to reduce due to close effect It is lost caused by fruit and skin effect, in most cases using the special forms such as litz wire made of the fine copper wire of bundle insulation The conducting wire of shape.In turn, in general, the shape and material identical using power transmission coil 112 and power receiving coil 212 or close knot Structure.
But if using high price copper as the material of each coil, or the special construction conduct such as use litz wire The construction of wire rod, then cost can increase, weight can also increase.In turn, in the shape for making power transmission coil 112 and power receiving coil 212 In the case of identical, need to make power transmission coil 112 and power receiving coil 212 both sides enlargement, to increase power transmission distance.In turn, if There is the design of the moving body 200 of power receiving coil 212 to be limited.
It, can be in addition, in the case where using low-impedance element as electric double layer capacitor as capacitor 230 Apply the electric current of the voltage and 10~100 amperes (A) of for example maximum 30 volts (V) to capacitor 230.It more preferably can be to capacitor 230 apply the electric current of 10~30 amperes (A).In such a case, it is desirable that improve efficiency of transmission.
In the present embodiment, the structure lower than power transmission coil 112, Neng Gouman are lost by making power receiving coil 212 become The above-mentioned requirement of foot.Such as constitute power receiving coil using the construction of the low loss such as the material of the low-resistivities such as copper or litz wire 212, it reduces shape and reduces the number of turns, so as to reduce the whole resistance of power receiving coil 212.Power receiving coil 212 is for example The number of turns is 10~30 circles or so.The size of Y-direction shown in Fig. 8 C is, for example, 10 centimetres of (cm)~25cm or so, the ruler of Z-direction Very little can be 3cm~10cm or so.The resistance value of power receiving coil 212 for example can be 1 ohm (Ω) below.In addition, these are counted Value is an example, and the structure deviateed from above range may be used.
On the other hand, the loss of power transmission coil 112, which is compared, to receive.Therefore, it is possible to use aluminium in power transmission coil 112 Etc. cheap material, or use the usual single line of smaller sectional area.In addition, power transmission coil 112 is configured to have in the X direction The shape longer than power receiving coil 112 so that even if the position of power receiving coil 212 from optimum position at X-direction (direction of travel) Upper deviation can also carry out power transmission.The number of turns of power transmission coil 112 be set to it is larger, to increase mutual inductance.Power transmission coil 112 The number of turns for example can be 60~100 circles or so.The size of X-direction shown in Fig. 8 B for example can be 30cm~40cm or so, Z The size in direction can be 3cm~10cm or so.The resistance value of power transmission coil 112 for example can be 5~10 Ω or so.These numbers Value is an example, and the structure deviateed from above range may be used.Power transmission coil 112 is made of cheap material as described above, Whole cost can be reduced the total amount of winding is more as a result,.
It by above structure, can realize that power receiving coil 212 minimizes, the design of moving body 200 oneself can be improved By spending.Furthermore it is possible to realize the lightweight of power receiving coil 212, the consumption electric power of moving body 200 can be reduced.In turn, opposite Using the wire rod construction that the cheap materials or single line such as aluminium etc. are cheap in large-scale power transmission coil 112, by require low loss by Electric coil 212 is configured to small-sized and the number of turns is less, to reduce cost.By making power receiving coil 212 be low loss, from And in the case of input impedance when using the chargings such as electric double layer capacitor or lithium-ion capacitor lower capacitor, Efficiency of transmission can be maintained higher.
In addition, making the upper portion 212a and lower portion 212b of power receiving coil 212 respectively than the upside of power transmission coil 112 Part 212a and lower portion 212b are short, though as a result, moving body 200 be able to maintain that if direction of travel is moved compared with High efficiency of transmission.In turn, by keeping the 1st rectangular surfaces 112c and the 2nd rectangular surfaces 212c with respect to the horizontal plane vertical or tilting, i.e., Make also carry out power transmission in the state that the side of moving body 200 is opposed with the side of power transmission device 100.Therefore, with On road surface, the structure of configuration power transmission coil 112 is compared, and power transmission device 100 can be configured more freely.
In addition, power transmission coil 112 and power receiving coil 212 are not limited to the shape of diagram.For example, the shape of each coil can also It is rectangle (comprising square) or ellipse (comprising circle).
＜ rectifiers, capacitor, DC-DC converter, motor, power control circuit ＞
Fig. 9 A are to show rectifier 220, capacitor 230, DC-DC converter 250, motor 240,260 and of voltage detector The figure of the configuration example of power control circuit 270.
As illustrated, rectifier 220 can be the full-wave rectifying circuit for including diode bridge and smoothing capacity device.It is whole It can be other kinds of full-wave rectifying circuit to flow device 220, can also be half-wave rectifying circuit.Rectifier 220 will come from by electricity The AC power of resonator 210 is converted to direct current power and is exported.
Capacitor 230 is connected in parallel with rectifier 220.Capacitor 230 is, for example, electric double layer capacitor or lithium-ion electric Container.Electric double layer capacitor or lithium-ion capacitor can carry out low since internal resistance is smaller (such as tens of m Ω) Loss and the charge and discharge of high current.Therefore, it compared with battery, can quickly be charged.In addition, with other kinds of capacitance Device is compared, and static capacity is larger, therefore can carry out more prolonged continuous discharge.The moving body 200 of present embodiment is not With battery.Therefore, the power supply to motor 240 is carried out by capacitor 230.By removing battery, additionally it is possible to removal control electricity The circuit in pond.Thus, it is possible to carry out, miniaturization, lightweight and the quick charge of moving body 200.By removing battery, can make Energy density reduces.But as shown in Figure 1, in order to increase charging times, it is equipped with multiple power transmission devices 100.Thereby, it is possible to mend Repay the reduction of energy density.In addition, the moving body 200 of present embodiment does not have battery, but it is also possible to battery The technology of the disclosure is applied in moving body.In this case, motor 240 can be driven by capacitor and battery both sides, because This can improve can continuous moving time.
It, may be due to electricity in the structure for the present embodiment powered to motor 240 by capacitor 230 without battery The voltage of container 230 declines and the maximum rotative speed of motor 240 is made to reduce.Therefore, in the present embodiment, using DC-DC Converter 250 boosts to the voltage for carrying out sufficient power from capacitor and is supplied to motor 240.Thereby, it is possible to carry out operating stably.According to The structure of present embodiment can reduce the cost of every power density compared with the previous structure of patent document 1 etc..
In addition, DC-DC converter 250 can also have the structure for being more than boosting and can also carrying out decompression action.Figure 9B is the figure for showing to be boosted and be depressured an example of the DC-DC converter 250 of the two actions.Such as in capacitor 230 be electric double layer capacitor, and the voltage required by motor 240 is 30V, excellent in the case that the voltage of capacitor 230 is 35V Choosing preferably carries out decompression action.In this case, the DC-DC converter 250 of buck can be carried out as being illustrated using Fig. 9 B.
DC-DC converter 250 in present embodiment can have the structure of boost chopper as shown in Figure 9 A, also may be used With as shown in Figure 9 B, the structure with stepping-up/stepping-down chopper circuit.DC-DC converter 250 is via switch G5 and simultaneously with capacitor 230 Connection connection.In the example of Fig. 9 A, DC-DC converter 250 have switch G6, by switching switch G6 conducting (ON)/it is non-conduction (OFF) state, to be output to from the dc voltage boost that capacitor 230 exports to the DC voltage of desirable amount Motor 240.The state of the conduction/non-conduction of switch G5 and G6 is controlled by control circuit 270.In the example of Fig. 9 B, By switching the state of conducting (ON)/non-conduction (OFF) of switch G5, by the dc voltage boost exported from capacitor 230 or It is depressured to the DC voltage of desirable amount and is output to motor 240.The state of the conduction/non-conduction of switch G5 is to pass through control Circuit 270 controls.
In addition, DC-DC converter 250 is not limited to above-mentioned boost chopper or stepping-up/stepping-down chopper circuit, can appoint The DC-DC converter of meaning.For example, DC-DC converter is not limited to nonisulated system's DC-DC converter shown in Fig. 9 A and Fig. 9 B, It can be insulation converter.
Hereinafter, being illustrated according to the circuit structure of Fig. 9 A.
Power control circuit 270 is same as power transmission control circuit 140, has control IC 272, gate drivers 274, deposits Reservoir 273.Control IC 272 is by executing the control program stored in memory 273, to determine switch G5 and DC-DC converter The timing (switch timing) of conducting and the disconnection of 250 switch G6.The switch that gate drivers 274 are determined according to control IC 272 Periodically, defined voltage is applied to the grid of switch G5, G6.In addition, the part or entirety of power control circuit 270 for example may be used It is realized with integrated circuit by microcomputer etc..
Control circuit 270 makes switch G5, G6 disconnect in charging.The direct current power exported from rectifier 220 is carried as a result, Supply capacitor 230, the accumulated charge in capacitor 230.
Power transmission control circuit 140 in power transmission device 100 makes inverter circuit 120 stop power transmission after charging complete.Example Such as can whether complete as judging to charge below defined threshold value according to the magnitude of current detected by current detector 130 At.After charging complete, power control circuit 270 makes switch G5 be connected, and starts the control of switch G6.By making switch G5 lead Logical, the charge accumulated in capacitor 230 is discharged, and electric power is provided to motor 240.By being switched in exchange-column shift appropriate Voltage after being boosted with desired step-up ratio can be supplied to motor 240 by the state of the ON/OFF of G6.Switch G6 switch control be according to the testing result for the voltage detector 260 that the voltage for being applied to motor 240 is detected come into Capable.So that the size of the voltage of the motor 240 detected by voltage detector 260 maintains fixed mode to determine to rise substantially Pressure ratio, control circuit 270 determine the duty ratio for being supplied to the pulse signal of switch G6.Even if capacitor 230 generates voltage as a result, Decline, substantially stationary voltage can be also provided motor 240.
In addition, the action in structure shown in Fig. 9 B is as follows.After charging complete, power control circuit 270 makes switch G5 Conducting, starts the control of switch G5.By making switch G5 be connected, the charge accumulated in capacitor 230 is discharged, and electric power is carried Supply motor 240.It, can will be with desired lifting by the state of the ON/OFF in exchange-column shift switch G5 appropriate The voltage that pressure ratio carries out after boost or depressurization is supplied to motor 240.The switch control of switch G5 is according to being applied to motor 240 The voltage testing result of voltage detector 260 that is detected carry out.Control circuit 270 is so that by voltage detector The size of the voltage of 260 motors 240 detected maintains fixed mode to determine that buck ratio, decision are supplied to switch G5 substantially Pulse signal duty ratio.Motor 240 can be provided if even if capacitor 230 generates voltage decline as a result, substantially stationary Voltage.
In example shown in Fig. 9, motor 240 is d.c. motor, but not limited to this, such as can also be that permanent magnet synchronizes The alternating current motors such as motor or induction motor.Using alternating current motor, DC-DC converter 250 and motor 240 it Between, direct current power is converted to the three-phase inverter of three-phase ac power by setting.This structure is also contained in the disclosure.
＜ acts ＞
Then, the action of the power transmission device of present embodiment 100 and moving body 200 is illustrated.
Moving body 200 is moved to when being judged as needing charging near the power transmission device 100 for being present in proximal most position. Then, with power receiving coil 212 and power transmission coil 112 separate defined distance (for example, number cm to tens of cm) and opposed posture It carries out standby.Power transmission device 100 detect moving body 200 after, carry out the initial adjustment for power transmission, determine best Frequency of oscillation, start power transmission.Power transmission device 100 is also similarly acted at intervals of set time in transmission process, will be shaken It swings frequency and is updated to optimum value at that time.Thereby, it is possible to maintain the power transmission of higher efficiency of transmission.Hereinafter, it is dynamic that this is described in detail Make.
Figure 10 is the flow chart of an example of the action of the power transmission device 100 when showing charging.Power transmission device 100 makes control first The switch conduction (step S101) of system processed.Control system means power transmission control circuit 140 and telecommunication circuit (not shown) etc. With the relevant structural element of control of power transmission device 100.At this point, inverter circuits 120 etc. (claim with the relevant structural element of power transmission For power transmission system.) be set off.Power transmission control circuit 140 in power transmission device 100 judges the application from DC power supply 50 Whether voltage (is set as J to lie prostrate with specified value.) consistent (step S102).The specified value for example can be as 100V or 200V Value.In the case where applying voltage and specified value is inconsistent, control circuit 140 adjusts the value of DC current and DC voltage, directly Until application voltage is consistent with specified value (step S103).Such as it can be by controlling converter possessed by DC power supply 50 Switch element carries out the adjustment.
When application voltage is consistent with specified value, power transmission control circuit 140 carries out the close detection of power receiving coil 212 (step S104).Such as according to the light of laser light source possessed by moving body 200 or LED light source etc. (include infrared ray.) come into The row detection.Power transmission device 100 detects the light by sensor (not shown), to detect the close of moving body 200.Separately Outside, the method for the close detection of moving body 200 is not limited to the example, such as can also be carried out using magnetic.
Detect power receiving coil 212 close to after, power transmission control circuit 140 makes power transmission system, i.e. inverter circuit 120 Deng switch conduction (step S105).First, inverter circuit 120 is set as low output mode (step by power transmission control circuit 140 Rapid S106).Low output mode is the pattern from AC power of the output of inverter circuit 120 with lower voltage virtual value. Such as by will be supplied to the duty ratio of the pulse signal of each switch element of inverter circuit 120 be set as lower value (for example, 10%~30%), to set low output mode.Under the state, power transmission control circuit 140 is according to the inspection of current detector 130 It surveys as a result, determining whether defined threshold value (is set as A amperes.) more than (step S107).Defined threshold value is that inflow power transmission is humorous Shake device 110 electric current amount (be referred to as " the through-flow magnitude of current ".).In the case where the through-flow magnitude of current is less than the threshold value, it is believed that by electricity Coil 212 is not opposed near power transmission coil 112.Therefore, power transmission control circuit 140 is transferred to abnormal current stop mode.
In abnormal current stop mode, power transmission control circuit 140 makes the switch of power transmission system disconnect (step S113).So Afterwards, the warning (step S114) that (ON) indicates current anomaly is opened.The exception of electric current is notified to user or manager as a result,.With Family or manager carry out warning stopping operation after (step S115), again execute step 104 action.
In step s 107, in the case that the through-flow magnitude of current is A amperes or more, it is believed that power receiving coil 212 and power transmission coil 112 is opposed.Therefore, power transmission control circuit 140 scans the frequency of oscillation of inverter circuit 120, determines best frequency.In this reality It applies in mode, power transmission resonator 110 and is set to 85KHz by the resonant frequency of electrical resonator 210.Therefore, power transmission control electricity The range scans frequency of the 84kHz to 86kHz of road 140 in its vicinity.In addition, the range is to being an example, it can also be in others Scanning in range.Power transmission control circuit 140 for example makes frequency change as unit of 100kHz on one side, on one side by each galvanization Discharge record is in memory 143.After scanning, power transmission control circuit 140 judges in the through-flow magnitude of current with the presence or absence of peak value (step Rapid S109).There is no peak value, it is transferred to abnormal current stop mode above-mentioned (step S113~S115). In the case of peak value, power transmission control circuit 140 determines that the through-flow magnitude of current becomes the frequency of peak value, which is set as shaking Swing frequency X.That is, the frequency of the pulse signal for each switch element for being supplied to inverter circuit 120 is set as X.Thereby, it is possible to Keep efficiency of transmission maximum.
In addition, power transmission control circuit 140 will be supplied to the duty of the pulse signal of each switch element of inverter circuit 120 Than being set as 50% (step S111).This is to make the voltage (virtual value) exported from inverter circuit 120 become maximum. In the case of output voltage need not be made to become maximum, the value that duty ratio can also be set as other than 50%.
Power transmission control circuit 140 judges whether the through-flow magnitude of current is that defined upper limit value (is set as B amperes in this state.) (step S112) below.The upper limit value is arranged in order to ensure safety, which is set as to destroy circuit The value of the electric current of the degree of interior each element.In the case where the through-flow magnitude of current is more than B amperes, it is judged as flowing through abnormal current, Therefore, it is transferred to abnormal current stop mode (step S113~S115).
It it is B amperes below in the through-flow magnitude of current, power transmission control circuit 140 starts power transmission (step S120).That is, Start based on the driving that determined frequency of oscillation X carries out inverter circuit 120.The AC power of frequency X is via power transmission as a result, Resonator 110 and it is transferred to moving body 200 by electrical resonator 210.
In the present embodiment, the efficiency of transmission realized based on above-mentioned frequency scanning is also executed in transmission process It optimizes.Power transmission control circuit 140 (is set as T seconds at intervals of set time after power transmission starts.), in shaking comprising the time point It swings in the frequency range (being the range of X-100Hz to X+100Hz in the example of Figure 10) of frequency X and is scanned, again by galvanization The frequency that flow becomes peak value is set as frequency of oscillation X (step S121~S123).Repeat the action, until the through-flow magnitude of current at (it is set as C amperes for preset charging termination electric current.) below.Charging termination electric current is, for example, the value close to 0 ampere, if As the value hereinafter, being then judged as that the charge volume of capacitor 230 is enough.Power transmission control circuit 140 is pacified in the through-flow magnitude of current as C When training is following, stop power transmission (step S125).By the action, even if moving body 200 is in movement, and power receiving coil 212 Deviate with the relative position of power transmission coil 112, can also improve efficiency of transmission.
Power control circuit 270 for example carries out at least one party in electric current and voltage by what is connect with capacitor 230 The detector (for example, voltage detector 262 shown in Fig. 9 A, 9B) of detection detects the stopping of power transmission.When power transmission is stopped, The power control circuit 270 of moving body 200 makes switch G5 shown in Fig. 9 be connected.Start as a result, from capacitor 230 to motor 240 Power supply, and with the power supply moving body 200 movement.In moving process, decline with the voltage of capacitor 230, The voltage applied to motor 240 continuously decreases.Therefore, the maximum speed of moving body 200 reduces.In order to inhibit in this case, originally The power control circuit 270 of embodiment is controlled switch G6 and DC-DC converter 250 is made to be risen with desired step-up ratio Pressure.Power control circuit 270 for example adjusts the duty ratio to the switch G6 pulse signals applied so that always by fixed size Voltage is supplied to motor 240.Thereby, it is possible to make the motion stability of motor 240.
The ＞ such as ＜ effects
As described above, the movable body system of present embodiment has wireless power transmission device 100 and by from wirelessly sending Electric power that electric installation 100 wirelessly transmits and driven moving body 200.
Wireless power transmission device 100 has：Inverter circuit 120 converts the direct current power provided from DC power supply 50 It is exported for AC power；Power transmission resonator 110, by least the one of the AC power exported from inverter circuit 120 Part passes out to space；Current detector (the 1st detector) 130 detects the electric current flowed through in power transmission resonator 110；And Power transmission control circuit 140 controls the friendship exported from inverter circuit 120 according to the electric current detected by current detector 130 The frequency of galvanic electricity power.Moving body 200 has：By electrical resonator 210, can by magnetic field resonance (or electromagnetic induction) with give Electrical resonator 110 couples；Rectifier 220 is connect with by electrical resonator 210, the alternating current that will be received by electrical resonator 210 Power is converted to direct current power and is exported；Capacitor 230 accumulates the electric power exported from rectifier 220；Motor 240, makes The electric power accumulated in electricity container 230 is acted, and moving body 200 is made to move；DC-DC converter 250, is connected to capacitance Between device 230 and motor 240, the voltage exported from capacitor 230 is subjected to boost or depressurization and is supplied to motor 240；Voltage Detector (the 2nd detector) 260, detection are provided to the voltage of motor；Power control circuit 270, basis are examined by voltage Survey the voltage control DC-DC converter 250 that device 260 detects.Power control circuit 270 is carried from capacitor 230 to motor 240 In a period of for electric power, the step-up ratio of DC-DC converter 250 is set to increase, or step-down ratio is made to reduce.In addition, in the present specification, Step-up ratio is defined as output voltage/input voltage, step-down ratio is defined as input voltage/output voltage.Therefore, step-up ratio and Step-down ratio is the value bigger than 1.
The input voltage of motor 240 is set to reduce thereby, it is possible to inhibit the phenomenon that the voltage decline with capacitor 230, The speed of moving body 200 can be stably kept.In addition, as previously mentioned, DC-DC converter 250 is not limited to boost DC-DC conversion Device (such as boost chopper).In the case where the voltage required by motor 240 is less than the voltage that capacitor 230 exports, energy Enough carry out decompression action.In this case, power control circuit 270 is during providing electric power from capacitor 230 to motor 240 It is interior, so that the step-down ratio of DC-DC converter 250 is reduced.
In the present embodiment, in turn, when power transmission starts, determine that electric current becomes maximum frequency in scan frequency After start power transmission.Specifically, power transmission control circuit 140 is included when starting power transmission, with preset frequency range Multiple frequencies successively drive inverter circuit 120, from determine to make to flow through in power transmission resonator 110 in multiple frequency The virtual value of electric current becomes maximum frequency.Power transmission control circuit 140 utilize determined frequency to inverter circuit 120 into Row driving.
Thereby, it is possible to the virtual value of electric current becomes maximum, i.e. efficiency of transmission passes as maximum frequency to start electric power It is defeated, therefore energy loss can be inhibited.The phase of voltage and current at this time is matched.That is, virtual value becomes maximum electric current Phase it is consistent with the phase of voltage exported from inverter circuit 120.Here, " consistent " does not imply that only strict conformance, Also include slightly offset from the case where.In other words, virtual value as maximum electric current can be described as its phase with from inverter circuit The electric current of the difference minimum of the phase of the voltage of 120 outputs.By transmitting electric power to flow through the frequency of such electric current, can make Efficiency of transmission optimizes.In addition, moving body 200 also has following function：Transmit start when, by with multiple frequencies successively into Row driving, to reduce surge current.
In addition, the voltage in capacitor 230 is small, voltage detector 260, voltage detector 262 (the 3rd detector) and control In the case that circuit processed 270 is without action, also can based on power transmission resonator 110 with by the resonance or coupling of electrical resonator 210 It closes to carry out power transmission, to charge to capacitor 230.
In turn, power transmission control circuit 140 is from once determining that best frequency drives inverter circuit 120 with the frequency When have passed through the stipulated time, multiple frequencies for being included by other frequency ranges comprising the frequency drive inverter successively Circuit 120.Then, actual effect of the power transmission control circuit 140 from the electric current for determining to make to flow through in power transmission resonator 110 in multiple frequencies Value becomes other maximum frequencies, and inverter circuit 120 is driven with the others frequency that is determined.
As a result, not only when power transmission starts, also at intervals of set time and into the optimization of line frequency in transmission process, because This, such as higher efficiency of transmission can be maintained during charging if even if moving body 200 is in moving process.
Even if moving body 200 is within the above-mentioned stipulated time, power transmission resonator 110 and the relative position by electrical resonator 210 Deviate or periphery has the substance of higher magnetic susceptibility close, can also inhibit its influence.When power transmission resonator 110 and by electricity The relative position of resonator 210 deviates or periphery have the substance of higher magnetic susceptibility it is close when, power transmission resonator 110 and by electricity The self-induction of resonator 210 and mutual inductance change.In addition, the voltage of capacitor 230 changes in charging process.In turn, When power transmission resonator 110 and flowing through electric current in by electrical resonator 210 and making temperature rise, the resistance value of power transmission resonator 110, It is changed by the resistance value of electrical resonator 210, self-induction, mutual inductance and capacitance.The resonant frequency of power transmission device 100 and shifting as a result, The resonant frequency of kinetoplast 200 changes.Even if the output electricity of inverter circuit 120 can be reduced if freeing such variation Phase difference between the phase and output voltage of stream.
In the present embodiment, moving body 200 also has what is connected between capacitor 230 and DC-DC converter 250 to open Close G5.Power control circuit 270 when carrying out the charging to capacitor 230, make switch G5 disconnect and stop it is right from capacitor 230 The power supply of motor 240 makes switch G5 conductings to start from capacitor 230 to motor after the charging complete to capacitor 230 240 power supply.
Thereby, it is possible to after the charging complete to capacitor 230, start the power supply from capacitor 230 to motor 240.Separately Outside, the structure carried out while charging from capacitor 230 to other power supplies loaded of motor 240 can also be used.In this reality Apply in mode, power transmission coil 112 is fixed on some place, still, for example, can also be along road surface in longer range The structure of power transmission coil 112 is set.In such a configuration, moving body 200 can also carry out charging one to capacitor 230 on one side Side drive motor 240 and moved.Using such structure, power transmission coil 112 and power receiving coil 212 are not required to There is the construction illustrated with reference to Fig. 3 and Fig. 8 A~8C.
(embodiment 2)
Then, illustrate the movable body system of embodiment 2.
Figure 11 is the block diagram of the structure for the movable body system for showing present embodiment.The movable body system has power transmission device 100A and moving body 200A.The moving body 200A of present embodiment and the moving body 200 of embodiment 1 the difference is that, Have：Bi-directional DC-DC converter (two-way chopper circuit) 250A, be connected between rectifier 220 and capacitor 230 and It is connected between capacitor 230 and motor 240；1st detector 280, detection are input to the electric current and voltage of capacitor 230； And the telecommunication circuit 290 communicated.The power transmission device 100 of power transmission device 100A and embodiment 1 the difference is that, Have：2nd detector 180, detection are input to the electric current and voltage of power transmission resonator 110；And the communication electricity communicated Road 190.Hereinafter, the aspect that explanation is different from embodiment 1, omits the explanation for repeating item.
Figure 12 is the rectifier 220 for showing moving body 200A, bi-directional DC-DC converter 250A, capacitor 230 and motor The figure of 240 circuit structure.In addition, in fig. 12, the record of control circuit 270 and each detector is omitted.As shown, double There are 2 switch elements G5, G6 to DC-DC converter 250A.By control circuit 270 come control switch element G5, G6.
As shown, bi-directional DC-DC converter 250A has the circuit structure of semi-bridge type two quadrant converter.In this way Structure, bi-directional DC-DC converter 250A can carry out the function of impedance matching box and charger both sides.With patent document 2 Structure is different, and above-mentioned 2 functions are realized by 1 circuit.Since input resistant matching device not being arranged in the sides power transmission device 100A, Therefore, it is possible to realize the cost effective of power transmission device 100A and miniaturization.It as a result, for example can be easily each in factory Place configures power transmission device 100A.
Bi-directional DC-DC converter 250A is controlled by power control circuit 270, carries out impedance matching and charge control both sides. Power control circuit 270 is by reading from the 1st detector 280 being connect with bi-directional DC-DC converter 250A and capacitor 230 The signal of (Current Voltage sensor) carries out feedback control.Thereby, it is possible to mitigate the charge volume due to capacitor 230 or send by Position between electric coil is deviateed etc. and the influence of the variation of impedance that generates, can carry out the quick charge to capacitor 230.Into And the voltage value that capacitor 230 receives can be depressured to value appropriate.In power transmission, power control circuit 270 can also Enough step-down ratios of control bi-directional DC-DC converter 250A, make the magnitude of current increase, to increase charging rate.
Bi-directional DC-DC converter 250A is same as embodiment 1, also carries out carrying out the voltage exported from capacitor 230 Boost and be supplied to the action of motor 240.Thereby, it is possible to inhibit the drop of the movement speed of the voltage decline with capacitor 230 It is low.
The power control circuit 270 of present embodiment makes bi-directional DC-DC convert when carrying out the charging to capacitor 230 Switch G7 between device 250A and motor 240 is disconnected, the ON/OFF of control switch G5, G6.Bi-directional DC-DC converter as a result, 250A is functioned as buck circuit.On the other hand, when carrying out from power supply of the capacitor 230 to motor 240, by Electric control circuit 270 makes switch G7 be connected, and controls the ON/OFF of G5, G6.Bi-directional DC-DC converter 250A is as liter as a result, It presses chopper circuit and functions.The action of boost chopper is same as the action illustrated in embodiment 1.
Control circuit 270 determines bi-directional DC-DC converter according to the electric current and voltage detected by the 1st detector 280 The switch timing of 2 switch elements G5, G6 in 250A, and make the voltage instruction of the AC power of the output of inverter circuit 120 Value.Then, it will indicate that the information of the voltage instruction value is sent to power transmission control circuit 140.The communication is via moving body 200A's Telecommunication circuit 290 and the telecommunication circuit of power transmission device 100A 190 carry out.Power transmission control circuit 140 is according to the letter received Cease and make the voltage change of the AC power exported from inverter circuit 120.In addition, above-mentioned communication is not limited to specific side Method can use arbitrary method.Such as amplitude modulation mode, frequency modulated mode, Wireless LAN or Zigbee can be used Wireless modes such as (registered trademarks).It, can will be not shown in the case where carrying out based on amplitude modulation or warbled communication Modulation circuit and demodulator circuit be connected to the appropriate location of circuit (for example, the rear class and rectification circuit of inverter circuit 120 220 prime).
Hereinafter, illustrating the action of present embodiment.
Figure 13 is show action when power transmission device 100A in present embodiment and moving body 200A are charged one The flow chart of example.Figure 13 show moving body 200A be moved to power transmission device 100A nearby after action.First, in moving body 200A Power control circuit 270 by the duty ratio of the pulse signal provided switch element G5, G6 of bi-directional DC-DC converter 250A It is set as preset initial value (step S201).Then, it sends and indicates to the power transmission control circuit 140 of power transmission device 100A The information of the command value of power delivery voltage (is referred to as power delivery voltage instruction.) (step S202).Here, the command value of power delivery voltage is pre- The initial value first set.
After power transmission control circuit 140 receives power delivery voltage instruction in step S203, inverter circuit 120 will be made to export Alternating voltage (virtual value) be set as power delivery voltage instruction shown in be worth.The setting is by will be to inverter circuit 120 The duty ratio (dinv shown in fig. 6) for the pulse signal that each switch element G1~G4 is provided is set as corresponding with the value of the voltage Value and carry out.In addition, in the case of according to being carried out approximately to the waveform (rectangular wave) of voltage V1 shown in fig. 6 with sine wave Relationship between the virtual value and duty ratio of voltage and export the relationship between voltage instruction value and duty ratio dinv.It is specific and Speech, if from DC power supply 50 export voltage value be E, from the virtual value of the output voltage of inverter circuit 120 be V1, utilize with Under mathematical expression 1 indicate duty ratio dinv.
【Mathematical expression 1】
Then, power transmission control circuit 140 makes the value of the voltage and current of the 2nd detector 180 measurement power transmission resonator 110 (step S205).Then, the information (step of the value for the voltage and current for indicating to determine is sent via telecommunication circuit 190 S206)。
After the power control circuit 270 of moving body 200A receives the information in step S207, make the 1st detector 280 Measure the voltage and current (step S208) for being input to capacitor 230.Power control circuit 270 is according to the voltage and current Value and value from the power transmission device 100A voltage and current sent, control ginseng of the estimation as bi-directional DC-DC converter 250A Several mutual inductances (step S209).Mutual inductance is calculated according to mathematical expression 2 below.
【Mathematical expression 2】
Here, ω o indicate that angular frequency, V1 indicate that power transmission side voltage, I1 indicate that power transmission side electric current, VB indicate the electricity of power side Condenser voltage, IB indicate that the condenser current of power side, D are indicated to the bi-directional DC-DC converter 250A pulse signals provided Duty ratio, R1 indicate that the AC resistance of power transmission side, R2 indicate the AC resistance of power side.
Then, power control circuit 270 calculates the value and DC-DC converter of the power delivery voltage for realizing maximal efficiency The duty ratio (step S210) of 250A.Power delivery voltage V1 and duty ratio D is calculated according to mathematical expression 3 below.The formula, which is basis, to be made Efficiency is derived as maximum condition.
【Mathematical expression 3】
The duty ratio of DC-DC converter 250A is set as the value (step of calculated duty ratio D by power control circuit 270 Rapid S211).
Figure 14 is the figure for the relationship being shown input between the pulse signal of switch element G5, G6 and duty ratio D.Duty ratio D indicates the duty ratio for being input to the pulse signal of switch element G5.Be input to the duty ratio of the pulse signal of switch element G6 by (1-D) is indicated.By setting duty ratio as described above, impedance matching can be made, and efficiency of transmission is made to maximize.
Power control circuit 270 will indicate that the information of the command value of power delivery voltage is sent to 270 (step of power transmission control circuit S212).At this point, as shown in mathematical expression 3, indicate that the information of the command value of power delivery voltage is V1=E.Assuming that such as mathematical expression 3 Expression D formula it is such, if not reducing V1, in the case of D ＜ Dmin or the 1st detector 280 detects abnormal electricity In the case of flowing voltage value, the oscillation duty ratio of inverter circuit 120 is reduced, so as to V1 ＜ E, and so that reduce V1 The mode of execution value determine the command value of power delivery voltage.In addition, power transmission coil 112 and power receiving coil 212 shown in Fig. 3 In the case of, the value of R1 ＞ ＞ R2 can be taken.In this case, being likely to become D ＜ Dmax.At this point it is possible to make E using keeping E variable The structure of rising can also improve the maximum value of E, and the initial value of V1 is set as V1 ＜ E.Here, Dmin indicates to determine two-way Lower limiting value when the duty ratio D of DC-DC converter 250A, upper limit value when Dmax indicates to determine duty ratio D.
Power transmission control circuit 270 receives the command value for indicating power delivery voltage in step S213 via telecommunication circuit 190 Information after, setting voltage to realize the voltage instruction value (step S214).Here, it is also calculated using above-mentioned mathematical expression 1 Duty ratio Dinv corresponding with voltage instruction value V1.
Above action is not only executed when power transmission starts, can also in transmission process repeatedly (such as every regulation when Between) execute.Thereby, it is possible to by the bi-directional DC-DC converter 250A in the power delivery voltage of power transmission device 100A and moving body 200A Duty ratio maintain optimum value.
As described above, in the movable body system of present embodiment, bi-directional DC-DC converter 250A makes moving body 200A Impedance and power transmission device 100A impedance matching, the voltage exported from rectifier 220 is depressured and is supplied to capacitor 230, it is boosted to the voltage exported from capacitor 230 and is supplied to motor 240.Power control circuit 270 is being carried out to electricity When the charging of container 230, according to the value of the electric current and voltage for capacitor 230 detected by the 1st detector 280, determine The switch timing of 2 switch elements G5, G6 in bi-directional DC-DC converter 250A and make what inverter circuit 120 exported to exchange The voltage instruction value of electric power.It will indicate that the information of the voltage instruction value is sent to power transmission control circuit 140.Power transmission control circuit 140, according to the information received, make the voltage change of the AC power exported from inverter circuit 120.
In the present embodiment, the 2nd information is also sent to power control circuit 270 by power transmission control circuit 140, and the 2nd Information indicates the electric current and voltage for power transmission resonator 10 detected by the 2nd detector 180.270, power control circuit According to the 2nd information received and the electric current and voltage that are detected by the 1st detector 280, opening for 2 switch elements G5, G6 is determined Close timing and voltage instruction value.
The influence of the variation of the impedance generated thereby, it is possible to inhibit variation of the charge volume due to capacitor 230 etc., energy Enough carry out the quick charge for capacitor 230.Action according to the present embodiment, can make the impedance of moving body 200A and send The impedance matching of electric installation 100A.Further, it is possible to make to be input to the voltage step-down of the input of capacitor 230 to value appropriate.It can also Step-down ratio is enough controlled, the magnitude of current is made to increase, to increase charging rate.
In addition, even if due to making the variation of the distance between coil or each coil with the movement of moving body 200A in charging The inductance of each coil that is generated there are foreign matters such as metals of periphery and capacitance change, also can suitably carry out of impedance Match.The impedance matching of the impedance and power transmission device 100A that can make bi-directional DC-DC converter 250A is to mitigate the shadow of above-mentioned variation It rings, power transmission efficiency can be improved.According to the present embodiment, it in the movement of moving body 200, can carry out imitating than embodiment 1 The higher power transmission of rate.
In addition, in being acted shown in Figure 13, carry out from power transmission device 100A to the voltage and current of moving body 200A It sends, it is also possible to omit the action.For example, according to the DC voltage V2dc exported from the diode bridge of rectifier 220 With DC current I2dc mutual inductance Lm can be found out as V1=E.At this point, using calculating formula as shown below.
【Mathematical expression 4】
Voltage V2dc is found out by the duty ratio D by condenser voltage VB above-mentioned divided by DC-DC converter 250.It is logical It crosses and condenser current IB above-mentioned is multiplied by duty ratio D and finds out electric current I2dc.Therefore, in the case of V1=E, can not make Mutual inductance Lm is found out with the voltage and current of power transmission side.
In the present embodiment, also same as embodiment 1, moving body 200 also has the electricity that detection is supplied to motor 240 The voltage detector (the 3rd detector) 260 of pressure.Power control circuit 270 is providing electric power from capacitor 230 to motor 240 During, the switch timing of 2 switch elements G5, G6 are adjusted according to the voltage detected by voltage detector 260, are made two-way The step-up ratio of DC-DC converter 250A increases.
The input voltage of motor 240 is set to reduce thereby, it is possible to inhibit the phenomenon that the voltage decline with capacitor 230, The speed of moving body 200 can be stably kept.
As described above, the disclosure includes the movable body system and moving body described in projects below.
[project 1]
A kind of movable body system, has：
Wireless power transmission device；And
Moving body is driven by the electric power wirelessly transmitted from the wireless power transmission device,
The wireless power transmission device has：
The direct current power provided from DC power supply is converted to AC power and exported by inverter circuit；
At least part of the AC power exported from the inverter circuit is passed out to sky by power transmission resonator Between；
1st detector detects the electric current flowed through in the power transmission resonator；And
Power transmission control circuit, according to the detected electric current, control is from described in inverter circuit output The frequency of AC power,
The moving body has：
By electrical resonator, can be coupled with the power transmission resonator by magnetic field resonance or electromagnetic induction；
Rectifier is connect with described by electrical resonator, is converted to described by the AC power that electrical resonator receives Direct current power and exported；
Capacitor accumulates the electric power exported from the rectifier；
Motor is acted using the electric power of accumulation in the capacitor, the moving body is made to move；
DC-DC converter is connected between the capacitor and the motor, the voltage that will be exported from the capacitor The motor is supplied to after boost or depressurization；
2nd detector, detection are supplied to the voltage of the motor；
Power control circuit controls the DC-DC converter according to the detected voltage, from the capacitance In a period of device provides electric power to the motor, the step-up ratio of the DC-DC converter is set to increase, or step-down ratio is made to reduce.
[project 2]
Movable body system according to claim 1, wherein
The power transmission control circuit when starting power transmission, with include in preset frequency range multiple frequencies successively The inverter circuit is driven, from the reality for the electric current for determining to make to flow through in the power transmission resonator in the multiple frequency Valid value becomes maximum frequency, and the inverter circuit is driven with the frequency determined.
[project 3]
Movable body system according to claim 2, wherein
The phase that the virtual value becomes maximum electric current is consistent with the phase of voltage exported from the inverter circuit.
[project 4]
Movable body system according to claim 2 or 3, wherein
The power transmission control circuit drives the inverter circuit with the frequency from the decision frequency Rise when have passed through the defined time, driven successively with the multiple frequencies for including in other frequency ranges comprising the frequency described in Inverter circuit makes the virtual value of the electric current flowed through in the power transmission resonator become maximum from decision in the multiple frequency Other frequencies drive the inverter circuit with other frequencies described in determining.
[project 5]
According to the movable body system described in any one in Claims 1-4, wherein
The moving body also has：
3rd detector detects the voltage of the capacitor；And
Switch, is connected between the capacitor and the motor,
The power control circuit makes the switch disconnect and stops providing electric power to the motor from the capacitor, directly Until the voltage of the capacitor detected by the 3rd detector is more than threshold value,
When the voltage of the capacitor is more than the threshold value, the power control circuit makes the switch conduction and starts From the capacitor electric power is provided to the motor.
[project 6]
According to the movable body system described in any one in Claims 1-4, wherein
The moving body also has the switch being connected between the capacitor and the DC-DC converter,
When carrying out the charging to the capacitor, the power control circuit so that the switch is disconnected and stop from The capacitor provides electric power to the motor,
After the charging complete to the capacitor, the power control circuit makes the switch conduction and starts from described Capacitor provides the electric power to the motor.
[project 7]
According to the movable body system described in any one in Claims 1-4, wherein
The capacitor is electric double layer capacitor or lithium-ion capacitor.
[project 8]
According to the movable body system described in any one in claim 1 to 7, wherein
The moving body is no battery moving body.
[project 9]
According to the movable body system described in any one in claim 1 to 8, wherein
The moving body be have multiple wheels without human conveying machine, the multiple wheel includes to be driven by the motor Driving wheel.
[project 10]
A kind of movable body system, has：
Wireless power transmission device；And
Moving body is driven by the electric power wirelessly transmitted from the wireless power transmission device,
The wireless power transmission device has：
The direct current power provided from DC power supply is converted to AC power and exported by inverter circuit；
Power transmission resonator will be passed out to from least part in the AC power that the inverter circuit exports Space；And
Power transmission control circuit controls the inverter circuit,
The moving body has：
By electrical resonator, can be coupled with the power transmission resonator by magnetic field resonance or electromagnetic induction；
Rectifier is connect with described by electrical resonator, is converted to described by the AC power that electrical resonator receives Direct current power and exported；
Capacitor accumulates the electric power exported from the rectifier；
Motor is acted using the electric power of accumulation in the capacitor, the moving body is made to move；
Bi-directional DC-DC converter is connected between the rectifier and the capacitor, and is connected to the capacitance Between device and the motor, make the impedance matching of the impedance and the power transmission device of the moving body, it will be defeated from the rectifier It is supplied to the capacitor after the voltage step-down gone out, the motor will be supplied to after the boost in voltage that the capacitor exports；
1st detector, detection are input to the electric current and voltage of the capacitor；And
Power control circuit controls the bi-directional DC-DC converter,
When carrying out the charging to the capacitor, the power control circuit is detected according to by the 1st detector The electric current and the voltage, determine the impedance of the bi-directional DC-DC converter and make the institute of inverter circuit output The voltage instruction value for stating AC power will indicate that the information of the voltage instruction value is sent to the power transmission control circuit,
The power transmission control circuit makes the exchange exported from the inverter circuit according to the described information received The voltage change of electric power.
[project 11]
Movable body system according to claim 10, wherein
The bi-directional DC-DC converter has at least two switch element being connected in parallel with the capacitor,
The power control circuit determines the two-way DC- by adjusting the switch timing of at least two switch element The impedance of DC converters and the step-down ratio.
[project 12]
Movable body system according to claim 11, wherein
Also there is the power transmission device the 2nd detector, the 2nd detector to detect the electricity for being input into the power transmission resonator Stream and voltage,
2nd information is sent to the power control circuit by the power transmission control circuit, and the 2nd information is indicated by described the The electric current and the voltage that 2 detectors detect,
The power control circuit is according to the 2nd information received and the institute detected by the 1st detector Electric current and the voltage are stated, determines the switch timing of 2 switch elements and the voltage instruction value.
[project 13]
According to the movable body system described in any one in claim 10 to 12, wherein
Also there is the moving body the 3rd detector, the 3rd detector to detect the voltage for being supplied to the motor,
The power control circuit to the motor from the capacitor in a period of providing electric power, according to by described the The voltage that 3 detectors detect adjust 2 switch elements switch timing, to make the bi-directional DC-DC turn The step-up ratio of parallel operation increases.
[project 14]
According to the movable body system described in any one in claim 10 to 13, wherein
The moving body also has the switch being connected between the capacitor and the motor,
The power control circuit makes the switch disconnect and stops providing electric power to the motor from the capacitor, directly Until the voltage of the capacitor detected by the 1st detector is more than threshold value,
When the voltage of the capacitor is more than the threshold value, the power control circuit makes the switch conduction and starts From the capacitor electric power is provided to the motor.
[project 15]
According to the movable body system described in any one in claim 10 to 14, wherein
In a period of charging to the capacitor,
The power control circuit is examined according to the electric current and voltage for being input to the power transmission resonator and by the described 1st The electric current and the voltage that device detects are surveyed, the resistance of the impedance and the power transmission device of the bi-directional DC-DC converter is made Anti- matching, update make the voltage instruction value of the AC power of the inverter circuit output, will indicate the voltage instruction The information of value is sent to the power transmission control circuit,
The power transmission control circuit makes the exchange exported from the inverter circuit according to the described information received The voltage change of electric power.
[project 16]
According to the movable body system described in any one in claim 10 to 15, wherein
The capacitor is electric double layer capacitor or lithium-ion capacitor.
[project 17]
According to the movable body system described in any one in claim 10 to 16, wherein
The moving body is no battery moving body.
[project 18]
According to the movable body system described in any one in claim 10 to 16, wherein
The moving body be have multiple wheels without human conveying machine, the multiple wheel includes to be driven by the motor Driving wheel.
[project 19]
A kind of moving body, by wirelessly being transmitted from the wireless power transmission device of at least one with power transmission resonator Electric power and driven, which has：
By electrical resonator, can be coupled with the power transmission resonator by magnetic field resonance or electromagnetic induction；
Rectifier is connect with described by electrical resonator, is converted to described by the AC power that electrical resonator receives Direct current power and exported；
Capacitor accumulates the electric power exported from the rectifier；
Motor is acted using the electric power of accumulation in the capacitor, the moving body is made to move；
DC-DC converter is connected between the capacitor and the motor, the voltage that will be exported from the capacitor The motor is supplied to after boost or depressurization；
Detector, detection are supplied to the voltage of the motor；
Power control circuit controls the DC-DC converter according to the detected voltage, from the capacitance In a period of device provides electric power to the motor, the step-up ratio of the DC-DC converter is set to increase, or step-down ratio is made to reduce.
[project 20]
A kind of moving body is driven by the electric power wirelessly transmitted from the wireless power transmission device of at least one, should The power transmission resonator that at least one is wireless power transmission device has inverter circuit and connect with the inverter circuit, the moving body Have：
By electrical resonator, can be coupled with the power transmission resonator by magnetic field resonance or electromagnetic induction；
Rectifier is connect with described by electrical resonator, is converted to described by the AC power that electrical resonator receives Direct current power and exported；
Capacitor accumulates the electric power exported from the rectifier；
Motor is acted using the electric power of accumulation in the capacitor, the moving body is made to move；
Bi-directional DC-DC converter is connected between the rectifier and the capacitor, and is connected to the capacitance Between device and the motor, make the impedance matching of the impedance and the power transmission device of the moving body, it will be defeated from the rectifier It is supplied to the capacitor after the voltage step-down gone out, the motor will be supplied to after the boost in voltage that the capacitor exports；
Detector, detection are input to the electric current and voltage of the capacitor；And
Power control circuit controls the bi-directional DC-DC converter,
When carrying out the charging to the capacitor, the power control circuit is detected according to by the 1st detector The electric current and the voltage, determine the impedance of the bi-directional DC-DC converter and make the institute of inverter circuit output The voltage instruction value for stating AC power will indicate that the information of the voltage instruction value is sent to the wireless power transmission device.
【Industrial availability】
The technology of the disclosure for example can be applied to the wireless power for used unmanned waggon (AGV) in factory Transmission system.The technology of the disclosure is not limited to AGV, additionally it is possible to be applied to the moving bodys such as other industrial machineries or service robot.
Label declaration
50 direct currents (DC) power supply
100 wireless power transmission devices
105 power transmission coil units
110 power transmission resonators
112 power transmission coils
The 1st upper portions 112a
The 1st lower portion 112a
The 1st rectangular surfaces of 112c
120 inverter circuits
130 current detectors
140 power transmission control circuits
142 control IC
143 memories
144 gate drivers
180 the 2nd detectors
200 moving bodys
205 power receiving coil units
207 driving wheels
210 by electrical resonator
212 power receiving coils
The 2nd upper portions 212a
The 2nd lower portion 212b
The 2nd rectangular surfaces of 212c
220 rectifiers
230 capacitors
240 motors
250 DC-DC converters (boost chopper)
260 voltage detectors
262 voltage detectors
270 power control circuits
272 control IC
273 memories
274 gate drivers
280 the 1st detectors

Claims (20)

1. a kind of movable body system, which has：
Wireless power transmission device；And
Moving body is driven by the electric power wirelessly transmitted from the wireless power transmission device,
The wireless power transmission device has：
The direct current power provided from DC power supply is converted to AC power and exported by inverter circuit；
Power transmission resonator will pass out to sky from least part in the AC power that the inverter circuit exports Between；
1st detector detects the electric current flowed through in the power transmission resonator；And
Power transmission control circuit controls the exchange exported from the inverter circuit according to the detected electric current The frequency of electric power,
The moving body has：
By electrical resonator, can be coupled with the power transmission resonator by magnetic field resonance or electromagnetic induction；
Rectifier is connect with described by electrical resonator, and direct current is converted to by the AC power that electrical resonator receives by described Electric power and export；
Capacitor accumulates the electric power exported from the rectifier；
Motor is acted using the electric power of accumulation in the capacitor, the moving body is made to move；
DC-DC converter is connected between the capacitor and the motor, the voltage liter that will be exported from the capacitor It is supplied to the motor after pressure or decompression；
2nd detector, detection are supplied to the voltage of the motor；
Power control circuit controls the DC-DC converter according to the detected voltage, from the capacitor to In a period of the motor provides electric power, the step-up ratio of the DC-DC converter is set to increase, or step-down ratio is made to reduce.
2. movable body system according to claim 1, wherein
The power transmission control circuit is driven when starting power transmission with the multiple frequencies for including in preset frequency range successively The inverter circuit, from the virtual value for the electric current for determining to make to flow through in the power transmission resonator in the multiple frequency As maximum frequency, the inverter circuit is driven with the frequency determined.
3. movable body system according to claim 2, wherein
The phase that the virtual value becomes maximum electric current is consistent with the phase of voltage exported from the inverter circuit.
4. movable body system according to claim 2 or 3, wherein
The power transmission control circuit from determining the frequency and being driven to the inverter circuit with the frequency through When having spent the defined time, the inversion is driven successively with the multiple frequencies for including in other frequency ranges comprising the frequency Device circuit, from the virtual value of electric current for determining to make to flow through in the power transmission resonator in the multiple frequency become it is maximum its His frequency drives the inverter circuit with other frequencies described in determining.
5. according to the movable body system described in any one in Claims 1-4, wherein
The moving body also has：
3rd detector detects the voltage of the capacitor；And
Switch, is connected between the capacitor and the motor,
The power control circuit makes the switch disconnect and stops providing electric power, Zhi Daoyou to the motor from the capacitor Until the voltage for the capacitor that 3rd detector detects is more than threshold value,
When the voltage of the capacitor is more than the threshold value, the power control circuit makes the switch conduction and starts from institute It states capacitor and provides the electric power to the motor.
6. according to the movable body system described in any one in Claims 1-4, wherein
The moving body also has the switch being connected between the capacitor and the DC-DC converter,
When carrying out the charging to the capacitor, the power control circuit makes the switch disconnect and stop from described Capacitor provides electric power to the motor,
After the charging complete to the capacitor, the power control circuit makes the switch conduction and starts from the capacitance Device provides the electric power to the motor.
7. according to the movable body system described in any one in Claims 1-4, wherein
The capacitor is electric double layer capacitor or lithium-ion capacitor.
8. according to the movable body system described in any one in claim 1 to 7, wherein
The moving body is no battery moving body.
9. according to the movable body system described in any one in claim 1 to 8, wherein
The moving body be have multiple wheels without human conveying machine, the multiple wheel includes the driving driven by the motor Wheel.
10. a kind of movable body system, which has：
Wireless power transmission device；And
Moving body is driven by the electric power wirelessly transmitted from the wireless power transmission device,
The wireless power transmission device has：
The direct current power provided from DC power supply is converted to AC power and exported by inverter circuit；
Power transmission resonator will pass out to sky from least part in the AC power that the inverter circuit exports Between；And
Power transmission control circuit controls the inverter circuit,
The moving body has：
By electrical resonator, can be coupled with the power transmission resonator by magnetic field resonance or electromagnetic induction；
Rectifier is connect with described by electrical resonator, and direct current is converted to by the AC power that electrical resonator receives by described Electric power and export；
Capacitor accumulates the electric power exported from the rectifier；
Motor is acted using the electric power of accumulation in the capacitor, the moving body is made to move；
Bi-directional DC-DC converter is connected between the rectifier and the capacitor, and is connected to the capacitor Between the motor, make the impedance matching of the impedance and the power transmission device of the moving body, will be exported from the rectifier Voltage step-down after be supplied to the capacitor, the motor will be supplied to after the boost in voltage that the capacitor exports；
1st detector, detection are input into the electric current and voltage of the capacitor；And
Power control circuit controls the bi-directional DC-DC converter,
When carrying out the charging to the capacitor, the power control circuit is according to the institute detected by the 1st detector Electric current and the voltage are stated, determine the impedance of the bi-directional DC-DC converter and makes the friendship of the inverter circuit output The voltage instruction value of galvanic electricity power will indicate that the information of the voltage instruction value is sent to the power transmission control circuit,
The power transmission control circuit makes the AC power exported from the inverter circuit according to the described information received Voltage change.
11. movable body system according to claim 10, wherein
The bi-directional DC-DC converter has at least two switch element being connected in parallel with the capacitor,
The power control circuit determines that the bi-directional DC-DC turns by adjusting the switch timing of at least two switch element The impedance of parallel operation and the step-down ratio.
12. movable body system according to claim 11, wherein
The power transmission device also have the 2nd detector, the 2nd detector detection be input into the power transmission resonator electric current and Voltage,
2nd information is sent to the power control circuit by the power transmission control circuit, and the 2nd information indicates to be examined by the described 2nd The electric current and the voltage that device detects are surveyed,
The power control circuit is according to the 2nd information received and the electricity detected by the 1st detector Stream and the voltage determine the switch timing of 2 switch elements and the voltage instruction value.
13. according to the movable body system described in any one in claim 10 to 12, wherein
Also there is the moving body the 3rd detector, the 3rd detector to detect the voltage for being supplied to the motor,
The power control circuit is examined in a period of providing electric power to the motor from the capacitor according to by the described 3rd The voltage that device detects is surveyed to adjust the switch timing of 2 switch elements, makes the liter of the bi-directional DC-DC converter Pressure ratio increases.
14. according to the movable body system described in any one in claim 10 to 13, wherein
The moving body also has the switch being connected between the capacitor and the motor,
The power control circuit makes the switch disconnect and stops providing electric power, Zhi Daoyou to the motor from the capacitor Until the voltage for the capacitor that 1st detector detects is more than threshold value,
When the voltage of the capacitor is more than the threshold value, the power control circuit makes the switch conduction and starts from institute It states capacitor and provides the electric power to the motor.
15. according to the movable body system described in any one in claim 10 to 14, wherein
In a period of charging to the capacitor,
The power control circuit is according to the electric current and voltage for being input to the power transmission resonator and by the 1st detector The electric current and the voltage detected, makes the impedance of the impedance and the power transmission device of the bi-directional DC-DC converter Match, update makes the voltage instruction value of the AC power of the inverter circuit output, will indicate the voltage instruction value Information is sent to the power transmission control circuit,
The power transmission control circuit makes the AC power exported from the inverter circuit according to the described information received Voltage change.
16. according to the movable body system described in any one in claim 10 to 15, wherein
The capacitor is electric double layer capacitor or lithium-ion capacitor.
17. according to the movable body system described in any one in claim 10 to 16, wherein
The moving body is no battery moving body.
18. according to the movable body system described in any one in claim 10 to 16, wherein
The moving body be have multiple wheels without human conveying machine, the multiple wheel includes the driving driven by the motor Wheel.
19. a kind of moving body, the moving body by from the wireless power transmission device of at least one with power transmission resonator wirelessly The electric power of transmission and driven, which has：
By electrical resonator, can be coupled with the power transmission resonator by magnetic field resonance or electromagnetic induction；
Rectifier is connect with described by electrical resonator, and direct current is converted to by the AC power that electrical resonator receives by described Electric power and export；
Capacitor accumulates the electric power exported from the rectifier；
Motor is acted using the electric power of accumulation in the capacitor, the moving body is made to move；
DC-DC converter is connected between the capacitor and the motor, the voltage liter that will be exported from the capacitor It is supplied to the motor after pressure or decompression；
Detector, detection are supplied to the voltage of the motor；
Power control circuit controls the DC-DC converter according to the detected voltage, from the capacitor to In a period of the motor provides electric power, the step-up ratio of the DC-DC converter is set to increase, or step-down ratio is made to reduce.
20. a kind of moving body, which is driven by the electric power wirelessly transmitted from the wireless power transmission device of at least one It is dynamic, at least one is wireless power transmission resonator that power transmission device has inverter circuit and connect with the inverter circuit, the shifting Kinetoplast has：
By electrical resonator, can be coupled with the power transmission resonator by magnetic field resonance or electromagnetic induction；
Rectifier is connect with described by electrical resonator, and direct current is converted to by the AC power that electrical resonator receives by described Electric power and exported；
Capacitor accumulates the electric power exported from the rectifier；
Motor is acted using the electric power of accumulation in the capacitor, the moving body is made to move；
Bi-directional DC-DC converter is connected between the rectifier and the capacitor, and is connected the capacitance Between device and the motor, make the impedance matching of the impedance and the power transmission device of the moving body, it will be defeated from the rectifier It is supplied to the capacitor after the voltage step-down gone out, the motor will be supplied to after the boost in voltage that the capacitor exports；
Detector, detection are input into the electric current and voltage of the capacitor；And
Power control circuit controls the bi-directional DC-DC converter,
When carrying out the charging to the capacitor, the power control circuit is according to the institute detected by the 1st detector Electric current and the voltage are stated, determine the impedance of the bi-directional DC-DC converter and makes the friendship of the inverter circuit output The voltage instruction value of galvanic electricity power will indicate that the information of the voltage instruction value is sent to the wireless power transmission device.
CN201680076754.2A 2015-12-28 2016-12-07 Movable body system Withdrawn CN108473067A (en)

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CN113691152B (en) * 2020-05-19 2023-08-22 株式会社日立制作所 Power conversion device and abnormality detection method

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