JP2015061484A - Power transmission equipment and non-contact power transmission device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide power transmission equipment and a non-contact power transmission device, capable of both grasping the position of a power transmission target and detecting a foreign substance.SOLUTION: A non-contact power transmission device 10 includes: a primary side coil 13a having input AC power; and a secondary side coil 23a capable of receiving AC power from the primary side coil 13a in a non-contact manner. The non-contact power transmission device 10 further includes: a detector unit 50 for radiating a detection beam B and for detecting a reflection beam Br of the detection beam B; and an object existence determination unit for determining whether or not an object exists, based on the reflection beam Br of the detection result by the detector unit 50.

Description

  The present invention relates to a power transmission device and a contactless power transmission device.

  As a non-contact power transmission device that does not use a power cord or a power transmission cable, for example, a power transmission device having a primary coil to which AC power is input and a secondary side that can receive AC power in a non-contact manner from the primary coil What is provided with the power receiving apparatus which has a coil is known (for example, refer patent document 1). In such a non-contact power transmission device, AC power is transmitted from a power transmitting device to a power receiving device in a non-contact manner, for example, by magnetic resonance between the primary side coil and the secondary side coil. Further, for example, in Patent Document 2, in a non-contact power transmission device in which a power receiving device is mounted on a vehicle, the position of a vehicle tire is detected using a contact-type detection unit provided on a rotatable wheel stop. However, a configuration is described in which the center line in the width direction is calculated from the position.

JP 2009-106136 A JP 2011-217451 A

  For example, in the configuration in which the contact type detection unit is provided in the ring stopper as in the above-mentioned Patent Document 2, a situation in which the user hooks his / her foot on the wheel stopper may occur, and the wheel stopper is likely to be an obstacle. In addition, the degree of freedom of the parking mode of the vehicle is low due to the need for the tire to contact the wheel stopper. For this reason, there is still room for improvement in the configuration for grasping the position of a vehicle that is a power transmission target.

  In addition, when there is a foreign object around the power transmission device and the vehicle, the foreign object may hinder contactless power transmission. For this reason, there is a case where it is desired to detect whether or not there is a foreign object around the power transmission device and the vehicle.

  An object of the present invention is made in view of the above-described circumstances, and is to provide a power transmission device and a non-contact power transmission device capable of both grasping a position of a power transmission target and detecting a foreign object.

  A power transmission device that achieves the above object includes a primary coil to which AC power is input, and the AC power is supplied from the primary coil to the secondary coil of a power receiving device that includes a secondary coil. A non-contact power transmission, a detection unit that irradiates a detection beam within a predetermined irradiation range and detects a reflected beam of the detection beam, and based on the detection result of the detection unit, An object presence determination unit that determines whether or not an object exists within an irradiation range, and when the object presence determination unit determines that an object exists, the object is a power transmission target on which the power receiving device is mounted or a foreign object And an object specifying unit for specifying the above.

  According to this configuration, when it is determined that an object exists within the irradiation range based on the detection result of the detection unit, whether the object is a power transmission target or a foreign object is specified. In this case, if the object is a power transmission target, the position of the power transmission target can be grasped using, for example, the time from when the detection beam is irradiated until the reflected beam is detected. Therefore, both the grasp of the position of the power transmission target and the foreign object detection can be performed using the detection result of the detection unit.

  For the power transmission device, the detection unit irradiates the detection beam in a plurality of directions, and detects a reflected beam of the detection beam in each direction, and the power transmission device applies the reflected beam to the reflected beam. And a derivation unit that derives the position of the object in the direction in which the reflected beam is detected, and the derivation unit detects the detection unit when the detection beam is irradiated in a plurality of directions. The derivation pattern derived based on each reflected beam detected in step 1 is used as a reference derivation pattern. When the derivation unit irradiates the object with the detection beam in a plurality of directions, the detection unit If the derived pattern derived based on each detected reflected beam is a specific target derived pattern, the object identifying unit stores the reference derived pattern. Includes a reference derivation pattern storage unit and a corresponding reference derivation pattern, by comparing the specific target derivation pattern, may the object to identify whether the power transmission target or foreign matter. According to this configuration, the derivation unit compares the specific target derivation pattern derived based on each reflected beam detected when the detection beam is irradiated on the object in a plurality of directions and the reference derivation pattern. Thus, it is specified whether the object is a power transmission target or a foreign object. Thereby, it is possible to accurately identify whether the object is a power transmission target or a foreign object.

  The power transmission device is wirelessly communicable with the power transmission target when the power transmission target is disposed within a wireless communicable range that is wider than the irradiation range of the detection beam. When the object presence determination unit determines that the object exists after the power transmission target can be wirelessly communicated, the object may be specified as the power transmission target. When the power transmission device and the power transmission target are wirelessly communicable, it means that the power transmission target is disposed within the wireless communicable range. In such a situation, when an object is detected within the irradiation range of the detection beam, the object is highly likely to be a power transmission target. In this regard, according to this configuration, when it is determined that an object exists after wireless transmission between the power transmission device and the power transmission target is possible, the object is identified as the power transmission target. This makes it possible to identify whether the object is a power transmission target or a foreign object relatively easily.

  For the power transmission device, based on the reflected beam, a derivation unit that derives a position of the power transmission target in a direction in which the reflected beam is detected, and identification of the power transmission target that is derived based on a derivation result of the derivation unit A position specifying unit that specifies the position of the secondary coil based on the position of the part and information on the positional relationship between the position of the specific part and the position of the secondary coil may be provided. . According to this configuration, based on the position of the specific part of the power transmission target derived using the reflected beam and the information on the positional relationship between the position of the specific part and the position of the secondary coil, A location is identified. Thereby, position alignment with a primary side coil and a secondary side coil can be performed suitably.

  In the power transmission device, the detection unit irradiates the detection beam in a plurality of directions, and detects a reflected beam of the detection beam in each direction. The object presence determination unit includes at least one When the reflected beam is detected by the detection unit in a direction, it may be determined that the object is present. According to this configuration, when a reflected beam is detected in at least one direction, it is determined that an object is present. Thereby, the object in the irradiation direction of each detection beam can be suitably detected.

  A non-contact power transmission device that achieves the above object includes a primary coil to which AC power is input, a secondary coil that can receive the AC power in a non-contact manner from the primary coil, and a predetermined value. A detection unit that irradiates a detection beam within the irradiation range and detects a reflected beam of the detection beam, and an object presence that determines whether an object exists within the irradiation range based on a detection result of the detection unit A determination unit; and an object specifying unit for specifying whether the object is a power transmission target or a foreign object on which the secondary coil is mounted when the object is determined to be present by the object presence determination unit. It is characterized by.

  According to this configuration, when it is determined that an object exists within the irradiation range based on the detection result of the detection unit, whether the object is a power transmission target or a foreign object is specified. In this case, if the object is a power transmission target, the position of the power transmission target can be specified using, for example, the time from when the detection beam is irradiated until the reflected beam is detected. Therefore, both the grasp of the position of the power transmission target and the foreign object detection can be performed using the detection result of the detection unit.

  According to this invention, both the grasp of the position of the power transmission target and the foreign object detection can be performed.

The side view which shows typically the outline | summary of a power transmission apparatus, a power receiving apparatus, and a non-contact power transmission apparatus. The top view which shows typically the outline | summary of a power transmission apparatus, a receiving device, and a non-contact power transmission apparatus. The block diagram which shows a part of electrical structure of power transmission equipment. The graph which shows the detection aspect by a detection part. The graph for demonstrating the dispersion | variation in the derived distance. The graph for demonstrating a 1st average coordinate. The graph for demonstrating a 2nd average coordinate. The flowchart which shows the charge process performed with a power supply side controller. The schematic diagram which shows the one aspect | mode in which the foreign material was detected. The schematic diagram which shows another one aspect | mode in which the foreign material was detected.

Hereinafter, an embodiment of a power transmission device (power transmission device), a power reception device (power reception device), and a non-contact power transmission device (non-contact power transmission system) will be described.
As shown in FIG. 1, the non-contact power transmission device 10 includes a power transmission device 11 (ground side device) and a power receiving device 21 (vehicle side device) that can transmit power in a non-contact manner. The power transmission device 11 is provided on an installation surface G on which the vehicle C is installed (parked). The power receiving device 21 is mounted on the vehicle C. In the present embodiment, the vehicle C corresponds to a power transmission target.

  The power transmission device 11 includes an AC power supply 12 that can output AC power having a predetermined frequency. The AC power source 12 converts system power supplied from a system power source as infrastructure into AC power, and outputs the converted AC power.

  The AC power output from the AC power supply 12 is transmitted to the power receiving device 21 in a non-contact manner, and used for charging the vehicle battery 22 provided in the power receiving device 21. Specifically, the power transmission device 11 includes a power transmission unit 13 (power transmitter) having a primary side coil 13 a to which AC power is input from the AC power source 12. The power receiving device 21 includes a power receiving unit 23 (power receiver) having a secondary side coil 23a capable of receiving AC power from the primary side coil 13a in a non-contact manner.

  In the present embodiment, the power transmission unit 13 and the power reception unit 23 are formed in a disk shape. Further, the center of the power receiving unit 23 and the center of the secondary side coil 23a coincide with each other, and the center of the power transmission unit 13 and the center of the primary side coil 13a coincide with each other.

  The power transmission unit 13 and the power reception unit 23 are configured to be capable of magnetic field resonance. For example, the power transmission unit 13 has a resonance circuit including a primary side coil 13a and a primary side capacitor (not shown) connected in series or in parallel to the primary side coil 13a. The power receiving unit 23 has a resonance circuit including a secondary coil 23a and a secondary capacitor (not shown) connected in series or in parallel to the secondary coil 23a. The resonance frequency determined by the primary coil 13a and the primary capacitor and the resonance frequency determined by the secondary coil 23a and the secondary capacitor are set to be the same.

  According to this configuration, when AC power is input to the power transmission unit 13 in a situation where the power transmission unit 13 and the power reception unit 23 are arranged at positions where magnetic field resonance is possible, the resonance circuit of the power transmission unit 13 and the resonance of the power reception unit 23 are obtained. Magnetic resonance with the circuit. Thereby, the power reception unit 23 receives AC power from the power transmission unit 13 in a non-contact manner. The frequency of the AC power output from the AC power supply 12 is set to be the same as or close to the resonance frequency of the resonance circuit of the power transmission unit 13 and the power reception unit 23.

  Incidentally, the power transmission unit 13 is installed on the installation surface G, and a wheel 13b is provided on the bottom surface thereof. The power receiving unit 23 is disposed in a portion of the vehicle C that faces the installation surface G, specifically, at the bottom of the vehicle C. In this case, the power transmission unit 13 and the power reception unit 23 can face each other in the vertical direction (vehicle height direction). The wheel 13b is composed of, for example, a free wheel or an omni wheel.

  In FIG. 1, the power receiving unit 23 is arranged so that the bottom surface of the power receiving unit 23 protrudes from the bottom of the vehicle C. However, the power receiving unit 23 is not limited to this, and the bottom surface of the power receiving unit 23 is connected to the bottom of the vehicle C. You may arrange | position in the state embedded in the vehicle C so that it may arrange | position on the same plane or it upwards.

  The AC power received by the power receiving unit 23 is rectified by the rectifier 24 provided in the power receiving device 21 and input to the vehicle battery 22. Thereby, the vehicle battery 22 is charged.

  The power transmission device 11 includes a power supply side controller 14 that controls the AC power supply 12 and the like. The power supply side controller 14 performs notification control of the notification unit 15 provided in the power transmission device 11. The specific configuration of the notification unit 15 is arbitrary, and may be, for example, a display unit that performs notification by character display or the like, a speaker that performs notification by voice, or a combination thereof. May be.

  The power receiving device 21 includes a vehicle-side controller 25 that can wirelessly communicate with the power supply-side controller 14. The non-contact power transmission device 10 starts or ends charging of the vehicle battery 22 while exchanging information between the controllers 14 and 25.

  In addition, although illustration is abbreviate | omitted, the power receiving apparatus 21 is equipped with the SOC sensor which detects the charge condition (SOC) of the battery 22 for vehicles, and transmits the detection result to the vehicle side controller 25. Thereby, the vehicle side controller 25 can grasp | ascertain the charge condition of the battery 22 for vehicles.

  As shown in FIGS. 1 and 2, the power transmission device 11 is a moving mechanism that moves the power transmission unit 13 in a direction along the installation surface G (specifically, in the horizontal direction), and in a direction orthogonal to the installation surface G (specifically, in detail). A unit rotation mechanism 30 that rotates the power transmission unit 13 about the vertical direction) and a linear motion mechanism 40 that linearly moves the power transmission unit 13 in the direction along the installation surface G are provided. Hereinafter, these will be described.

  As shown in FIG. 1, the unit rotation mechanism 30 includes a unit rotation plate 31 that can rotate with the direction orthogonal to the installation surface G as the axis direction, and a rotation motor 32 that rotates the unit rotation plate 31. The unit rotating plate 31 is disposed at a position floating with respect to the installation surface G. Specifically, the power transmission device 11 includes a frame-like frame 33 provided on the installation surface G, and the unit rotating plate 31 is installed on the frame 33 in a rotatable state. In this case, the rotation center line A of the unit rotating plate 31 is a straight line that passes through the center of the unit rotating plate 31 and extends in the vertical direction.

  The linear motion mechanism 40 has a long shape extending in one direction. The linear motion mechanism 40 is provided on the arm rotation portion 41 having one end portion in the extending direction (longitudinal direction) joined to the power transmission unit 13 and the unit rotating plate 31. A linear motion drive unit 42 that is fixed and pushes and pulls the arm unit 41 is provided. The arm portion 41 has a curved portion that curves from the horizontal direction to the vertical direction upward as it goes from the one end side in the extending direction to the other end side in the extending direction. One end portion side in the extending direction extends from the curved portion of the arm portion 41 in the horizontal direction. The other end side of the arm portion 41 in the extending direction from the curved portion extends in the vertical direction and enters the linear drive portion 42 through a through hole 31 a formed in the unit rotating plate 31. And the other end part side of the extending direction of the arm part 41 is accommodated in the linear motion drive part 42 in the state which can move to a perpendicular direction. The linear motion drive unit 42 pushes out the power transmission unit 13 by linearly moving the other end portion of the arm unit 41 in the extending direction from the upper vertical direction to the lower vertical direction. On the other hand, the linear motion drive unit 42 pulls back the power transmission unit 13 by linearly moving the other end portion in the extending direction of the arm unit 41 from the lower vertical direction toward the upper vertical direction. In this case, the linear motion distance of the other end portion in the extending direction of the arm portion 41 corresponds to the linear motion distance of the power transmission unit 13.

  Incidentally, as shown in FIG. 1, an auxiliary roller 43 that assists the bending of the arm portion 41 is provided at the bending portion of the arm portion 41. The auxiliary roller 43 is disposed so as to sandwich the curved portion of the arm portion 41. Thereby, the arm part 41 is movable in the extending direction in a curved state. Although not shown, the auxiliary roller 43 is connected to the unit rotating plate 31 by a connecting member. Therefore, as the unit rotating plate 31 rotates, the relative position of the auxiliary roller 43 with respect to the frame-shaped frame 33 is changed.

  Here, when the unit rotating plate 31 rotates, the relative positions of the linear motion drive unit 42 and the auxiliary roller 43 with respect to the frame-shaped frame 33 are changed accordingly. Then, the arm part 41 rotates around the rotation center line A. Thereby, the power transmission unit 13 rotates around the rotation center line A. In this case, the direction in which the power transmission unit 13 is pushed out by the arm portion 41, that is, the linear movement direction of the power transmission unit 13 is changed. That is, the unit rotation mechanism 30 changes the linear movement direction of the power transmission unit 13 by moving the power transmission unit 13 in the circumferential direction around the rotation center line A extending in the direction orthogonal to the installation surface G. The linear motion mechanism 40 moves the power transmission unit 13 in the radial direction with respect to the rotation center line A.

  As described above, the power transmission unit 13 is movable in both the radial direction and the circumferential direction with respect to the rotation center line A. Thereby, the power transmission unit 13 can move two-dimensionally along the installation surface G.

  Here, the position where the power transmission unit 13 is closest to the auxiliary roller 43 (rotation center line A) and the intermediate position of the movable angle range of the power transmission unit 13 is set as the initial position of the power transmission unit 13. A line that coincides with the linear movement direction of the power transmission unit 13 at the initial position is defined as a reference line L1. In the following description, for convenience of explanation, the direction along the installation surface G and along the linear movement direction of the power transmission unit 13 at the initial position is referred to as the Y direction, and the direction along the installation surface G and the Y direction. The direction orthogonal to is called the X direction. Furthermore, in the Y direction, the side on which the vehicle C is disposed with respect to the power transmission device 11 is defined as the front, and the opposite side is defined as the rear.

  In addition, the arm part 41 is a hollow cylinder shape, and connects the power transmission unit 13 and the alternating current power supply 12, Comprising: The cable through which alternating current power is transmitted is accommodated. Moreover, the arm part 41 is formed with a rigidity so as not to shrink due to stress in the extending direction. And the arm part 41 is hard to bend in one of the short directions (direction orthogonal to both the linear motion direction and the vertical direction of the power transmission unit 13, specifically the X direction).

Next, a configuration related to position detection of the vehicle C will be described.
As illustrated in FIGS. 1 and 2, the power transmission device 11 of the non-contact power transmission apparatus 10 includes a detection unit 50 that irradiates the detection beam B and detects the reflected beam Br of the detection beam B. The detection beam B is irradiated along a horizontal direction (X direction and Y direction) that is a direction along the installation surface G. The detection unit 50 detects the reflected beam Br that returns to the detection unit 50 when the detection beam B hits an object. In this case, the distance from the detection unit 50 to the object in the direction in which the reflected beam Br is detected uses information about the reflected beam Br, for example, the time from when the detected beam B is irradiated until the reflected beam Br is detected. This can be derived.

  Here, as shown in FIG. 1, the detection unit 50 is mounted at a position where the detection beam B is between the bottom of the vehicle C (specifically, the power receiving unit 23) and the installation surface G (specifically, the power transmission unit 13). The detection beam B is set to be irradiated. According to such a configuration, since only the pair of tires T1 and T2 exists between the bottom of the vehicle C and the installation surface G, the detection beam B is applied to the pair of tires T1 and T2, while the vehicle Other parts of C are not irradiated. Therefore, when the detection unit 50 detects the reflected beam Br, the reflected beam Br can be regarded as being from the pair of tires T1 and T2.

  In addition, although the specific aspect of the detection beam B is arbitrary, light, an ultrasonic wave, an electromagnetic wave etc. can be considered, for example. The light includes light having an arbitrary wavelength such as visible light, ultraviolet light, and infrared light. For example, when infrared rays are used as the detection beam B, a method of calculating the optical path length based on the delay time of reflected light can be considered. In addition, when an ultrasonic wave is used as the detection beam B, a method of increasing the directivity using an ultrasonic horn or the like and calculating the propagation length based on the delay time of the reflected wave of the ultrasonic wave can be considered. Further, as the detection beam B, a beam having a relatively high directivity (straightness) whose vertical diffusion angle is close to “0” or “0” is used.

  Incidentally, as shown in FIG. 2, the detection part 50 is arrange | positioned on the reference line L1, and it can rotate it making a perpendicular direction into an axial direction. Specifically, an extension 51 that extends rearward is provided on the front frame 33a that extends forward in the X direction in the frame 33 (vehicle C side). The power transmission device 11 includes a detection rotating plate 52 attached to the bottom surface of the extending portion 51 in a rotatable state. The detection unit 50 is fixed to the bottom surface of the detection rotation plate 52 and rotates with the rotation of the detection rotation plate 52. The detection unit 50 can irradiate the detection beam B in a plurality of directions by rotating about the vertical direction as an axial direction. In the present embodiment, the irradiation range S of the detection beam B has a fan shape when viewed from above in the vertical direction. The irradiation range S of the detection beam B is wider than the movable range of the power transmission unit 13. The irradiation range S of the detection beam B can be said to be a range in which the detection unit 50 can detect the pair of tires T1 and T2.

  Incidentally, the wireless communicable range in which wireless communication is possible between the controllers 14 and 25 is set wider than the irradiation range S of the detection beam B. For this reason, before the pair of tires T1 and T2 of the vehicle C are disposed within the irradiation range S of the detection beam B, wireless communication is possible between the controllers 14 and 25.

For convenience of explanation, a plane defined by the X direction and the Y direction with the detection unit 50 as an origin is defined as an XY plane.
Here, the detection unit 50 periodically detects the position by irradiating the detection beam B while rotating at a predetermined cycle regardless of whether or not the vehicle C is present in the vicinity. Specifically, the detection unit 50 irradiates the detection beam B at every predetermined scanning angle from one end to the other end in the circumferential direction of the irradiation range S and detects a reflected beam Br (hereinafter referred to as laser). (Referred to as scanning) once, the laser scanning is periodically performed. In this case, when the laser scan is performed a plurality of times, it can be said that the detection unit 50 irradiates the detection beam B a plurality of times in the same direction. The scan angle is, for example, an angle with respect to the X axis (a straight line passing through the origin and extending in the X direction).

  As illustrated in FIG. 3, the detection unit 50 sequentially transmits a signal related to the detection result to the signal processing unit 60 provided in the power transmission device 11. Specifically, when detecting the reflected beam Br, the detection unit 50 transmits an effective signal including information related to the reflected beam Br as an effective value, and when detecting the reflected beam Br, an invalid signal is transmitted. Send. The information regarding the reflected beam Br is information that can specify the distance from the detection unit 50 to the object (for example, the time from when the detection beam B is irradiated until the reflected beam Br is detected).

  Each time the signal processing unit 60 receives a signal related to the detection result of the detection unit 50, the signal processing unit 60 derives information corresponding to the detection result of the detection unit 50, and the derived information is provided in the signal processing unit 60. A derivation unit 60b that sequentially stores the storage unit 60a in time series is provided. When the derivation unit 60b receives an effective signal, the derivation unit 60b derives the distance from the detection unit 50 to the object in the direction in which the reflected beam Br is detected based on the information about the reflected beam Br, and stores the information about the distance. Store in the unit 60a. Further, when receiving the invalid signal, the deriving unit 60b stores, for example, an infinite value as an invalid value in the storage unit 60a.

  Here, as already described, the detection beam B is applied to the pair of tires T1 and T2, and the detection unit 50 detects the reflected beam Br from the pair of tires T1 and T2. For this reason, the deriving unit 60b derives the distance from the detection unit 50 to the pair of tires T1 and T2 of the vehicle C in the direction in which the reflected beam Br is detected.

  Further, the derivation unit 60b can grasp the irradiation angle (scanning angle) of the detection beam B, specifically the rotation angle of the detection unit 50. Then, the deriving unit 60b associates the derived distance with the scanning angle from which the distance has been derived, and stores it in the storage unit 60a. That is, the deriving unit 60b derives the positions of the pair of tires T1 and T2 in each irradiation direction of the detection beam B as polar coordinates by associating the scanning angle with the distance, and stores the information in the storage unit 60a. .

  Note that if the distance from the detection unit 50 to the pair of tires T1 and T2 is derived in a non-contact manner, the detection unit 50 and the deriving unit 60b are non-contact positions of the object in each irradiation direction of the detection beam B. It can be said that this is a laser-type range sensor that derives.

  As shown in FIG. 3, the signal processing unit 60 includes a first calculation unit 61 that calculates an average of polar coordinate distances of the same angle among a plurality of polar coordinates obtained by a plurality of laser scans, and a first calculation unit. A second calculation unit 62 that calculates an average of polar coordinate distances of the same angle among a plurality of polar coordinates obtained by a number of laser scans less than 61; That is, the first calculation unit 61 calculates an average of a plurality of derived positions (coordinates) derived based on the reflected beam Br of the detection beam B irradiated a predetermined number of times in the same direction. The second calculation unit 62 calculates an average of a plurality of derived positions (coordinates) derived based on the reflected beam Br of the detection beam B irradiated the number of times less than the predetermined number of times in the same direction. Each calculation unit 61, 62 calculates an average using a plurality of derived positions stored in the storage unit 60a. The predetermined number of times is, for example, three times or more.

  As shown in FIG. 3, the signal processing unit 60 includes an object presence determination unit 63 that determines whether or not an object exists within the irradiation range S of the detection beam B, and an object presence determination unit 63 that detects the presence of an object. Then, an object specifying unit 64 that specifies whether the object is a vehicle C that is a power transmission target or a foreign object when it is determined. In addition, the power supply side controller 14 includes a position specifying unit 71 that specifies the position of the power receiving unit 23 based on the calculation result of the first calculation unit 61.

  Hereinafter, these configurations will be described together with details of the derivation result of the derivation unit 60b. In addition, in this embodiment, although a detection target is a pair of tires T1 and T2, both are the same about a derivation aspect.

  First, the detection mode by the detection unit 50 will be described. As shown in FIG. 4, the detection beam B is irradiated at every predetermined scanning angle. In this case, the detection beam B in a partial range (for example, θ1 to θ7) is irradiated and reflected on one tire T1 that is an object, and the detection beam B in another range (for example, θ8 to θ14) is different. The other tire T2, which is the object, is irradiated and reflected. Then, by associating the scanning angle with the distance, a plurality of (for example, 14) coordinates P1 to P14 are derived as polar coordinates. Needless to say, polar coordinates may be appropriately converted into XY coordinates. The number of derived coordinates is 14 for convenience of explanation, but is not limited to this and is arbitrary. In the present embodiment, the coordinates P1 to P14 correspond to “the position of the object in the direction in which the reflected beam is detected”.

  Here, even if the tires T1 and T2 are stopped, the derivation result (distance from the origin) of the derivation unit 60b varies. For example, as shown in FIG. 5, when the detection is performed a plurality of times at the first coordinate P1 where the scanning angle (angle with respect to the X axis) is the first angle θ1 among the coordinates P1 to P14, the distance from the origin. Variations can occur.

  In such a configuration, the first calculation unit 61 calculates average coordinates from the number of samples (for example, nine) at the first coordinates P1. In this case, the latest sample is adopted. That is, among the plurality of samples related to the first coordinate P1 obtained within a predetermined time, assuming that Pt1 → Pt2 →... → Pt9 in order from the newest acquired timing, the first calculating unit 61 Average coordinates of these coordinates Pt1 to Pt9 are calculated. Each coordinate Pt1 to Pt9 corresponds to “a plurality of derived positions derived based on the reflected beam of the detection beam irradiated by the deriving unit a plurality of times in the same direction”.

  The second calculation unit 62 calculates the average coordinates of a smaller number of samples (for example, three) than the first calculation unit 61. In this case, the latest sample is adopted. That is, the 2nd calculation part 62 calculates the average coordinate of each coordinate Pt1-Pt3, for example.

  The specific number of samples is arbitrary. In short, when the number of samples used by the first calculation unit 61 to calculate the average coordinates is m and the number of samples used by the second calculation unit 62 to calculate the average coordinates is n, m> n may be sufficient. In the following description, the average coordinates calculated by the first calculation unit 61 are referred to as first average coordinates, and the average coordinates calculated by the second calculation unit 62 are referred to as second average coordinates.

  The calculation units 61 and 62 calculate the average coordinates for each scanning angle at which the object is detected (scanning angle at which the reflected beam Br is detected). Thereby, as shown in FIG. 6, the first calculation unit 61 calculates the first average coordinates P1m to P14m. Further, as shown in FIG. 7, the second average coordinates P1n to P14n are calculated by the second calculator 62. Each calculation unit 61, 62 periodically performs the above calculation.

  The object presence determination unit 63 determines whether or not an object exists within the irradiation range S of the detection beam B based on the calculation result of the second calculation unit 62. Specifically, as described above, when detecting the reflected beam Br, the detecting unit 50 transmits an effective signal including information on the reflected beam Br to the deriving unit 60b, but does not detect the reflected beam Br. In this case, an invalid signal is transmitted to the deriving unit 60b. The deriving unit 60b derives a distance when a valid signal is received, and stores information on the distance in the storage unit 60a. When an invalid signal is received, the deriving unit 60b stores an invalid value (infinite value). Remember me. In this case, if an invalid value (infinite value) is set in at least one of the coordinates Pt1 to Pt3 used for calculation by the second calculation unit 62, the calculation result of the second calculation unit 62 is an invalid value (infinite value). ) On the other hand, if the coordinates Pt1 to Pt3 used for the calculation by the second calculation unit 62 are all valid values, the calculation result of the second calculation unit 62 is an effective value.

  The invalid value is not limited to an infinite value, and may be any value that can be an invalid value when averaged together with the valid value. For example, in the configuration in which the discrimination target value is a valid value when the discrimination target value is less than a predetermined threshold value, and the discrimination target value is an invalid value when the discrimination target value is equal to or greater than the threshold value. The invalid value may be set to a value sufficiently larger than the threshold value so that the average value is not less than the threshold value.

  In such a configuration, the object presence determination unit 63 determines that an object is present when the calculation result of the second calculation unit 62 in at least one direction (at least one scanning angle) is an effective value, whereas the object presence determination unit 63 If the calculation result of the second calculation unit 62 at the corner is an invalid value, it is determined that there is no object.

  As shown in FIG. 3, the object specifying unit 64 of the signal processing unit 60 includes a reference derivation pattern storage unit 64a in which a reference derivation pattern is stored. When the object presence determination unit 63 determines that an object exists, the object specifying unit 64 refers to the reference derivation pattern and specifies whether the object is the vehicle C or a foreign object.

  The reference derivation pattern is a derivation pattern derived based on the reflected beam Br detected when the derivation unit 60b irradiates the pair of tires T1 and T2 of the vehicle C with the detection beam B in a plurality of directions. For example, the reference derivation pattern is a coordinate distribution along the outer shape of each tire T1, T2.

  The object specifying unit 64 includes the first average coordinates P1m to P14m that are the calculation results of the first calculation unit 61, or the second average coordinates P1n to P14n that are the calculation results of the second calculation unit 62, and the reference derivation pattern. To determine whether the object is a pair of tires T1 and T2 of the vehicle C or a foreign object. In the present embodiment, each of the first average coordinates P1m to P14m and each of the second average coordinates P1n to P14n is “when the derivation unit irradiates the object with the detection beam in a plurality of directions. Corresponds to the “derived pattern derived based on each reflected beam detected in the above”.

Details of the object specifying unit 64 will be described below. For convenience of explanation, the case where the object specifying unit 64 uses the second average coordinates P1n to P14n will be described.
First, the object specifying unit 64 groups the second average coordinates P1n to P14n. For example, the object specifying unit 64 calculates a coordinate difference between adjacent ones of the second average coordinates P1n to P14n, and determines whether the calculation result is less than a predetermined threshold. And the object specific | specification part 64 will determine with it being a different group, when the said difference is more than a threshold value, while determining that it is the same group, when the said difference is less than a threshold value. In the present embodiment, the object specifying unit 64 treats each of the second average coordinates P1n to P7n as one group and treats each of the second average coordinates P8n to P14n as one group. The object specifying unit 64 specifies that one object exists for each group. That is, the number of groups is the number of objects. In addition, as a specific structure of grouping, it is not restricted to this, For example, you may handle what has a continuous scanning angle as one group.

  And the object specific | specification part 64 calculates coordinate distribution from the difference of adjacent things in each 2nd average coordinate P1n-P7n, and estimates the external shape of an object. Similarly, the object specifying unit 64 calculates a coordinate distribution from the difference between adjacent ones of the second average coordinates P8n to P14n, and estimates the outer shape of the object. Then, the object specifying unit 64 compares the coordinate distribution (specific target derivation pattern) of the second average coordinates P1n to P7n and P8n to P14n with the reference derivation pattern. Specifically, the object specifying unit 64 determines whether or not the outer shape of the object estimated from the second average coordinates P1n to P7n and P8n to P14n matches or corresponds to the outer shape of the tires T1 and T2 estimated from the reference derivation pattern. Determine whether or not. The object specifying unit 64 specifies that the object is the pair of tires T1 and T2 of the vehicle C when the two match or correspond to each other.

  Note that the outer shape of the object estimated from the second average coordinates P1n to P7n and P8n to P14n corresponds to the outer shape of the tires T1 and T2 estimated from the reference derivation pattern as long as the outer shapes are similar to some extent. Good. For example, the outer shape of the tires T1 and T2 estimated from the reference derivation pattern is set as the reference shape. In this case, when the outer shape of the object estimated from each of the second average coordinates P1n to P7n and P8n to P14n is the same as or similar to the reference shape, or an allowable range predetermined for the reference shape (for example, a tire) If they are different within the (standard), they shall correspond.

  On the other hand, when two or more groups do not exist, the object specifying unit 64, or the outer shapes of two objects estimated from the second average coordinates P1n to P7n and P8n to P14n divided into two groups, If the outer shape of the tires T1 and T2 estimated from the reference derivation pattern does not correspond, the object is specified as a foreign object. The case where the two do not correspond is, for example, the case where the outer shapes of the two objects estimated from the second average coordinates P1n to P7n and P8n to P14n are different from each other so as to be out of the allowable range with respect to the reference shape. Conceivable. Specifically, for example, the case where the width of the object estimated from each of the second average coordinates P1n to P7n and P8n to P14n is outside the tire standard is considered.

  Incidentally, when it is determined that there are three or more objects as a result of grouping, the object specifying unit 64 determines whether there are a plurality of objects having the same shape, and there are a plurality of objects having the same shape. In this case, the second average coordinates of these objects are compared with the reference derivation pattern to identify whether each of the objects is a tire T1, T2 or a foreign object. And the object specific | specification part 64 specifies other objects as a foreign material, when specifying each object of the same shape as the tires T1 and T2.

  The signal processing unit 60 derives the center coordinates of the tires T1 and T2 in response to a request from the power supply controller 14. Specifically, the signal processing unit 60 specifies an object using the calculation result of the first calculation unit 61 or the calculation result of the second calculation unit 62 in response to a request from the power supply controller 14. An instruction is given to the object specifying unit 64. Based on the above instruction, the object specifying unit 64 specifies an object and groups average coordinates corresponding to the tires T1 and T2. Then, the signal processing unit 60 derives the center coordinates of the tires T1 and T2 from the grouped average coordinates.

  In the present embodiment, the signal processing unit 60 derives the first center coordinates Pcm that are the center coordinates of the tires T1 and T2 based on the grouped first average coordinates P1m to P7m, P8m to P14m, and the first One center coordinate Pcm is transmitted to the power supply side controller 14. Further, the signal processing unit 60 responds to a request from the power supply side controller 14, and based on the respective grouped second average coordinates P1n to P7n, P8n to P14n, the second center coordinates Pcn that are the center coordinates of the tire T2. And the second center coordinate Pcn is transmitted to the power supply side controller 14. The first center coordinate Pcm and the second center coordinate Pcn correspond to “the position of a specific part to be transmitted”.

  Here, in terms of the number of samples, the first average coordinates P1m to P14m have higher accuracy than the second average coordinates P1n to P14n. Therefore, the first center coordinate Pcm derived using the calculation result of the first calculation unit 61 is more accurate than the second center coordinate Pcn derived using the calculation result of the second calculation unit 62. high. For this reason, as shown in FIGS. 6 and 7, the first center coordinate Pcm is closer to the true value Pcc, which is the actual center coordinate of the tire T2, than the second center coordinate Pcn. In FIG. 7, the difference between the second center coordinate Pcn and the true value Pcc is exaggerated in order to clarify the difference from FIG.

  On the other hand, focusing on the time required for calculation, the second calculation unit 62 uses fewer samples for calculation than the first calculation unit 61, and therefore the second calculation unit 62 uses the first calculation unit. The time required for calculation is shorter than 61. For this reason, if the central coordinates Pcm and Pcn are derived simultaneously, the second central coordinates Pcn are derived earlier than the first central coordinates Pcm.

  Incidentally, calculation of the average of the derived positions (respective average coordinates P1m to P14m, P1n to P14n) and calculation of the average of a plurality of distances at the same scanning angle are equivalent. For this reason, it can be said that each calculation part 61 and 62 is calculating the average of several derived distance in the same scanning angle. The derived distance at the same scanning angle is a distance derived based on the reflected beam Br of the detection beam B irradiated a plurality of times in the same direction.

  The position specifying unit 71 of the power supply side controller 14 is based on the first center coordinates Pcm (see FIG. 6) of the pair of tires T1 and T2 derived using the calculation result of the first calculation unit 61. The center coordinate Px (see FIG. 2) is specified. In this case, the vehicle-side controller 25 has unique information 25a (see FIG. 1) for specifying the center coordinate Px of the power receiving unit 23 from the true value Pcc of the center coordinate of each tire T1, T2. When specifying the center coordinate Px of the power receiving unit 23, the position specifying unit 71 receives the unique information 25a from the vehicle-side controller 25, and obtains the unique information 25a and the first center coordinates Pcm of the pair of tires T1 and T2. The center coordinate Px of the power receiving unit 23 is specified by using this.

  The specific contents of the specific information 25a are arbitrary. For example, the distance between the true value Pcc of the center coordinate of one tire T1 and the center coordinate Px of the power receiving unit 23, and the center coordinate of the other tire T2. There is a distance between the true value Pcc of the power supply unit 23 and the center coordinate Px of the power receiving unit 23. Further, when the perpendicular point is drawn from the central coordinate Px of the power receiving unit 23 toward the straight line connecting the true values Pcc of the central coordinates of the tires T1 and T2, the specific information is defined as the intersection of the straight line and the perpendicular. 25a may be the distance from the true value Pcc of the center coordinates of one tire T1 (or the true value Pcc of the center coordinates of the other tire T2) to a specific point, and the length of the perpendicular line. In short, the unique information 25a is information relating to the positional relationship between the true value Pcc (position of the specific part) of the center coordinates of the tires T1 and T2 and the center coordinates Px of the power receiving unit 23.

Next, a series of charging processes executed by the power supply controller 14 will be described.
As shown in FIG. 8, the power supply side controller 14 waits until wireless communication with the vehicle side controller 25 becomes possible in step S101.

  The power supply side controller 14 progresses to step S102, when wireless communication with the vehicle side controller 25 is attained. In step S <b> 102, the power supply controller 14 periodically requests the object presence determination unit 63 for a determination result as to whether or not an object exists. Then, based on the request, the object presence determination unit 63 determines whether an object exists using the calculation result of the second calculation unit 62, and transmits the determination result to the power supply controller 14. Then, the power supply side controller 14 stands by until a determination result indicating that an object exists is obtained.

  When the object presence determination unit 63 determines that an object is present, the power supply side controller 14 proceeds to step S103 and determines whether or not the object is a tire T1, T2. Specifically, the power supply side controller 14 requests the object specifying unit 64 for a specifying result. The object specifying unit 64 specifies whether the object is the tire T1, T2 or a foreign object using the calculation result of the second calculation unit 62, and transmits the specifying result to the power supply side controller 14. Thereby, the power supply side controller 14 can pinpoint whether an object is tire T1, T2 or a foreign material.

  When the object is the tire T1, T2, the power supply controller 14 proceeds to step S104. On the other hand, when the object is a foreign object, the power controller 14 proceeds to step S105 and executes the first foreign object handling process. In the first foreign object handling process, for example, the power controller 14 notifies the presence of the foreign object using the notification unit 15 and continues the notification until the foreign object is removed. And the power supply side controller 14 returns to step S101, when a foreign material is removed. However, the present invention is not limited to this, and the power supply side controller 14 may end the charging process when a foreign object is detected.

  In step S104, the power supply side controller 14 waits until the vehicle C stops. As a specific configuration for determining whether or not the vehicle C is moving, for example, the power supply controller 14 periodically requests the signal processing unit 60 to change the second central coordinate Pcn over time, and determines in advance. For example, it may be determined that the vehicle C is stopped when the movement distance of the second center coordinate Pcn within a predetermined period is less than a predetermined threshold.

  When it is determined that the vehicle C is stopped, the power supply controller 14 proceeds to step S106. In step S106, the power supply side controller 14 requests the first center coordinate Pcm from the signal processing unit 60, and obtains the first center coordinate Pcm, thereby grasping the positions of the tires T1, T2. The first center coordinate Pcm is obtained using the calculation result of the first calculation unit 61. Then, the position specifying unit 71 of the power supply controller 14 specifies the center coordinate Px of the power receiving unit 23 based on the first center coordinate Pcm and the unique information 25a.

  Then, the power supply side controller 14 calculates the target value of the power transmission unit 13 based on the center coordinate Px of the power receiving unit 23 in step S107. The target value is a movement value from the initial position for the power transmission unit 13 to be arranged at a position directly below the power reception unit 23. Specifically, the movement value is the rotation angle with respect to the reference line L1 when the rotation center line A is the origin, and the linear movement distance of the power transmission unit 13. Note that coordinate information of the initial position of the power transmission unit 13 is stored in a predetermined storage area of the power supply side controller 14, and the power supply side controller 14 calculates the coordinate information of the initial position when calculating the target value. Refer to

  Then, the power supply side controller 14 starts the movement of the power transmission unit 13 in step S108. Specifically, the power supply side controller 14 controls the linear motion drive unit 42 and the rotary motor 32 based on the target value so that the power transmission unit 13 is disposed immediately below the power reception unit 23.

  Here, during the movement of the power transmission unit 13, the power supply side controller 14 determines whether or not the power transmission unit 13 is arranged at the target position, that is, immediately below the power reception unit 23, in step S <b> 109. Specifically, the power transmission device 11 includes a rotation angle sensor that detects the rotation angle of the unit rotating plate 31 and a linear motion distance sensor that detects the linear motion distance of the other end in the extending direction of the arm portion 41. ing. The power supply side controller 14 confirms whether the power transmission unit 13 has rotated and linearly moved by the target value by acquiring the detection results of these sensors.

  Moreover, the power supply side controller 14 determines whether the vehicle C is moving in step S110 parallel to step S109. For example, the power supply side controller 14 periodically requests the signal processing unit 60 to change the second central coordinate Pcn with time, and the movement distance of the second central coordinate Pcn within a predetermined period is predetermined. If it is equal to or greater than the threshold, it is determined that the vehicle C is moving. When it is determined that the vehicle C is moving, the power supply side controller 14 moves the power transmission unit 13 to the initial position in step S111 and returns to step S104. In step S111, the power supply controller 14 may notify the vehicle C to stop moving.

  Furthermore, the power supply controller 14 determines whether or not a foreign object has been detected in step S112, which is parallel to steps S109 and S110. Specifically, the power supply side controller 14 requests the object specifying unit 64 for a result of specifying whether or not a foreign object exists. Based on the above request, the object specifying unit 64 determines whether or not an object other than the tires T1 and T2 exists, and if an object other than the tires T1 and T2 exists, the object specifying unit 64 indicates the result of the determination. 14 to send. Thereby, the power supply side controller 14 can detect a foreign object based on the identification result from the object identification unit 64.

  When the object specifying unit 64 detects a foreign object, the power supply side controller 14 executes a second foreign object handling process in step S113. Specifically, the power supply side controller 14 stops the movement of the power transmission unit 13. And the power supply side controller 14 alert | reports using the alerting | reporting part 15 which shows that a foreign material exists. Moreover, the power supply side controller 14 returns to step S108, when a foreign material is removed.

  When the power transmission unit 13 reaches the target position as a result of the movement of the power transmission unit 13 by the target value, the power supply side controller 14 makes a positive determination in step S109 and stops the movement of the power transmission unit 13 in step S114. Thereafter, the power supply controller 14 starts power transmission in step S115. Specifically, the power supply side controller 14 controls the AC power supply 12 so that AC power is output from the AC power supply 12. Thereby, AC power is transmitted from the power transmission unit 13 to the power reception unit 23.

During the transmission of AC power, the power supply side controller 14 executes the processes in steps S116 to S118 in parallel.
Specifically, in step S116, the power supply side controller 14 periodically acquires the charging state of the vehicle battery 22 from the vehicle side controller 25, and periodically determines whether or not the vehicle battery 22 is fully charged. To do. Moreover, the power supply side controller 14 determines whether the vehicle C is moving in step S117. And the power supply side controller 14 performs a foreign material detection in step S118.

  (A) When the vehicle battery 22 is fully charged, (B) when the vehicle C moves, or (C) when a foreign object is detected, the power supply controller 14 stops power transmission in step S119. To do. And the power supply side controller 14 moves the power transmission unit 13 to an initial position in step S120.

  Thereafter, the power supply controller 14 stands by until the vehicle C is withdrawn in step S121. When the vehicle C leaves, that is, when the pair of tires T1 and T2 moves out of the irradiation range S of the detection beam B, the power supply side controller 14 makes a positive determination in step S121, and proceeds to step S101. Return.

Next, the operation of this embodiment will be described.
As shown in FIG. 9, when the foreign object X having a shape different from the tires T <b> 1 and T <b> 2 enters the irradiation range S of the detection beam B during the movement of the power transmission unit 13, the movement of the power transmission unit 13 is stopped. Further, as shown in FIG. 10, when the power transmission unit 13 is disposed immediately below the power reception unit 23 and power is transmitted from the power transmission unit 13 toward the power reception unit 23, the irradiation range S of the detection beam B When the foreign object X enters inside, power transmission stops.

According to the embodiment described in detail above, the following excellent effects are obtained.
(1) The power transmission device 11 includes a detection unit 50 that irradiates the detection beam B and detects the reflected beam Br of the detection beam B. The power transmission device 11 uses the object presence determination unit 63 that determines whether or not an object exists within the irradiation range S of the detection beam B based on the detection result of the detection unit 50, and the object presence determination unit 63 And an object specifying unit 64 that specifies whether the object is the vehicle C or the foreign object X.

  According to such a configuration, it is determined whether or not an object exists using the detection result of the detection unit 50, and the object is specified. Thus, if the object is the vehicle C, the detection unit 50 in the direction in which the reflected beam Br is detected is based on the time from when the detection beam B is irradiated until the reflected beam Br is detected. The distance to the vehicle C can be derived. Therefore, both the grasp of the position of the vehicle C and the foreign object detection can be performed using the detection result of the detection unit 50. In this case, the configuration can be simplified as compared with a configuration in which the position of the vehicle C is detected and a foreign object is detected using separate detection units.

  (2) The detection unit 50 irradiates the detection beam B in a plurality of directions, and detects the reflected beam Br of the detection beam B in each direction. The power transmission apparatus 11 includes a derivation unit 60b that derives the position of the object in the direction in which the reflected beam Br is detected based on the reflected beam Br. The object specifying unit 64 includes a reference derivation pattern storage unit 64a in which a reference derivation pattern is stored. The reference derivation pattern is a derivation pattern derived by the derivation unit 60b based on the reflected beams Br detected by the detection unit 50 when the detection beams are irradiated to the pair of tires T1 and T2 in a plurality of directions. It is. The object specifying unit 64 compares the reference derivation pattern with the specific target derivation pattern derived by the derivation unit 60b based on the reflected beam Br detected when the detection beam B is irradiated on the object in a plurality of directions. Thus, it is specified whether or not the object is the vehicle C.

  Specifically, the reference derivation pattern is, for example, a coordinate distribution along the outer shape of the tires T1 and T2. The object specifying unit 64 specifies whether the object is the tire T1, T2 or the foreign object X by comparing the coordinate distribution of the second average coordinates P1n to P7n, P8n to P14n with the reference derivation pattern. Thereby, it is possible to accurately determine whether the object is the tire T1, T2 or the foreign object X.

  (3) The power transmission device 11 derives the center coordinates of the pair of tires T1 and T2 of the vehicle C based on the detection result of the detection unit 50. Specifically, the signal processing unit 60 derives the first central coordinate Pcm based on the first average coordinates P1m to P7m and P8m to P14m obtained by averaging the derived positions derived from the detection results of the detection unit 50. . And the position specific | specification part 71 specifies the center coordinate Px of the power receiving unit 23 based on the 1st center coordinate Pcm and the specific information 25a. Thereby, position alignment with the power transmission unit 13 and the power receiving unit 23 can be performed suitably.

  (4) The power transmission unit 13 is movable, and the power supply side controller 14 moves the power transmission unit 13 based on the center coordinates Px of the power reception unit 23. In this configuration, the power supply side controller 14 moves the power transmission unit 13 when the foreign object X is detected during the movement of the power transmission unit 13 (specifically, when the foreign object X is specified by the object specifying unit 64). Stop. Therefore, it is possible to suppress the power transmission unit 13 from colliding with the foreign object X.

  (5) The power supply side controller 14 detects the foreign object X in a situation where power is transmitted from the power transmission unit 13 to the power reception unit 23, specifically in a situation where AC power is output from the AC power supply 12. In the case of an accident, the AC power output is stopped. Thereby, when trouble may occur in power transmission due to the foreign object X, it is possible to suppress the power transmission from being continued in the state where the trouble has occurred.

  (6) The power transmission device 11 calculates an average of a plurality of derived positions (each coordinate Pt1 to Pt3) derived based on the reflected beam Br of the detection beam B irradiated a plurality of times in the same direction by the deriving unit 60b. A second calculation unit 62 is provided. The derivation position derived by the derivation unit 60b becomes an effective value when the reflected beam Br is detected, and becomes an invalid value when the reflected beam Br is not detected. The invalid value is a value that is set to be an invalid value when averaged together with the valid value. In this configuration, the object presence determination unit 63 determines that an object exists when the calculation result of the second calculation unit 62 in at least one direction is an effective value. As a result, even if the vehicle C does not exist at a certain timing, even if the derived position is an effective value by mistake, it is not erroneously determined that the vehicle C exists. Therefore, it is possible to improve the determination accuracy of whether or not the vehicle C exists.

  In particular, by using the calculation result of the second calculation unit 62 that is calculated at a relatively high speed in determining whether or not the vehicle C exists, the power source side controller after the vehicle C is arranged within the irradiation range S is used. The time lag until 14 grasps the vehicle C can be reduced.

In addition, you may change the said embodiment as follows.
The specific content of the reference derivation pattern is not limited to the above, and is arbitrary as long as it is a derivation pattern that can identify the tires T1 and T2. For example, the reference derivation pattern may be distance information between the tires T1 and T2. In this case, the object specifying unit 64 derives the second center coordinates Pcn from the second average coordinates P1n to P7n, P8n to P14n, and calculates the distance between the second center coordinates Pcn. Then, when the calculated distance between the second center coordinates Pcn matches the distance information between the tires T1 and T2 of the reference derivation pattern, the object specifying unit 64 determines that the object is the vehicle C And a pair of tires T1 and T2. On the other hand, the object specifying unit 64 may determine that the object is a foreign object X when the calculated distance between the second center coordinates Pcn is outside the allowable range. In this example, the distance between each second center coordinate Pcn corresponds to the specific target derivation pattern.

  The object specifying unit 64 uses the reference derivation pattern when specifying whether the object is the vehicle C or the foreign object X, but is not limited thereto. For example, the object specifying unit 64, when two objects exist at a predetermined interval based on the difference data of the second average coordinates P1n to P7n, P8n to P14n, and these objects are interlocked. These objects may be specified as a pair of tires T1 and T2.

  In addition, the power supply side controller 14 specifies that the object is the vehicle C when the object presence determination unit 63 determines that the object exists after the wireless communication with the vehicle side controller 25 becomes possible. Also good. Specifically, the power supply controller 14 determines that the object is the tire T1, T2 without performing the process of step S103 when it is determined in step S102 that the object is present after making an affirmative determination in step S101. Is determined. This eliminates the need for processing such as matching between the reference derivation pattern and the specific target derivation pattern, so that it is relatively easy to identify whether the object is the vehicle C or the foreign object X. In the other example, the power supply side controller 14 corresponds to the object specifying unit.

  The object presence determination unit 63 may determine whether an object exists using the calculation result of the first calculation unit 61. Similarly, the object specifying unit 64 may specify whether the object is the vehicle C or the foreign object X using the calculation result of the first calculation unit 61.

  The object presence determination unit 63 and the object identification unit 64 are configured to identify whether an object exists using the average coordinates and whether the object is the vehicle C or the foreign object X, but is not limited thereto. For example, instead of the average coordinates, coordinates P1 to P14 obtained by one laser scan may be used. In this case, the calculation units 61 and 62 may be omitted. However, if attention is focused on improving accuracy, it is preferable to use average coordinates.

○ The position specifying unit 71 may be omitted.
The detection target is not limited to the pair of tires T1 and T2 and may be any part of the vehicle C. For example, the body of the vehicle C may be used. In this case, the reference derivation pattern may be vehicle width information. Then, the object specifying unit 64 calculates the width of the object as the specific target derivation pattern, and if the calculated width and the vehicle width information of the reference derivation pattern match or are within an allowable range, the object is specified as the vehicle C. Good. Moreover, you may employ | adopt the number plate of the vehicle C as a detection target. In this case, the reference derivation pattern may be license plate width information.

  ○ The irradiation range S of the detection beam B may be variable depending on the situation. For example, the irradiation range S during movement of the power transmission unit 13 may be narrower than the irradiation range S during detection of the vehicle C, or the irradiation range S during power transmission from the irradiation range S during detection of the vehicle C. May be narrowed.

  The power supply side controller 14 may determine whether or not the foreign object X exists on the moving path of the power transmission unit 13 when the foreign object X is specified while the power transmission unit 13 is moving. In this case, the power supply side controller 14 stops the movement of the power transmission unit 13 when the foreign object X exists on the movement path, while the power controller 14 stops the movement of the power transmission unit 13 when the foreign object X does not exist on the movement path. It is good also as a structure which continues a movement.

  ○ When the object specifying unit 64 specifies the foreign object X, the object specifying unit 64 may specify whether the foreign object X is below the vehicle C or around the vehicle C. As a result, the user can be notified of where the foreign object X is, and the convenience can be further improved. As a method for specifying the above, for example, a method of determining whether or not the foreign matter X is between the pair of tires T1 and T2 is conceivable.

  In the embodiment, when the object specifying unit 64 specifies that the foreign object X exists, the notification is performed regardless of whether or not the foreign object X is moving, but the present invention is not limited to this. For example, a configuration may be employed in which notification is performed based on the fact that the foreign object X is stagnating for a predetermined period.

In addition, when the foreign object X is present around the vehicle C and the foreign object X is stagnating for a specific period, it may be configured to notify the user's mobile terminal or the like that there is a suspicious person. .
In the embodiment, the foreign object detection is performed during the movement of the vehicle C, the movement of the power transmission unit 13 and the power transmission, but is not limited thereto. For example, foreign matter detection may be performed during a period from when charging is completed until the vehicle C leaves.

The object presence determination unit 63 and the object identification unit 64 may be in the power supply side controller 14. Further, the signal processing unit 60 and the power supply side controller 14 may be integrated.
The signal processing unit 60 is in the power transmission device 11, but is not limited thereto, and may be in the power reception device 21. In this case, the detection unit 50 transmits the detection result to the power supply controller 14. The power supply side controller 14 sequentially transmits the detection result of the detection unit 50 to the vehicle side controller 25. Thereby, the signal processing unit 60 can grasp the detection result of the detection unit 50. In this case, the signal processing unit 60 transmits a determination result of whether or not an object exists to the vehicle-side controller 25. The vehicle-side controller 25 may transmit such information to the power supply-side controller 14, or the vehicle-side controller 25 may execute various processes in the charging process. At this time, it is preferable that the vehicle side controller 25 has the position specifying unit 71.

  O The power supply side controller 14 may perform the process which determines regularly whether the predetermined forced stop condition was satisfied in parallel with the process of each step S116-step S118. As the forced stop condition, for example, a case where a forced stop switch is provided in the power transmission device 11 and the forced stop switch is operated can be considered.

  (Circle) the calculation parts 61 and 62 may calculate a standard deviation about the sample number used as object, and may calculate average coordinates P1m-P14m, P1n-P14n using only the data in the standard deviation. Thereby, the improvement of the further precision can be aimed at.

  Although the center coordinates Pcm, Pcn of the pair of tires T1, T2 are derived as the positions of the specific parts, the present invention is not limited to this, and a structure in which the center-of-gravity coordinates are derived may be used. Moreover, a predetermined coordinate may be set as the position of the specific part in the quadrangle indicating the outer shape of the tires T1, T2, and a target value or the like may be calculated based on the position. Moreover, you may employ | adopt any of the average coordinates P1m-P14m and P1n-P14n calculated in the calculation parts 61 and 62 as a specific site | part.

  Further, the specific part may be both corners in the width direction of the body, or may be both corners of the recess in which the number plate of the body is installed. Moreover, you may employ | adopt the arbitrary site | parts of the power receiving unit 23 as a specific site | part. In short, the specific part is an arbitrary part in the vehicle C including the power receiving unit 23.

  (Circle) the structure provided with the derivation | leading-out part 60b may be sufficient as the detection part 50. FIG. In this case, the detection unit 50 may transmit the distance derived by the deriving unit 60b and the angle from which the distance is derived to the signal processing unit 60 in association with each other.

A specific configuration for scanning the detection beam B is arbitrary. For example, instead of the detection rotating plate 52, a mirror that changes the irradiation direction of the detection beam B may be provided.
The irradiation range S of the detection beam B is fan-shaped, but is not limited to this and may be circular. In this case, the deriving unit 60b may extract only a detection result of a necessary range (for example, the movable range of the power transmission unit 13), and derive the distance using the extracted detection result. Note that the extraction range may be varied instead of the configuration in which the irradiation range S is varied.

  O Although the center of the power receiving unit 23 and the center of the secondary side coil 23a corresponded, it is not restricted to this and may shift | deviate. In this case, the unique information 25a may be set according to the center of the secondary coil 23a.

The center coordinate Px of the power receiving unit 23 is adopted as the position of the power receiving unit 23, but the present invention is not limited to this, and a position shifted from the center may be adopted.
A specific configuration of the moving mechanism that moves the power transmission unit 13 is arbitrary. For example, an actuator capable of moving the power transmission unit 13 in the X and Y directions may be used, and an arm portion that can be expanded and contracted in the horizontal direction may be used to move the power transmission unit 13 directly.

  The control subject of the linear drive unit 42 and the rotary motor 32 is arbitrary. For example, the vehicle controller 25 may control the linear drive unit 42 and the rotary motor 32 via the power supply controller 14.

  The unit rotation mechanism 30 and the linear motion mechanism 40 may be omitted. In this case, the power transmission unit 13 may be installed at a position below the power reception unit 23 in the vertical direction that is assumed in consideration of a white line, a ring stopper, or the like provided on the installation surface G.

  O Although the primary side capacitor was provided in the power transmission unit 13, and the secondary side capacitor was provided in the power receiving unit 23, you may abbreviate | omit these. In this case, magnetic field resonance is performed using the parasitic capacitances of the coils 13a and 23a.

The resonance frequency of the resonance circuit of the power transmission unit 13 and the resonance frequency of the resonance circuit of the power reception unit 23 may be different as long as power transmission is possible.
○ Electromagnetic induction may be used to realize non-contact power transmission.

The AC power received by the secondary coil 23a may be used for purposes other than charging the vehicle battery 22.
The power receiving device 21 may be mounted on any object, and may be mounted on a moving body other than the vehicle C such as a robot or an electric wheelchair.

  The power transmission unit 13 may have a configuration including a resonance circuit including a primary side coil 13a and a primary side capacitor, and a primary side coupling coil coupled to the resonance circuit by electromagnetic induction. Similarly, the power receiving unit 23 may include a resonance circuit including a secondary coil 23a and a secondary capacitor, and a secondary coupling coil coupled to the resonance circuit by electromagnetic induction.

Next, a preferable example that can be grasped from the embodiment and another example will be described below.
(A) Based on the reflected beam, a derivation unit for deriving the position of the object in the direction in which the reflected beam is detected, and the reflection of the detection beam in which the derivation unit is irradiated a plurality of times in the same direction A calculation unit that calculates an average of a plurality of derived positions derived based on the beam, and the derived position is an effective value when the detection unit detects the reflected beam, while the detection unit When the reflected beam is not detected, it becomes an invalid value, the average of the invalid value and the valid value becomes the invalid value, and the object presence determination unit calculates the calculation result of the calculation unit in at least one direction The power transmission device according to claim 5, wherein if the value is the effective value, it is determined that the object is present.

  (B) The power transmission unit having the primary side coil is movable, and includes a movement control unit that moves the power transmission unit based on the position of the secondary side coil specified by the position specifying unit, The power transmission device according to claim 4, wherein the movement control unit is configured to stop the movement of the power transmission unit when a foreign object is identified by the object identification unit during the movement of the power transmission unit.

  (C) an AC power source capable of outputting the AC power to the primary coil, and a power source control unit that controls the AC power source, wherein the AC power source receives the AC power from the AC power source. 6. The output of the AC power is stopped according to any one of claims 1 to 5, (a) and (b) when a foreign object is specified by the object specifying unit in an output situation. Power transmission equipment.

  (D) In a power receiving device capable of receiving the AC power in a contactless manner from a power transmitting device having a primary coil to which AC power is input, a secondary capable of receiving the AC power in a contactless manner from the primary side coil. An object presence determination unit that determines whether or not an object exists within the irradiation range of the detection beam based on a detection result of a side coil and a detection unit that irradiates the detection beam and detects a reflected beam of the detection beam And an object specifying unit that specifies whether the object is a power transmission target or a foreign object on which the power receiving device is mounted when the object presence determination unit determines that the object exists. Power receiving equipment.

  DESCRIPTION OF SYMBOLS 10 ... Non-contact electric power transmission apparatus, 11 ... Power transmission apparatus, 13 ... Power transmission unit, 13a ... Primary side coil, 14 ... Power supply side controller, 15 ... Notification part, 21 ... Power receiving apparatus, 23 ... Power reception unit, 23a ... Secondary Side coil, 25 ... Vehicle side controller, 30 ... Unit rotation mechanism, 40 ... Linear motion mechanism, 50 ... Detection unit, 60 ... Signal processing unit, 60b ... Derivation unit, 61 ... First calculation unit, 62 ... Second calculation unit , 63 ... an object presence determination unit, 64 ... an object specifying unit, 64a ... a reference derivation pattern storage unit, 71 ... a position specifying unit, B ... a detection beam, Br ... a reflected beam, S ... an irradiation range of the detection beam, X ... a foreign object.

Claims (6)

A power transmission device including a primary side coil to which AC power is input, and capable of transmitting the AC power in a non-contact manner from the primary side coil to the secondary side coil of a power receiving device including the secondary side coil. In
A detection unit for irradiating a detection beam within a predetermined irradiation range and detecting a reflected beam of the detection beam;
An object presence determination unit that determines whether an object exists within the irradiation range based on a detection result of the detection unit;
An object specifying unit for specifying whether the object is a power transmission target or a foreign object on which the power receiving device is mounted;
A power transmission device comprising: The detection unit irradiates the detection beam in a plurality of directions, and detects a reflected beam of the detection beam in each direction,
The power transmission device includes a derivation unit that derives a position of the object in a direction in which the reflected beam is detected based on the reflected beam,
The derivation unit derived based on each reflected beam detected by the detection unit when the detection beam is irradiated in a plurality of directions with respect to the power transmission target, a reference derivation pattern,
When the derivation pattern derived based on each reflected beam detected by the detection unit when the derivation unit irradiates the detection beam in a plurality of directions with respect to the object is a specific target derivation pattern,
The object specifying unit includes a reference derivation pattern storage unit in which the reference derivation pattern is stored, and by comparing the reference derivation pattern with the specific target derivation pattern, whether the object is the power transmission target or the foreign object The power transmission device according to claim 1, wherein the power transmission device is specified. The power transmission device is capable of wireless communication with the power transmission target when the power transmission target is disposed within a wireless communicable range wider than the irradiation range of the detection beam,
The object specifying unit specifies the object as the power transmission target when the object presence determination unit determines that the object exists after the power transmission device and the power transmission target are in a state where wireless communication is possible. The power transmission device according to claim 1. A deriving unit for deriving a position of the power transmission target in a direction in which the reflected beam is detected based on the reflected beam;
Based on the position of the specific part of the power transmission target derived based on the derivation result of the derivation unit, and information on the positional relationship between the position of the specific part and the position of the secondary coil, the secondary side A position specifying unit for specifying the position of the coil;
The power transmission device according to any one of claims 1 to 3. The detection unit irradiates the detection beam in a plurality of directions, and detects a reflected beam of the detection beam in each direction,
The power transmission device according to any one of claims 1 to 4, wherein the object presence determination unit determines that the object is present when the reflected beam is detected by the detection unit in at least one direction. A primary coil to which AC power is input;
A secondary coil capable of receiving the AC power in a non-contact manner from the primary coil;
In a non-contact power transmission device comprising:
A detection unit for irradiating a detection beam within a predetermined irradiation range and detecting a reflected beam of the detection beam;
An object presence determination unit that determines whether an object exists within the irradiation range based on a detection result of the detection unit;
An object specifying unit for specifying whether the object is a power transmission target or a foreign object on which the secondary coil is mounted;
A non-contact power transmission device comprising: