JP2013198187A - Vehicle power feeding device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle power feeding device that can be installed without requiring a large installation space nor big modification of existing facilities.SOLUTION: A storage box 21 is attached on the ground LD of a parking area so as to locate between a pair of wheel stoppers ST. In the storage box 21, a self-propelled robot 4 that can enter between a lower surface of a parked vehicle 7 and the ground LD by a driving wheel 42 is housed. The self-propelled robot 4 incorporates a power feeding coil, and is formed to supply a power by a control cable 27. The self-propelled robot 4 is made move from the storage box 21 to a position opposed to the lower surface of the vehicle 7 for the purpose of charging a battery of the vehicle 7, and then, an AC is applied to the power feeding coil to generate an induction current to a power reception coil of the vehicle 7.

Description

  The present invention relates to a vehicle power supply device that supplies power to a vehicle from the outside in order to charge a battery of the vehicle.

  Install the device main body in front of the parking lock and insert the power supply coil formed at the tip of the support arm that protrudes from the device main body into the power receiving coil provided on the vehicle from below to charge the current. There is a conventional technology related to a vehicle charging device that applies a voltage to charge a battery by electromagnetic induction (see, for example, Patent Document 1). When the vehicle charging device described in Patent Document 1 starts charging, the vehicle charging device detects the AC current change of the power feeding side coil reversely induced by the electromagnetic induction action, thereby determining the position of the power feeding side coil in the vehicle width direction. The position accuracy of the power feeding side coil with respect to the vehicle can be improved.

In addition, a plurality of grooves are formed on the floor to guide each moving vehicle, and a pair of tracks extending perpendicular to the grooves are provided so as to be positioned in front of each moving vehicle. There has been a conventional technology related to a vehicle charging device that charges each mobile vehicle with a cart traveling on the road (see, for example, Patent Document 2).
The charging device disclosed in Patent Document 2 is a business-use charging device mainly used in places such as factories or warehouses, and can sequentially charge other mobile vehicles.

JP-A-9-182212 Japanese Patent Laid-Open No. 10-51960

The apparatus main body of the vehicle charging device described in Patent Document 1 described above has considerable dimensions in terms of its function in the length direction, the width direction, and the height direction of the vehicle. Therefore, when the charging device is provided, for example, in a parking lot at home, a problem in the space occurs, and it becomes difficult to install the charging device particularly in an urban home.
On the other hand, the vehicle charging device described in Patent Document 2 requires a vast floor space and a large-sized apparatus body, and it is necessary to drastically modify a parking lot floor or the like. For this reason, it is difficult to install the charging device in a home or the like in terms of space and installation cost.
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vehicle power supply device that can be installed without requiring a large installation space or significant modification of existing facilities.

  In order to solve the above-described problem, a vehicle power supply device according to a first aspect of the present invention includes a storage member provided on the ground on which the vehicle is stopped, a power supply body housed in the storage member and connected to a power source. And after moving on the ground and out of the storage member, the driving unit for entering between the parked vehicle and the ground, and the power from the power source for charging the vehicle battery A power supply unit including a power supply unit that supplies power to a power reception unit formed on the lower surface of the vehicle, a power supply unit position detection unit that detects the position of the power supply unit with respect to the power reception unit, and charging information transmitted from the vehicle. An information receiving unit to be received, and a control unit for controlling the operation of the power feeding unit based on the detection value of the power feeding unit position detecting unit and the charging information received by the information receiving unit.

  According to a second aspect of the present invention, in the vehicle power supply device according to the first aspect, the storage member is disposed at a position in the width direction of the vehicle with respect to the wheel stopper that regulates the position of the wheel when the vehicle is stopped.

  According to a third aspect of the present invention, in the vehicle power supply device of the second aspect, the protection member is attached on the ground so as to block between the storage member and the wheel at the time of stopping.

  According to a fourth aspect of the present invention, in the vehicle power feeding device according to any one of the first to third aspects, the power feeding body position detecting unit includes a light source formed on one of the power receiving unit and the upper surface of the power feeding body. A light receiving body that is provided on the other side and receives light from the light source, and one side of the light source and the light receiving body is formed by a pair of straight lines that intersect each other.

  According to a fifth aspect of the present invention, in the vehicle power feeding device according to the fourth aspect, the power feeding body position detection unit includes a distance sensor that is provided in the power feeding body and detects a distance from a wheel in the vehicle when the vehicle is stopped, and the control unit is After the power feeding body that has entered between the vehicle and the ground is moved within a range determined from the power receiving unit based on the detection value of the distance sensor, power is supplied to the power receiving unit based on the detection value of the light receiving body. The power feeding body is moved to a possible position.

  According to a sixth aspect of the present invention, in the vehicle power supply device according to any one of the first to fifth aspects, the power supply portion of the power supply body is wound around the power supply side core extending in the vertical direction and the power supply side core. The power feeding side core is formed so as to be movable in the axial direction with respect to the power feeding coil, and a power receiving side core extending in the vertical direction is surrounded by a power receiving unit of the vehicle. In the state where the axial end of the power feeding coil and the axial end of the power receiving coil are opposed to each other while maintaining a gap during power feeding, a direct current is applied to the power feeding coil. By applying a current, the feeding-side core moves in the axial direction and comes into contact with the receiving-side core, and then an alternating current is supplied to the feeding coil to generate an induced current in the receiving coil.

  According to the first aspect of the vehicle power feeding device of the present invention, the vehicle is accommodated in the storage member and connected to the power source. After moving on the ground and out of the storage member, the vehicle is stopped between the ground and the ground. The power feeding body that feeds power to the power receiving section formed on the lower surface of the vehicle using the power from the power source, the power feeding body position detection section that detects the position of the power feeding body relative to the power receiving section, and the power transmitted from the vehicle By providing an information receiving unit that receives charging information, and a control unit that controls the operation of the power feeding unit based on the detection value of the power feeding unit position detection unit and the charging information received by the information receiving unit, the vehicle and the ground The vehicle power feeding device can be formed only by providing a small installation space on the ground for accommodating a thin power feeding body that can enter between the two. Therefore, it is possible to install the vehicle power feeding device without being restricted by the installation location and without requiring significant modification of the existing equipment.

  According to the vehicle power supply device of the present invention, the storage member is disposed at a position in the width direction of the vehicle with respect to the wheel stopper that regulates the position of the wheel when the vehicle is stopped, thereby parking the vehicle. Since the storage member enters the lower side of the vehicle when the vehicle stops at the vehicle, power can be supplied to the vehicle in a state where rainwater or the like is not applied to the power supply body.

  According to the invention of the vehicle power supply device according to claim 3, when the vehicle is stopped at the parking lot, the protective member is mounted on the ground so as to block between the storage member and the wheel at the time of stopping. It is possible to prevent the wheels from accidentally stepping on the storage member.

  According to the vehicle power feeding device of the present invention, the power feeding body position detection unit is configured to emit light from the light source formed on one of the power receiving unit and the upper surface of the power feeding body and the light source provided on the other side. One side of the light source and the light receiving body is formed by a pair of straight lines intersecting each other, so that either the light source or the light receiving body reaches the intersection of the straight lines on the other side Since it can be moved easily, the power receiving unit and the power feeding body can be aligned in a short time.

  According to the invention of the vehicle power feeding device according to claim 5, the power feeding body position detection unit includes a distance sensor that detects a distance from the wheel of the power feeding body, and the power feeding body from the power receiving unit based on a detection value of the distance sensor. After moving within the defined range, the power feeder that has entered between the vehicle and the ground is moved to a position where power can be supplied to the power receiving unit based on the detection value of the light receiver. First, the distance sensor can be used to quickly move to the vicinity of the power receiving unit, and then the power feeding body can be accurately positioned with respect to the power receiving unit based on the detection value of the light receiving body.

  According to the invention of the vehicle power supply device according to claim 6, at the time of power supply, a direct current is applied to the power supply coil, the power supply side core is moved in the axial direction and brought into contact with the power reception side core, and then the power supply coil By supplying an alternating current to the power receiving section and feeding power to the power receiving section by the induced current generated in the power receiving coil, the power feeding core can be brought into contact with the power receiving core without using a special actuator. With sufficient current, sufficient power can be supplied to the power receiving unit.

External view of power feeding device according to Embodiment 1 of the present invention provided in a parking lot 1 is a perspective view of a self-propelled robot and a fixing device included in the power supply apparatus shown in FIG. Block diagram showing the electrical configuration of the power supply apparatus and vehicle shown in FIG. Simplified view when the vehicle is viewed from above to explain how the self-propelled robot moves below the vehicle FIG. 4 is a simplified diagram for explaining the functions of a position sensor light emitter of a vehicle and a position sensor light receiver of a self-running robot, showing a state in which the position sensor light receiver approaches a first straight line of the position sensor light emitter. (A), a diagram (b) showing a state in which the position sensor photoreceptor detects the laser beam from the first straight line and proceeds in a direction perpendicular to the traveling direction so far, and the position sensor photoreceptor further travels in the traveling direction. (C) which showed the state which changed the angle of (b), the figure (d) which showed the state which the position sensor light-receiving body is advancing in the direction where the 1st straight line extends in the vicinity of the 1st straight line, (E) which showed the state which is progressing toward the intersection of both straight lines along the 2nd straight line Simplified diagram showing a state where power is supplied to the power receiving unit using a power supply coil In the power feeding device according to the second embodiment of the present invention, a power feeding coil showing a state before power feeding to the power receiving unit, a partial cross-sectional view of the power receiving unit (a), and a power feeding side core for power feeding to the power receiving unit. Partial sectional view showing a state of contact (b)

<Embodiment 1>
A power supply device 1 according to Embodiment 1 of the present invention will be described with reference to FIGS. As shown in FIG. 1, a pair of wheel stoppers ST (corresponding to wheel stoppers) for regulating the position of the rear wheel 71 </ b> R (or the front wheel 71 </ b> F) of the vehicle 7 at the time of stopping are on the ground LD of the parking lot. It is attached. The pair of wheel stoppers ST are arranged in a straight line and are separated from each other by a predetermined distance in the length direction. Hereinafter, when the front wheel 71F and the rear wheel 71R of the vehicle 7 are included, they are referred to as wheels 71F and 71R.

  On the ground LD, a fixing device 2 included in the power feeding device 1 is attached so as to be positioned between both wheel stoppers ST (in other words, positioned in the width direction of the vehicle 7 with respect to the wheel stopper ST). It has been. The fixing device 2 is formed in a storage box 21 (corresponding to a storage member) formed of a synthetic resin material or the like, with each component to be described later built therein. The storage box 21 has a width and a depth that can be disposed between the two wheel stoppers ST, and has a height dimension similar to that of the wheel stopper ST.

  In addition to the built-in configuration, the storage box 21 has a volume capable of accommodating a self-running robot 4 (corresponding to a power feeding body) described later. The fixing device 2 has a power line 22 with a plug 22a provided at the tip thereof. The power is supplied to the fixing device 2 by inserting the plug 22a into an outlet of the AC power source 8 (corresponding to a power source). The In the present embodiment, a single-phase AC power source is connected to the fixing device 2, but a multi-phase AC power source such as a three-phase AC power source is connected to the fixing device 2 as a power source for power feeding. Also good.

  Further, a parking protector 5 (corresponding to a protective member) is provided between the pair of wheel stoppers ST so that the fixing device 2 is not accidentally stepped on by the wheels 71F and 71R of the vehicle 7 approaching at the time of parking. Is installed. The parking protector 5 is made of hard reinforced resin material, stone, metal, or the like having high strength, and blocks the wheels 71F and 71R of the vehicle 7 stopped in the parking lot and the fixing device 2. The parking protector 5 has a pair of leg posts 5a attached to the ground LD so as to contact the end of each wheel stopper ST, and a horizontal part 5b that connects the leg posts 5a. The bridge is formed across the fixing device 2. Further, the parking protector 5 may be formed integrally with the wheel stopper ST.

Hereinafter, the fixing device 2 will be described with reference to FIGS. 2 and 3. For convenience of explanation, the side of the fixing device 2 to which the power line 22 is connected is defined as the rear, and the side facing the wheel stopper ST is defined as the side.
The storage box 21 of the fixing device 2 is integrally formed except for a rotating plate 21g described later. As shown in FIG. 2, the storage box 21 includes a flat bottom plate 21a fixed on the ground LD. A front wall 21b and a rear wall 21c are erected at the front and rear ends of the bottom plate 21a so as to face each other. The storage box 21 includes a pair of swash plates 21d that are curved outward so as to connect the side ends of the front wall 21b and the rear wall 21c. Furthermore, the storage box 21 includes a ceiling plate 21e that connects the upper ends of the front wall 21b, the rear wall 21c, and the swash plate 21d described above. A storage port 21f described later passes through the front wall 21b.

  In the storage box 21, a control unit 23 formed by a CPU, a storage unit, an input / output unit, and the like is provided. The control unit 23 confirms the leakage insulation of the fixing device 2 and the self-running robot 4 and displays the confirmation result on a display (not shown) provided in the house together with the state of charge of the vehicle 7 during power feeding. ing. As shown in FIG. 3, the control unit 23 includes an ID authentication unit 23a and a rotation speed calculation unit 23b. In the ID authentication unit 23a, vehicle IDs that are permitted to be powered by the power feeding device 1 are registered in advance.

  A signal input unit 24 (corresponding to an information receiving unit) is connected to the control unit 23, and the signal input unit 24 can receive a vehicle ID signal transmitted from the transmitting unit 72 of the vehicle 7 by radio. It is. For this transmission / reception, the existing smart key system of the vehicle 7 can be used. In addition, an information transmission unit 25 is connected to the control unit 23. The information transmission unit 25 includes a transmitter, and is configured to be able to wirelessly transmit to a reception unit 73 of the vehicle 7 or a mobile device such as a mobile phone PS.

  In the storage box 21, an operation unit 26 is provided adjacent to the control unit 23 (shown in FIG. 2). The above-described power supply line 22 is connected to the rear of the operation unit 26. Further, the other end of the control cable 27 whose one end is connected to the self-running robot 4 is drawn into the storage box 21. The control cable 27 is formed by bundling a plurality of power supply lines and signal lines (not shown), the end of the power supply line is connected to the operating unit 26, and the end of the signal line is connected to the control unit 23. Has been. The outer skin of the control cable 27 is formed of a material having sliding resistance to prevent wear on the ground LD or the like.

  As shown in FIG. 3, the reel motor 26a of the operating unit 26 is connected to the control unit 23 via a reel driver 26b formed by a switching element. A reel shaft 26c (shown in FIG. 2) is connected to an output shaft (not shown) of the reel motor 26a. The reel driver 26b supplies electric power from the power supply line 22 to the reel motor 26a based on a signal from the control unit 23, and rotates the reel shaft 26c. The reel shaft 26c is rotated when the self-propelled robot 4 is accommodated in the storage box 21, and the control cable 27 is wound around the outer peripheral surface thereof.

  The operating unit 26 includes a DC motor driver 26d and a coil driver 26e that are each formed of a switching element and connected to the control unit 23. The DC motor driver 26d and the coil driver 26e are also connected to the self-running robot 4 via the control cable 27. The DC motor driver 26d and the coil driver 26e will be described later.

  Furthermore, an opening / closing motor driver 28 formed of a switching element is connected to the control unit 23 of the fixing device 2. An open / close motor 29 is connected to the open / close motor driver 28, and the open / close motor driver 28 drives the open / close motor 29 with electric power supplied from the power supply line 22 based on a signal from the control unit 23. A nut member 29b is screwed to the drive shaft 29a of the open / close motor 29, and the nut member 29b is formed so as to be movable in the axial direction on the drive shaft 29a without rotating regardless of the drive shaft 29a being driven. (Shown in FIG. 2).

  One end of a link member 29d is rotatably connected to the outer peripheral surface of the nut member 29b via a stay 29c. The other end of the link member 29d is rotatably connected to a rotation plate 21g that closes the accommodation port 21f of the storage box 21. A pivot shaft 21h protrudes from both ends of the pivot plate 21g, and the pivot plate 21g is attached to the storage box 21 so as to be pivotable about the pivot shaft 21h. When the nut member 29b is moved by the rotation of the opening / closing motor 29, the rotating plate 21g is rotated via the link member 29d to open / close the accommodation port 21f.

  As shown in FIG. 2, an end seal 21i formed of a synthetic rubber material or the like is provided at the opening of the accommodation port 21f. When the storage port 21f is closed, the end seal 21i is pressed by the rotating plate 21g to prevent water from entering the storage box 21 from the outside via the storage port 21f. In addition, the storage box 21 is provided with a hole penetrating inside and outside for connecting the power line 22 described above and a passage formed for drawing a signal line from a stop sensor 6 described later. As with the storage port 21f, a sealing member (not shown) is provided so as to prevent water from entering from the outside.

  As illustrated in FIG. 2, a brush sheet 21 j is attached to the lower surface of the ceiling plate 21 e of the storage box 21. A large number of flexible hair materials are formed on the lower surface of the brush sheet 21j so as to extend downward. As will be described later, since the upper surface of the self-propelled robot 4 moves in the storage box 21 and the upper surface of the self-propelled robot 4 rubs against the hair material of the brush sheet 21j, the contamination of the position sensor light receiver 45 formed on the self-propelled robot 4 becomes dirty. , Dust and the like can be eliminated.

  The fixing device 2 is connected to a signal line (not shown) from a stop sensor 6 (only one of them is shown in FIG. 1) formed on each wheel stopper ST. Although the stop sensor 6 should not be limited to this, an infrared sensor etc. can be used. The stop sensor 6 transmits an L signal (or H signal) when the vehicle 7 is not stopped on the ground LD of the parking lot, the vehicle 7 is stopped at the parking lot, and the upper side of the wheel stopper ST is below the lower surface of the vehicle 7. H signal (or L signal) is transmitted. Further, the stop sensor 6 may be a linear sensor that detects a distance from the lower surface of the vehicle 7.

  Next, the self-running robot 4 will be described with reference to FIGS. 2 and 3. When power feeding by the power feeding device 1 is not performed, the self-running robot 4 is accommodated in the storage box 21, and the rotating plate 21 g is closed with respect to the storage box 21. The self-propelled robot 4 includes a box-shaped robot housing 41 having a substantially square top view, and traveling wheels 42 that are rotatably attached to four side surfaces 41 a of the robot housing 41. It is formed in a thin shape so that it can enter (see FIG. 2). The control cable 27 described above is drawn into the robot housing 41.

  Each traveling wheel 42 is an omnidirectional wheel that can move in any direction in the horizontal direction, and should not be limited to this, but, for example, an omni wheel is applicable. The self-propelled robot 4 may have a configuration in which the robot housing 41 is a box having a triangular shape when viewed from above, and traveling wheels 42 (three in total) are attached to each side surface.

  Four DC motors 43 are provided in the robot housing 41 and are connected to the traveling wheel 42 via reduction gears (not shown). Each DC motor 43 is connected to the DC motor driver 26d described above by a control cable 27 (shown in FIG. 3). The DC motor driver 26d supplies power to each DC motor 43 based on a signal from the control unit 23, and drives each traveling wheel 42 independently. Thereby, the self-running robot 4 can be moved by a predetermined distance in all directions. The configuration including the traveling wheel 42, the DC motor 43, and the speed reducer corresponds to the traveling drive unit.

  As shown in FIG. 2, distance sensors 44 are attached to the upper four corners of the robot housing 41. The distance sensor 44 is an infrared distance sensor, and is connected to the control unit 23 of the fixing device 2 by the control cable 27 and supplied with electric power from the fixing device 2. Each distance sensor 44, after reaching the light emitting part 44a that emits infrared rays (indicated by EL in FIG. 4) based on the signal from the control part 23 and the corresponding wheels 71F and 71R (tires) of the vehicle 7, And a light receiving unit 44b that receives reflected infrared rays (indicated by RL in FIG. 4). Each distance sensor 44 detects the distance from each wheel 71F, 71R, and detects the position of the self-propelled robot 4 with respect to the power receiving unit 74 of the vehicle 7 described later.

  A position sensor light receiver 45 (corresponding to a light receiver) is formed on the housing upper surface 41 b of the robot housing 41. As shown in FIG. 2, the position sensor light receiver 45 is formed at a substantially central portion of the housing upper surface 41b. The position sensor light receiver 45 receives laser light from a position sensor light emitter 74a (corresponding to a light source) provided in the power receiving unit 74 of the vehicle 7, detects the position of the self-running robot 4 with respect to the power receiving unit 74, Align both. The position sensor light receiver 45 is formed so as to be able to transmit to the control unit 23 of the fixing device 2 through a signal line of the control cable 27. The position sensor light emitter 74a and the position sensor light receiver 45 may use a photo sensor or the like. The configuration including the distance sensor 44, the position sensor light receiving body 45, and the position sensor light emitting body 74a corresponds to a power feeding body position detection unit.

  In the present embodiment, since the self-running robot 4 moves in the gap between the lower surface of the vehicle 7 and the ground LD that is relatively less susceptible to disturbance light, the distance sensor 44, the position sensor light receiver 45, the position Each of the sensor light emitters 74a uses an inexpensive light receiving and emitting element, but uses an ultrasonic transmitter and an ultrasonic sensor to detect the distance from each of the wheels 71F and 71R and the power receiving unit 74. A position sensor that detects the position of the running robot 4 may be configured, or the distance sensor and the position sensor may be configured using an imaging device (camera).

  Further, a feeding coil 46 (corresponding to a power supply unit) is formed in the robot housing 41 (shown in FIG. 6). The power supply coil 46 is connected to the coil driver 26e of the fixing device 2 described above by a control cable 27, and power is supplied from the coil driver 26e by a signal from the control unit 23 to generate an alternating current of a predetermined frequency. . The feeding coil 46 may use a wire made of an aluminum alloy in order to reduce the weight of the self-running robot 4. The feeding coil 46 has its axis oriented vertically so as to face the lower surface of the vehicle 7 during feeding, and its axial dimension is short so that it can be accommodated in the robot housing 41 (see FIG. 6).

  Next, a configuration related to the present invention in the vehicle 7 will be described with reference to FIG. A vehicle control unit 75 is connected to the transmission unit 72 and the reception unit 73 described above. The vehicle control unit 75 is formed by a CPU, a storage unit, an input / output unit, and the like, and confirms leakage insulation of the vehicle 7. The display unit 76 connected to the vehicle control unit 75 is provided on an instrument panel or the like (not shown) of the vehicle 7. The state of charge of a battery 78 described later, the ID authentication result of the vehicle 7 by the fixing device 2, the vehicle 7. Displays the results of confirming leakage insulation of

  The position sensor light emitter 74a described above is connected to the vehicle control unit 75 via a drive unit 77 that is a power supply circuit. The drive unit 77 drives the position sensor light emitter 74 a with electric power from a low-voltage battery (not shown) of the vehicle 7 based on a signal from the vehicle control unit 75. The position sensor light emitter 74a may be configured to supply power from a battery 78, which will be described later, instead of the low voltage battery. The position sensor light emitter 74a to which power is supplied is formed so as to generate laser light downward from a substantially central portion of the vehicle 7 so that the position sensor light receiver 45 described above can receive light below the vehicle 7. Has been.

  The position sensor light emitter 74a has a pair of straight lines 74a1 and 74a2 (hereinafter referred to as a first straight line 74a1 and a second straight line 74a2) that extend along the lower surface of the vehicle 7 as light sources and intersect with each other, and are orthogonal to each other at an intersection 74a3. It has a cross shape (shown in FIG. 5). However, the first straight line 74a1 and the second straight line 74a2 do not necessarily have to be orthogonal to each other, and may intersect at an angle other than 90 °. As will be described later, at the time of power feeding, since the axial centers of the power feeding coil 46 of the self-propelled robot 4 and the power receiving coil 74b of the vehicle 7 are opposed to each other, the intersection 74a3 of the position sensor light emitter 74a is described later. It is formed so as to be positioned at the axial center of the power receiving coil 74b.

  Depending on the vehicle, the axis of the power receiving coil 74b, in other words, the intersection 74a3 may not be disposed at the center of the vehicle 7 in a plan view of the vehicle 7, and the axis of the power receiving coil 74b is, for example, the (right or left) front wheel. It may be arranged closer to 71F, or may be arranged closer to (right or left) rear wheel 71R, and may further be arranged in the middle of front wheels 71F or in the middle of rear wheels 71R.

  The battery 78 is a high voltage battery formed by a lithium ion battery or the like, and supplies power to a motor generator (not shown) that drives the wheels 71F and 71R of the vehicle 7. The battery 78 is provided with a current sensor and a voltage sensor (not shown), and these sensors are connected to the vehicle control unit 75. The vehicle control unit 75 constantly monitors the state of charge of the battery 78 (remaining battery SOC) based on detection values from the current sensor and the voltage sensor.

  An AC-DC converter 79 is connected to the battery 78, and a power reception coil 74 b included in a power reception unit 74 formed on the lower surface of the vehicle 7 is connected to the AC-DC converter 79. The power receiving coil 74b is located at a substantially central portion of the vehicle 7 when viewed from above, and its axial direction is directed to the vertical direction of the vehicle 7 (shown in FIG. 6). The power receiving coil 74 b may use a wire made of an aluminum alloy for reducing the weight of the vehicle 7. The power receiving coil 74 b faces the power feeding coil 46 of the self-running robot 4 during power feeding, and an induced current is generated by a change in the current flowing in the power feeding coil 46. The current generated in the power receiving coil 74 b is converted into a direct current by an AC-DC converter 79 controlled by the vehicle control unit 75 and then charged in the battery 78.

  Next, a power feeding method for the power receiving unit 74 of the vehicle 7 by the power feeding device 1 will be described. A vehicle ID signal is constantly emitted from the transmission unit 72 of the vehicle 7. When the vehicle 7 is brought close to the power feeding device 1 to charge the battery 78, the ID authentication unit 23a of the control unit 23 is allowed to feed the vehicle ID signal input from the signal input unit 24 of the fixing device 2. It is determined whether the vehicle 7 or not. When the vehicle ID signal output from the vehicle 7 is that of a vehicle that is permitted to supply power, the control unit 23 puts the fixing device 2 and the self-propelled robot 4 on standby, and also determines the current battery 78 of the vehicle 7 from the vehicle ID signal. Recognize the state of charge. When the vehicle ID signal output from the vehicle 7 is not for a vehicle that is permitted to supply power, the power supply apparatus 1 does not supply power to the vehicle 7.

  When the vehicle 7 is a vehicle that is allowed to supply power, when the wheels 71F and 71R of the vehicle 7 approach (or abut) the wheel stopper ST, the vehicle 7 stops at a position where the vehicle 7 can supply power. Is detected. As a result, the control device 23 transmits a power supply start signal notifying the start of power supply to the power receiving unit 74 from the information transmitting unit 25 to the receiving unit 73 of the vehicle 7. When the power supply start signal is received, the vehicle control unit 75 of the vehicle 7 performs a display for notifying the start of power supply on the display unit 76 and operates the drive unit 77 to generate laser light from the position sensor light emitter 74a. Further, the vehicle control unit 75 puts the AC / DC converter 79 on standby so that the power generated by the power receiving coil 74b can be charged in the battery 78.

  The controller 23 of the fixing device 2 that has detected the stop of the vehicle 7 operates the open / close motor 29 to open the rotating plate 21g, and drives the DC motor 43 to move the self-running robot 4 out of the storage box 21. . When the self-propelled robot 4 moves on the ground LD and enters the lower side of the vehicle 7 (between the floor of the vehicle 7 and the ground LD) from the storage box 21, as shown in FIG. The distance sensor 44 detects a distance to each of the opposed wheels 71F and 71R.

  The rotation number calculation unit 23 b of the control unit 23 determines the moving direction of the self-running robot 4 based on the distance detected by each distance sensor 44 and calculates the rotation number (rotation speed) of each DC motor 43. Each DC motor 43 is driven at a predetermined speed by the DC motor driver 26d, and moves the self-running robot 4 to a substantially central portion of the vehicle 7 surrounded by the wheels 71F and 71R.

  When it is determined that the self-propelled robot 4 has moved within a predetermined range from the power receiving coil 74b of the vehicle 7 based on the detection value by the distance sensor 44, the control unit 23 replaces the distance sensor 44 (or together with the distance sensor 44). ) Based on the detection value of the position sensor light receiver 45, the self-running robot 4 is moved to a position where power can be supplied to the power receiving coil 74b. Specifically, the power feeding coil 46 and the power receiving coil 74b can be aligned as follows, but the present invention is not limited to this method.

  First, as shown in FIG. 5A, the position sensor light receiver 45 approaches the first straight line 74 a 1 constituting the position sensor light emitter 74 a on the vehicle 7 side by the movement of the self-running robot 4. When the position sensor light receiver 45 receives the laser beam from the first straight line 74a1, the traveling direction is changed to a direction perpendicular to the traveling direction so far, and the reciprocating movement VL1 is started (shown in FIG. 5B). When the laser beam from the first straight line 74a1 cannot be received by the reciprocating movement VL1 of the position sensor photoreceptor 45 (when the direction of the reciprocating movement VL1 is different from the extending direction of the first straight line 74a1), the traveling direction thereof The reciprocating movement VL2 is repeated while changing the angle (shown in FIG. 5C).

  When the reciprocating direction and the extending direction of the first straight line 74a1 coincide with each other, the position sensor photoreceptor 45 is moved in the extending direction of the first straight line 74a1 at a position away from the first straight line 74a1 by a predetermined distance d (see FIG. 5 (d) shown). Thereafter, when the position sensor light receiver 45 receives the laser beam from the second straight line 74a2, a point separated by d from the position in a direction perpendicular to the current traveling direction is the first straight line 74a1 and the second straight line 74a2. It turns out that it is the intersection 74a3. Therefore, the position sensor light receiver 45 is moved toward the intersection 74a3, and the positioning of the power feeding coil 46 with respect to the power receiving coil 74b is completed (shown in FIG. 5 (e)).

  Here, in the state shown in FIG. 5D, the position sensor photoreceptor 45 has moved in the direction in which the first straight line 74a1 extends and away from the second straight line 74a2 (downward in FIG. 5D). If the light received from the second straight line 74a2 cannot be detected even after moving for a predetermined distance, the second straight line 74a2 can be reached by moving in the opposite direction. As described so far, the path (outward path) taken by the self-propelled robot 4 from the storage box 21 to the lower side of the power receiving coil 74b based on the detection values of the distance sensor 44 and the position sensor photoreceptor 45 is controlled. Stored in the unit 23.

  As shown in FIG. 6, when the positioning of the power receiving coil 74 b of the vehicle 7 and the power feeding coil 46 of the self-running robot 4 is completed and the power receiving coil 74 b faces the power feeding coil 46 in the axial direction, the control unit 23 receives the power. Power supply to the unit 74 is started. Power feeding to the power receiving unit 74 is performed by applying an alternating current SC having a predetermined frequency to the power feeding coil 46 by the coil driver 26e. In the power feeding coil 46, the magnetic flux φ is changed by the applied alternating current SC, so that an induction current IC having the same frequency is induced in the power receiving coil 74b. The induced current IC generated in the power receiving coil 74 b is converted into a direct current in the AC / DC converter 79 and charged in the battery 78.

  The state of charge in the battery 78 is displayed on the display unit 76 of the vehicle 7, and a charge state signal is transmitted to the fixing device 2 via the transmitter 72 and displayed also in the house. Further, the charging state signal is also transmitted from the fixed device 2 to the mobile phone PS, and the current charging state is also notified to the user of the mobile phone PS.

  When the battery 78 is in a fully charged state, a charging completion signal is transmitted from the vehicle 7 to the fixing device 2, so that the control unit 23 stops energizing the power supply coil 46 and then stores the self-running robot 4 again in the storage box. 21, the rotating plate 21 g is closed with respect to the storage box 21. When returning the self-running robot 4 into the storage box 21, the self-running robot 4 is moved so as to follow the forward path of the self-running robot 4 stored in the control unit 23. When the self-propelled robot 4 returns to the storage box 21, the reel motor 26a is driven to move the control cable 27 while winding it with the reel shaft 26c.

  According to this embodiment, after being accommodated in the storage box 21 and connected to the power source, moved on the ground LD and out of the storage box 21, the vehicle enters the parked vehicle 7 and the ground LD. The self-running robot 4 that supplies power to the power receiving unit 74 formed on the lower surface of the vehicle 7 using the power from the power source, and the distance sensor 44 or the position sensor light receiving that detects the position of the self-running robot 4 with respect to the power receiving unit 74. Based on the vehicle 45, the signal input unit 24 that receives the vehicle ID signal of the vehicle 7 transmitted from the vehicle 7, the detected value of the distance sensor 44 or the position sensor light receiver 45, and the vehicle ID signal received by the signal input unit 24. By providing the control unit 23 for controlling the operation of the self-propelled robot 4, a small installation space for accommodating the thin self-propelled robot 4 that can enter between the vehicle 7 and the ground LD is provided on the ground LD. It is possible to form the power feeding device 1 only provided. Therefore, it is possible to install the power feeding device 1 without requiring significant modification of existing facilities without being restricted by the installation location such as being installed in a home or public facility.

Moreover, since the self-propelled robot 4 is usually housed in the storage box 21, it does not get in the way when the vehicle 7 is washed, when the door is opened, when the rear hatchback door is opened or closed.
Further, since the self-propelled robot 4 automatically supplies power to the vehicle 7, there is no need for the user of the vehicle 7 to perform troublesome charging work. For this reason, it is possible to prevent the body from being contaminated during the charging operation and to prevent danger against high voltage.

Further, the storage box 21 is disposed between a pair of wheel stoppers ST that regulate the positions of the wheels 71F and 71R when the vehicle 7 is stopped. Since the vehicle enters the lower side, power can be supplied to the vehicle 7 in a state where the self-propelled robot 4 is not exposed to rainwater or the like.
Further, when the parking protector 5 is mounted on the ground LD so as to block between the storage box 21 and the stopped wheels 71F and 71R, when the vehicle 7 stops at the parking lot, the wheels 71F are mistakenly detected. 71R can prevent the fixing device 2 from being crushed.

  The power receiving unit 74 includes a position sensor light emitter 74a as a light source and a position sensor light receiver 45 that receives light from the position sensor light emitter 74a. The position sensor light emitter 74a is a pair of crossing each other. Since the position sensor photoreceptor 45 can be easily moved to the intersection 74a3 between the first straight line 74a1 and the second straight line 74a2 by being formed by the first straight line 74a1 and the second straight line 74a2, it can be performed in a short time. The power receiving unit 74 and the self-running robot 4 can be aligned.

  Moreover, the distance sensor 44 which detects the distance from the wheels 71F and 71R of the self-propelled robot 4 is provided, and based on the detection value of the distance sensor 44, the self-propelled robot 4 is moved within the range determined from the power receiving coil 74b. Thereafter, the self-running robot 4 that has entered between the vehicle 7 and the ground LD by moving the self-running robot 4 to a position where power can be supplied to the power receiving unit 74 based on the detection value of the position sensor light receiver 45. Can be quickly moved to the vicinity of the power receiving unit 74 using the distance sensor 44, and then the position can be accurately aligned with the power receiving unit 74 based on the detection value of the position sensor light receiver 45.

<Embodiment 2>
Hereinafter, based on FIG. 7, the electric power feeder 1 by Embodiment 2 of this invention is demonstrated. The power supply coil 46 according to the present embodiment is wound around a power supply insulator 46a formed of a synthetic resin material. A power supply side core 46b is inserted into the inner hole 46a1 of the power supply side insulator 46a so as to be movable in the axial direction (vertical direction in FIG. 7). A plurality of plunger holes 46a2 are formed in the power supply side insulator 46a so as to be orthogonal to the inner hole 46a1.

  In addition, a recess 46b1 is formed on the outer peripheral surface of the power supply side core 46b so as to face the plunger hole 46a2 and surround the circumference. As shown in FIG. 7, the recess 46b1 is formed with a plurality of notch steps 46b2 that become deeper downward in FIG. 7, and a step wall 46b3 is formed between each notch step 46b2. Further, in FIG. 7, an end wall 46b4 is formed at the upper end of the recess 46b1, and the end wall 46b4 is formed higher than the step wall 46b3.

  In each plunger hole 46a2, the holding piston 46c is provided so as to be movable in the axial direction. A piston spring 46d that urges the holding piston 46c toward the power supply side core 46b is disposed between the holding piston 46c and the bottom of the plunger hole 46a2. The holding piston 46c is always engaged with one of the notch steps 46b2 by the urging force of the piston spring 46d, and cannot be moved over the end wall 46b4.

  Further, as shown in FIG. 7, the tip of the holding piston 46c is formed in a hemispherical shape. When a predetermined electromagnetic force is generated in the power supply side core 46b by the power supply coil 46, the power supply side core 46b is axially upward. Although it is allowed to move to, it is formed to prevent downward movement. However, when an electromagnetic force larger than a predetermined value is generated in the power supply side core 46b, the holding piston 46c gets over the step wall 46b3 by bending the piston spring 46d, and the power supply side core 46b moves downward in the axial direction. Is also allowed.

  On the other hand, the power receiving coil 74b is wound around a power receiving side insulator 74c formed of a synthetic resin material. The power receiving side core 74d is fixed in the inner hole 74c1 of the power receiving side insulator 74c. In the present embodiment, the position sensor light receiver 45 and the position sensor light emitter 74a need to be arranged at positions other than the axis of the power feeding coil 46 or the power receiving coil 74b, respectively.

  Next, a power feeding method by the power feeding device 1 of the present embodiment will be described. As shown in FIG. 7A, before starting feeding, the upper end in the axial direction of the feeding coil 46 and the lower end in the axial direction of the power receiving coil 74b are in a state of facing each other with a gap therebetween. In this state, the holding piston 46c that has received the urging force from the piston spring 46d is engaged with the notch step 46b2 at the upper end of the recess 46b1.

  Next, by applying a direct current to the power supply coil 46, the power supply side core 46b receives the electromagnetic force F, moves upward in the axial direction, and contacts the lower end surface of the power reception side core 74d (FIG. 7B). Shown). At this time, since the holding piston 46c can engage with the deeper notch step 46b2, the upward movement of the power supply side core 46b is not hindered. Thereafter, an alternating current is supplied to the power feeding coil 46, and an induction current is generated in the power receiving coil 74b to feed power to the power receiving unit 74. When the alternating current is supplied to the power feeding coil 46, the holding piston 46c is engaged with the notch step 46b2, so that the power feeding side core 46b is held without being lowered.

  When charging of the power receiving unit 74 is completed, a direct current is applied to the power supply coil 46 in a direction opposite to that before power supply so as to generate more magnetic flux than the alternating current during power supply. As a result, the power feeding side core 46b moves downward in the axial direction and is separated from the power receiving side core 74d. At this time, since the power supply side core 46b is urged by a strong electromagnetic force, the holding piston 46c can get over the stepped wall 46b3 by bending the piston spring 46d.

  According to the present embodiment, at the time of power feeding, a direct current is applied to the power feeding coil 46, the power feeding side core 46b is moved in the axial direction and brought into contact with the power receiving side core 74d, and then the AC current is fed to the power feeding coil 46. Is supplied to the power receiving unit 74 by the induced current generated in the power receiving coil 74b, so that the power feeding side core 46b can be brought into contact with the power receiving side core 74d without using a special actuator. Sufficient power can be supplied to the power receiving section 74 even with a current of a frequency.

<Other embodiments>
The present invention is not limited to the above-described embodiments, and can be modified or expanded as follows.
You may make it form the storage box 21 which accommodates the self-propelled robot 4 under the floor of a house, or form it using the floor material of a house.
Further, when the self-running robot 4 is accommodated in the storage box 21, instead of being moved based on the stored route of the self-running robot 4, a light emitting device is provided in the fixing device 2, and the self-running robot 4 detects it. The light may be moved based on the light from the light emitting device.
When the self-propelled robot 4 is accommodated in the storage box 21, the control cable 27 may not be wound around the reel shaft 26c, but may be a telescopic control cable 27 as shown in FIG.

Further, the power feeding method to the power receiving unit 74 by the self-running robot 4 is not limited to the non-contact method as described above, and may be a contact method.
Further, only the distance sensor 44 may be used as the power feeder position detection unit, or only a combination of the position sensor light receiver 45 and the position sensor light emitter 74a may be used.
Further, the position sensor light emitter 74a may be provided on the self-running robot 4 side, and the position sensor light receiver 45 may be provided on the vehicle 7 side.
Further, the position sensor light emitter 74a may be formed in a dot shape, and the position sensor light receiver 45 may be formed in a cross shape.
Further, only one wheel stopper ST may be attached on the ground LD of the parking lot, and the fixing device 2 may be provided close to the position in the width direction of the vehicle 7 with respect to the wheel stopper ST.
Instead of detecting that the battery 78 is fully charged and stopping power supply, the power supply to the power receiving unit 74 is terminated after power is supplied for a predetermined time by a timer formed in the control unit 23. May be.

  In the drawings, 1 is a power supply device, 4 is a self-propelled robot (power supply body), 5 is a parking protector (protective member), 7 is a vehicle, 8 is an AC power supply (power supply), 21 is a storage box (storage member), and 23 is Control unit, 24 is a signal input unit (information receiving unit), 42 is a traveling wheel (traveling drive unit), 43 is a DC motor (traveling drive unit), 44 is a distance sensor, 45 is a position sensor light receiver (light receiver, power feeding) Body position detection unit), 46 is a power supply coil (power supply unit), 46b is a power supply side core (power supply unit), 71F is a front wheel, 71R is a rear wheel, 74 is a power reception unit, 74a is a position sensor light emitter (light source, 74a1 is a first straight line, 74a2 is a second straight line, 74b is a power receiving coil, 74d is a power receiving side core, 78 is a battery, LD is the ground, and ST is a wheel stopper (ring stopper). .

Claims (6)

A storage member provided on the ground where the vehicle is stopped;
A power feeder housed in the storage member and connected to a power source, moves on the ground and exits the storage member, and then enters between the stopped vehicle and the ground. And a power supply unit that feeds power to a power receiving unit formed on a lower surface of the vehicle using electric power from the power source to charge a battery of the vehicle.
A power feeder position detector that detects the position of the power feeder relative to the power receiver;
An information receiving unit for receiving charging information transmitted from the vehicle;
Based on the detection value of the power feeder position detection unit and the charging information received by the information receiving unit, a control unit that controls the operation of the power feeder;
The vehicle electric power feeder provided with.   The vehicle power feeding device according to claim 1, wherein the storage member is disposed at a position in a width direction of the vehicle with respect to a wheel stopper that restricts a position of a wheel when the vehicle is stopped.   The vehicle electric power feeder of Claim 2 with which the protection member was attached on the said ground so that between the said storage member and the said wheel at the time of a stop might be interrupted | blocked. The power feeder position detector
A light source formed on one of the power receiving unit and the upper surface of the power feeding body, and a light receiving body provided on the other side for receiving light from the light source, and one side of the light source and the light receiving body Is a vehicle power feeding device according to any one of claims 1 to 3, which is formed by a pair of straight lines intersecting each other. The power feeder position detector
A distance sensor that is provided in the power feeding body and detects a distance from the wheel in the vehicle when the vehicle is stopped;
The controller is
Based on the detection value of the light receiver, after moving the power feeder that has entered between the vehicle and the ground within a range determined from the power receiving unit based on the detection value of the distance sensor, The vehicle electric power feeder of Claim 4 which moves the said electric power feeding body to the position which can be electrically fed with respect to the said power receiving part. The power supply unit of the power supply body is provided with a power supply side core extending in a vertical direction and a power supply coil wound so as to surround the power supply side core, and the power supply side core is connected to the power supply coil. The power receiving unit of the vehicle is provided with a power receiving side core extending in the vertical direction and a power receiving coil wound around the power receiving side core,
At the time of feeding, a DC current is applied to the feeding coil in a state where the axial end of the feeding coil and the axial end of the receiving coil face each other with a gap therebetween, whereby the feeding 6. The method according to claim 1, wherein after the side core moves in the axial direction and contacts the power receiving side core, an alternating current is supplied to the power feeding coil to generate an induced current in the power receiving coil. The vehicle electric power feeder as described in a term.

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