JP2018162109A - Electric-power supply system of crane hook part and electric-power supply method of crane hook part - Google Patents

Abstract

PROBLEM TO BE SOLVED: To realize an electric power transmission with high efficiency in arbitrary positional relation.SOLUTION: The electric-power supply system of the crane hook part comprises a power transmission device installed on the crane jib and a power receiving device on the crane hook part, and further comprises a positional information acquisition unit to obtain positional information of the power receiving device, and a control unit defining each self-inductance of each coil and each mutual inductance among each of the coils as a constant, which are obtained when the power transmission device and power receiving device are arranged in the positional relation based on the positional information acquired by the positional information acquisition unit, the control unit controlling so that each reactance of each variable reactance circuit, the first variable reactance circuit and the second variable reactance circuit have each value which is determined based on the power transmission efficiency calculated by using the circuit equation representing the power transmission device and power receiving device with each reactance as a variable.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a power supply system for a crane hook part and a power supply method for a crane hook part.

  When construction is performed in areas where it is difficult for people to enter, such as decommissioning work, remotely-operable construction machines (crane, dumper, excavator, etc.) are used. For remote operation, a camera and lighting for checking the work status are essential, but depending on the installation location, it becomes difficult to supply power via a cable. FIG. 5 is a diagram illustrating a case where the working status of the crane is confirmed using a camera or illumination. As shown in FIG. 5, in a crane for lifting, for example, a crane for lifting, in order to confirm the detailed work status of the suspended load, a power receiving device such as a camera or an illumination is installed on the crane hook portion 3 (the hook portion of the crane). 2 is installed.

In this case, as the power supply to the power receiving device 2 such as a camera or illumination, the following method is assumed.
(1) Power is supplied from the battery of the crane body by wire.
(2) Power supply with built-in battery in camera and lighting.
(3) A battery is built into the camera and lighting to supply power wirelessly.
When the method (1) is used, it is necessary to route the power supply wiring from the battery of the crane body to the hook portion, but there is a problem that the power supply wiring of the hook wire portion is entangled when the hook is wound up.
When the method (2) is used, it is necessary to periodically replace the battery, and there is a problem that work labor is increased particularly in an area where human access is difficult.

  As a means for solving the problems of (1) and (2), a system (wireless power transmission system) that periodically charges a camera or a battery with built-in illumination wirelessly by the wireless power feeding technique that is the method of (3) can be considered. . FIG. 6 is a diagram illustrating a configuration example of a wireless power transmission system. As shown in FIG. 6, the power transmission device 1 b is installed near the tip of the jib 4, and the camera or lighting battery that is the power reception device 2 is charged when the crane is rolled up. In this case, the distance between the power transmitting and receiving apparatuses is about several tens of centimeters to several meters, and a magnetic resonance method (also referred to as a magnetic field resonance method) is generally used as the wireless power feeding method.

  However, in the magnetic field resonance method, depending on the relative positional relationship between the power transmitting device 1b and the power receiving device 2, the power transmission efficiency is remarkably reduced, so that sufficient power cannot be supplied depending on the angle of the boom (jib) at the time of work. There is a problem. FIG. 7 is a diagram for explaining a problem when the magnetic field resonance method is used. As shown in FIG. 7A, when the wireless power transmission system is designed to supply power in the front direction of the power transmission device 1c, the angle of the boom (jib) with respect to the ground changes as shown in FIG. 7B. Insufficient power supply to the power receiving device 2 may result, and the battery of the power receiving device 2 may run out.

  As a conventional technique, for example, in a system for electrically connecting a camera or lighting when a crane is wound up, such as a power supply system for a crane hook described in Patent Document 1, There are systems that perform accurate positioning, but it is assumed that electrode contamination and rust occur, so regular maintenance is required. In addition, the crane hook power supply system described in Patent Document 1 cannot realize highly efficient power transmission in an arbitrary positional relationship between the power transmission device and the power reception device.

JP 2014-237502 A

  The present invention has been made in consideration of the above circumstances, and the power supply system for the crane hook unit and the crane hook unit capable of realizing highly efficient power transmission in an arbitrary positional relationship between the power transmission device and the power reception device. An object is to provide a power feeding method.

  In order to solve the above-described problem, an aspect of the present invention includes an AC power supply that includes a plurality of power transmission side resonance circuits including a coil and a variable reactance circuit and supplies power to each power transmission side resonance circuit via the first variable reactance circuit. A power transmission device provided in a jib of a crane, a plurality of power reception side resonance circuits each including a coil and a variable reactance circuit, and a load circuit connected to each of the power reception side resonance circuits via a second variable reactance circuit. A power receiving device provided in a crane hook portion of the crane, and wirelessly transmitting power from the AC power source to the load circuit by resonantly coupling the plurality of power transmission side resonance circuits and the plurality of power reception side resonance circuits. A crane hook power supply system for transmitting, further including a position information acquisition unit for acquiring position information of the power receiving device, When each reactance of the variable reactance circuit, the first variable reactance circuit, and the second variable reactance circuit arranges the power transmitting device and the power receiving device in a positional relationship based on the position information acquired by the position information acquisition unit The self-inductance of each of the coils and the mutual inductance between the coils obtained as described above are constants, and the power of the power calculated using circuit equations representing the power transmitting device and the power receiving device having the reactances as variables. A crane hook power feeding system comprising: a control unit that controls each reactance so as to have each value determined based on transmission efficiency.

  One aspect of the present invention is the crane hook power supply system, wherein the positional information and the reactances of the variable reactance circuits, the first variable reactance circuits, and the reactances of the second variable reactance circuits And a database including information representing, wherein the power receiving device includes a sensor that detects the position information, and outputs the detected position information to the position information acquisition unit. Each reactance is controlled based on the position information acquired by the position information acquisition unit with reference to a database.

  One aspect of the present invention is the crane hook power supply system, wherein the positional information and the reactances of the variable reactance circuits, the first variable reactance circuits, and the reactances of the second variable reactance circuits And a database that includes information representing information, wherein the power receiving device includes a sensor that detects information representing coordinates of the power receiving device in the position information, and the information representing the detected coordinates is represented by the position information. Output to the acquisition unit, the control unit, before wirelessly transmitting power from the AC power supply to the load circuit, a plurality of the position information corresponding to information representing the axial direction of the coil of the power receiving device, Each reactance provided in each of the variable reactance circuits, the first variable reactance circuit, and the second variable reactance circuit is switched off. Measuring the transmission efficiency of the power, selecting each reactance that maximizes the transmission efficiency of the power, and outputting information indicating the axial direction of the coil of the power receiving device corresponding to the selection result to the position information acquisition unit. The control unit controls each reactance selected based on the position information acquired by the position information acquisition unit with reference to the database.

  According to another aspect of the present invention, there is provided a crane having a plurality of power transmission side resonance circuits each including a coil and a variable reactance circuit, and an AC power source that supplies power to each power transmission side resonance circuit via the first variable reactance circuit. A crane of a crane having a power transmission device provided in a jib, a plurality of power reception side resonance circuits each including a coil and a variable reactance circuit, and a load circuit connected to each of the power reception side resonance circuits via a second variable reactance circuit Using the power receiving device provided in the hook unit, the position information acquisition unit, and the control unit, the plurality of power transmission side resonance circuits and the plurality of power reception side resonance circuits are resonantly coupled to each other from the AC power source. A power supply method for a crane hook that wirelessly transmits electric power to a load circuit, wherein the position information acquisition unit acquires position information of the power receiving device. The position information acquisition unit acquires the power transmission device and the power reception device according to the reactances of the variable reactance circuit, the first variable reactance circuit, and the second variable reactance circuit by the control unit. Circuit equations representing the power transmitting device and the power receiving device in which the self-inductances of the coils and the mutual inductances between the coils obtained when arranged in a positional relationship based on information are constants, and the reactances are variables. The crane hook part feeding method controls each reactance so as to have each value determined based on the transmission efficiency of the electric power calculated by using.

  ADVANTAGE OF THE INVENTION According to this invention, highly efficient electric power transmission is realizable in the arbitrary positional relationships of a power transmission apparatus and a power receiving apparatus.

It is a schematic diagram for demonstrating the structural example of embodiment of this invention. FIG. 2 is a schematic diagram for explaining a configuration example of a power transmission device 1, a power reception device 2, and a control device 5 shown in FIG. It is a schematic diagram for demonstrating the structural example of the database 53 shown in FIG. It is a circuit diagram for demonstrating the structural example of other embodiment of this invention. It is a figure which shows the case where the operation condition by a crane is confirmed using a camera or illumination. It is a figure which shows the structural example of a wireless power transmission system. It is a figure for demonstrating the subject at the time of using a magnetic field resonance system.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram for explaining a configuration example of an embodiment of the present invention. 2 is a schematic diagram for explaining a configuration example of the power transmission device 1, the power reception device 2, and the control device 5 shown in FIG. FIG. 3 is a schematic diagram for explaining a configuration example of the database 53 shown in FIG.
FIG. 1 schematically shows a configuration example of an embodiment of a crane hook power supply system 10 according to the present invention. A crane hook power supply system 10 shown in FIG. 1 is a magnetic resonance type wireless power transmission system, and includes a power transmission device 1, a power reception device 2, and a control device 5.
The power supply system 10 of the crane hook unit is a wireless power supply system that supplies power (charges the battery) from the power transmission device 1 to the power reception device 2 configured to include a camera, illumination, and the like when the crane hook unit 3 is rolled up. In the crane hook power supply system 10, the control device 5 controls the power supply direction from the power transmission device 1, so that high transmission is possible regardless of the angle of the jib 4, as shown in FIGS. A wireless power supply system that achieves efficiency is provided.
The power transmission device 1 is fixedly installed on a jib 4 of a crane. The power receiving device 2 is fixedly installed on the crane hook portion 3. Moreover, the control apparatus 5 is installed in the place corresponding to the driver's seat of a crane. In addition, the control apparatus 5 may be arrange | positioned at the office etc. of the management ridge of a construction site instead of the driver's seat of a crane.
Here, FIG. 2 shows an example of a circuit configuration of a wireless power feeding system (magnetic resonance method) in which the power feeding direction can be freely determined. Hereinafter, the power transmission device 1, the power reception device 2, and the control device 5 included in the power supply system 10 of the crane hook unit will be described with reference to FIG. 2.

The power transmission device 1 includes a plurality of resonance circuits (power transmission side resonance circuits) 31 and 32 each including a coil (inductor) and a variable reactance circuit, and an AC voltage source 301 (AC power supply) that supplies power to the resonance circuits 31 and 32. A resistor (resistor) 302, a variable reactance circuit (first variable reactance circuit) 303, and a control unit 17. Here, the AC voltage source 301 is an ideal voltage source having zero internal resistance, and the resistor 302 corresponds to the internal resistance of an actual voltage source. In the present application, the reactance circuit is a circuit including a capacitor having capacitive reactance and a coil having inductive reactance. The variable reactance circuit is a reactance circuit that can variably control the reactance. For example, each variable reactance circuit can be composed of one variable capacitor. The resonance frequency of the resonance circuit including the coil and the variable reactance circuit is a frequency at which the inductive reactance and the capacitive reactance of the resonance circuit are equal when the reactance of the variable reactance circuit is controlled to a predetermined value.
The resonance circuit 31 includes a variable reactance circuit 304 and a coil 305 that are connected in series. The resonance circuit 32 includes a variable reactance circuit 306 and a coil 307 that are connected in series.
The coils 305 and 307 are arranged so that the axial direction is a constant direction. The power transmission device 1 has a variable reactance circuit 303 and supplies power from the AC voltage source 301 to the resonance circuits 31 and 32 via the variable reactance circuit 303. The output frequency of the AC voltage source 301 and the resonance frequency of the resonance circuits 31 and 32 are the same.

  In the power transmission device 1, one of the outputs of the AC voltage source 301 is grounded, and the other is connected to one end of the resistor 302. The other end of the resistor 302 is connected to one end of the variable reactance circuit 303. The other end of the variable reactance circuit 303 is connected to one end of each of the variable reactance circuit 304 and the variable reactance circuit 306. The other end of the variable reactance circuit 304 is connected to one end of the coil 305. The other end of the variable reactance circuit 306 is connected to one end of the coil 307. The other ends of the coil 305 and the coil 307 are grounded.

  For example, when the variable reactance circuits 304, 306, and 303 are configured using a variable capacitor, the control unit 17 may be electrically statically connected, such as a MEMS (Micro Electro Mechanical System) variable capacitance element, a combination of a movable part and a trimmer capacitor, or the like. It can be configured using an element capable of varying the capacitance. For example, when the variable reactance circuits 304, 306, and 303 are configured using variable inductors, elements that allow the control unit 17 to electrically change inductance, such as a combination of a movable part and a ferrite coil, are used. Can be configured. The control unit 17 controls reactances of the variable reactance circuits 304, 306, and 303 based on the control signal for reactance control received from the control device 5. The power transmission device 1 receives a control signal for controlling reactances of the variable reactance circuits 304, 306, and 303 from the control device 5 using, for example, a wireless LAN (local area network).

On the other hand, the power receiving apparatus 2 includes a plurality of resonance circuits (power reception side resonance circuits) 41 and 42 each including a coil and a variable reactance circuit, a variable reactance circuit (second variable reactance circuit) 405, a resistor 406, and a control unit. 23.
The resonance circuit 41 includes a variable reactance circuit 401 and a coil 402 connected in series. The resonance circuit 42 includes a variable reactance circuit 403 and a coil 404 connected in series.
The coils 402 and 404 are arranged so that the axial direction is a constant direction. In addition, the power receiving apparatus 2 includes a variable reactance circuit 405, and supplies power from the resonance circuits 31 and 32 to the resistor 406 via the variable reactance circuit 405.
In the power receiving device 2, one end of the coil 402 is connected to one end of the variable reactance circuit 401, and the other end is grounded. One end of the coil 404 is connected to one end of the variable reactance circuit 403, and the other end is grounded. The other ends of the variable reactance circuit 401 and the variable reactance circuit 403 are connected to one end of the variable reactance circuit 405. The other end of the variable reactance circuit 405 is connected to one end of the resistor 406. The other end of the resistor 406 is grounded.
Here, the resistor 406 is, for example, a device (load circuit) such as an illumination or a camera shown in FIG. 1 and may be a single light bulb, a rectifier circuit, a voltage conversion circuit, a storage battery, or other electric / electronic circuit. Etc. may be included. The power receiving device 2 may include an input / output device, a position acquisition device, and a communication device that are not shown. The power receiving device 2 may be mounted on or built in a mobile terminal such as a smartphone or a tablet PC, an electric vehicle, or the like. Moreover, the control part 23 may be comprised as one function which the controller (computer) with which a mobile terminal, an electric vehicle, etc. are provided.

  The variable reactance circuits 401, 403, and 405 may be configured using elements that allow the control unit 23 to electrically change the reactance, for example, similarly to the variable reactance circuits 304, 306, and 303 in the power transmission device 1. it can. The control unit 23 controls the reactance of the variable reactance circuits 401, 403, and 405 based on the control signal for reactance control received from the control device 5. In addition, the control unit 23 provides position information of the power receiving device 2 to the control device 5. The power receiving device 2 and the control device 5 transmit and receive control signals and position information for controlling reactances of the variable reactance circuits 401, 403, and 405 using, for example, a wireless LAN (local area network). For example, the control unit 23 obtains position information of the power receiving device 2 using an indoor GPS (Global Positioning System) (not shown) or a beacon receiver included in the power receiving device 2, or illustrates the user with respect to the power receiving device 2. The position information can be determined based on a predetermined input operation with respect to the input unit that is not.

The position information can be defined by, for example, the coordinates of the three-dimensional (or two-dimensional) power receiving device 2 and the axial direction of the coil 402 included in the resonance circuit 41 and the coil 404 included in the resonance circuit 42. However, information indicating the axial direction of the coils 402 and 404 (orientation of the power receiving device 2) may not necessarily be included in the position information. For example, when the direction of the power receiving device 2 at the time of power reception is fixed, that is, when the axial direction of the coils 402 and 404 is fixed in the vertical direction, for example, or fixed at a constant inclination angle and direction, The position information can be composed of coordinate information. Note that the axial directions of the coils 402 and 404 can be detected by using, for example, a geomagnetic sensor, an acceleration sensor, an inclination angle sensor, etc. (not shown) included in the power receiving device 2.
That is, in the present embodiment, the power receiving device 2 includes a sensor that detects position information (information representing the coordinates of the power receiving device 2 and information representing the axial direction of the coil of the power receiving device 2). Is output to the control device 5 (position information acquisition unit 52).

  The power supply system 10 of the crane hook part of the present embodiment is configured such that a plurality of resonance circuits 31 and 32 on the power transmission side and resonance circuits 41 and 42 on the power reception side are resonantly coupled by the power transmission device 1 and the power reception device 2 described above. Power is wirelessly transmitted from the voltage source 301 to the resistor 406.

  On the other hand, the control device 5 is a computer and includes a central processing unit, a storage device, a communication device, an input / output device, and the like. The control device 5 controls each device by executing a predetermined program stored in the storage device, for example, and provides the following functions. That is, in the present embodiment, the control device 5 functions as the control unit 51 and the position information acquisition unit 52 and stores and manages the database 53 in the storage device.

  The control unit 51 refers to the database 53 and controls each reactance of each variable reactance circuit of the power transmission device 1 and the power reception device 2 based on the position information of the power reception device 2 acquired by the position information acquisition unit 52. For example, the control unit 51 determines the power transmission efficiency based on the self-inductance of the coils 305, 307, 402, and 404 acquired in advance in an arbitrary positional relationship between the power transmission device 1 and the power reception device 2 and the mutual inductance between the coils. The reactances of the variable reactance circuits 304 and 306 and the variable reactance circuits 401 and 403 (or the variable reactance circuit 303 and the variable reactance circuit 405) are controlled to optimized values.

  The position information acquisition unit 52 acquires the position information of the power receiving device 2 from the power receiving device 2.

  The database 53 includes information representing a correspondence relationship between the position information of the power receiving device 2 and information for determining each reactance of each variable reactance circuit. The database 53 includes, for example, information representing the correspondence relationship as one or a plurality of tables. The information for determining each reactance may be, for example, each reactance value itself corresponding to each position information, or information used when calculating each reactance value corresponding to each position information, for example, Information indicating the value of the self-inductance of each coil or the mutual inductance between the coils may be used. The number of pieces of position information is, for example, the number corresponding to each division obtained by dividing the range in which the power receiving device 2 can receive power into predetermined areas. FIG. 3 is a schematic diagram for explaining a configuration example of the database 53. FIG. 3 is a diagram illustrating a configuration example of a table included in the database 53, and FIG. 3A and FIG. 3B illustrate different configuration examples. FIG. 3A and FIG. 3B show configuration examples of records included in a table included in the database 53.

The record 53R1 shown in FIG. 3A includes a position information field 531 and an inductance information field 532. The position information field 531 stores the same (or corresponding) information as the position information of the power receiving device 2 acquired by the position information acquisition unit 52 from the power receiving device 2. The position information includes, for example, information representing the coordinates of the three-dimensional or two-dimensional power receiving device 2 and information representing the axial direction of the coil 402 included in the resonance circuit 41 and the coil 404 included in the resonance circuit 42.
The inductance information field 532 is the position information stored in the position information field 531 when the power receiving apparatus 2 is arranged at the position indicated by the position information stored in the position information field 531, that is, the position information field 531 stores the power transmitting apparatus 1 and the power receiving apparatus 2. The information indicating the self-inductance of the coils 305, 307, 402, and 404 and the mutual inductance between the coils, which are obtained when they are arranged in a positional relationship based on the above, is stored. The self-inductance and the mutual inductance are obtained by actually measuring each self-inductance of the coils 305, 307, 402 and 404 and each mutual inductance between the coils in the positional relationship between the power transmitting device 1 and the power receiving device 2 based on the position information. Alternatively, it can be obtained by calculation or by combining measurement and calculation processing. The control unit 51 refers to the database 53, and the respective self-inductances of the coils 305, 307, 402, and 404 in the positional relationship based on the positional information of the power receiving device 2 stored in the inductance information field 532 and the mutual relationships between the coils. Using the inductance, the optimum values of the reactances of the variable reactance circuits 304 and 306 and the variable reactance circuits 401 and 403 (or the variable reactance circuit 303 and the variable reactance circuit 405) are set so that the power transmission efficiency becomes high. Determine and control each reactance. How to obtain each reactance will be described later.

  A record 53R2 shown in FIG. 2B includes a position information field 531 and a reactance information field 533. The position information field 531 is the same as the position information field 531 of the record 53R1. The reactance information field 533 uses the self-inductances of the coils 305, 307, 402, and 404 and the mutual inductances between the coils in the positional relationship between the power transmitting device 1 and the power receiving device 2 based on the positional information to determine the power transmission efficiency. The variable reactance circuits 304 and 306 and the variable reactance circuits 401 and 403 (or more variable) are used so that the power transmission efficiency becomes high efficiency by using the mutual inductances between the coils and the coil obtained so as to be high efficiency. Information representing the optimum value of each reactance of the reactance circuit 303 and the variable reactance circuit 405) is stored.

  In addition to the table shown in FIG. 2, the database 53 can include, for example, a table that stores information representing the output voltage, output frequency and output resistance of the AC voltage source 301, the resistance value of the resistor 406, and the like.

  In the above configuration, in the crane hook power supply system 10 shown in FIGS. 1 and 2, the power receiving device 2 periodically transmits its position information to the control device 5, for example. In the control device 5, the location information acquisition unit 52 receives the location information transmitted by the power receiving device 2. When the position information acquisition unit 52 receives the position information, the control unit 51 determines that the power transmission efficiency is maximized based on the position (known) of the power transmission device 1 and the position information transmitted from the power reception device 2. The optimum reactance of each variable reactance circuit in the power receiving device 2 is determined by calculation (or by reading from the database 53). And the control part 51 controls the reactance of the variable reactance circuit installed in the power transmission apparatus 1 and the power receiving apparatus 2 based on the determined optimal reactance. Thereby, according to the present embodiment, highly efficient wireless power transmission is possible regardless of the positional relationship of the power transmitting and receiving device.

  As described above, by controlling each reactance of each variable reactance circuit, in this embodiment, in the magnetic power resonance (resonance) type wireless power transmission system, power is supplied in a specific direction (that is, arranged in an arbitrary positional relationship). Even in this case, for example, high power transmission efficiency can be realized without physical rotation of the power transmission device.

  The embodiment of the present invention is not limited to the configuration shown in FIG. For example, the number of resonance circuits 31 and 32 included in the power transmission device 1 is not limited to two, but may be three or more. However, when the feeding direction is adjusted three-dimensionally, it is desirable that the number is three or more. Further, the resonance circuits 41 and 42 included in the power receiving device 2 are not limited to two, and may be a plurality of three or more. Further, when there are three or more resonance circuits, it is desirable to provide a variable reactance circuit (second variable reactance circuit) between each resonance circuit and the resistor 406 as described above. When a plurality of resonance circuits are installed in the power receiving device 2, it is possible to further increase the efficiency.

Next, a procedure for determining each reactance of each variable reactance circuit in the embodiment of the present invention will be described.
As shown in FIG. 2, the output voltage of the AC voltage source 301 is a voltage _{V in.} The self-inductances of coils 305, 307, 402, and 404 are inductances L ₁₁ , L ₂₂ , L _33, and L ₄₄ , respectively. A mutual inductance between the coil 305 and the coil 307 is an inductance L ₁₂ or L ₂₁ . Mutual inductance between the coils 305 and the coil 402 is the inductance _{L 13} or _{L 31.} Mutual inductance between the coils 305 and the coil 404 is the inductance _{L 14} or _{L 41.} Mutual inductance between the coils 307 and the coil 402 is the inductance _{L 23} or _{L 32.} A mutual inductance between the coil 307 and the coil 404 is an inductance L ₂₄ or L ₄₂ . A mutual inductance between the coil 402 and the coil 404 is an inductance L ₃₄ or L ₄₃ . The resistance value (resistance) of the resistor 302 (the internal resistance of the actual AC voltage source) is the resistance value _R0 . The resistance value of the resistor 406 is the resistance value _RL .

The reactances of the variable reactance circuits 303, 304, 306, 401, 403, and 405 are assumed to be reactances X ₀ , X ₁ , X ₂ , X ₃ , X ₄ and X ₅ , respectively. The currents flowing through the resistor 302, the variable reactance circuit 304, the variable reactance circuit 306, the variable reactance circuit 401, the variable reactance circuit 403, and the resistor 406 are currents i ₀ , i ₁ , i ₂ , i ₃ , i _4, and i ₅ , respectively. And The series voltage circuit of the AC voltage source 301 and the resistor 302 (that is, the output circuit of the actual AC voltage source), the coil 305, the coil 307, the coil 402, the coil 404, and the resistor 406 have respective terminal voltages V ₀ , V ₁ , Assume that V ₂ , V ₃ , V ₄ and V ₅ are present. Voltage _{V 5} is the output voltage _{V out} of the power supply system 10 of the crane hook.

A circuit showing the power supply system 10 (the power transmission device 1 and the power reception device 2) of the crane hook shown in FIG. 2 can be expressed by the following circuit equation. The following circuit equation represents a steady-state sinusoidal AC circuit, where the currents i ₀ , i ₁ , i ₂ , i ₃ , i ₄ and i ₅ and the voltages V ₀ , V ₁ , V ₂ , V ₃ , V ₄ and V ₅ are represented by facers, and circuit elements are represented by complex impedances.

  Here, ω is an angular frequency of the output of the AC voltage source 301, and j is an imaginary unit.

In the present embodiment, when each reactance of each variable reactance circuit is determined using the above circuit equation, the self-inductances L ₁₁ , L in a plurality of positional relationships between the power transmitting device 1 and the power receiving device 2 are determined prior to the determination. ₂₂ , L ₃₃ and L ₄₄ , and mutual inductance L ₁₂ or L ₂₁ , L ₁₃ or L ₃₁ , L ₁₄ or L ₄₁ , L ₂₃ or L ₃₂ , L ₂₄ or L ₄₂ , L ₃₄ or L ₄₃ Get it by. Further, the resistance values R ₀ and R _L are also acquired by actual measurement or calculation. Further, the voltage V _in is is set to a predetermined value. In this case, the voltage V _in , the inductances L ₁₁ , L ₂₂ , L ₃₃ and L ₄₄ , L ₁₂ or L ₂₁ , L ₁₃ or L ₃₁ , L ₁₄ or L ₄₁ , L ₂₃ or L ₃₂ , L ₂₄ or L ₄₂ , L ₃₄ or L ₄₃ , the resistance value R ₀ (the actual internal resistance of the AC voltage source), and the resistance value R _L are known values (that is, constants). On the other hand, the reactances X ₀ , X ₁ , X ₂ , X ₃ , X ₄ and X ₅ of the variable reactance circuits 303, 304, 306, 401, 403 and 405 are undetermined values (ie, variables).

  Each reactance of each variable reactance circuit is determined so that the power transmission efficiency η shown below is maximized.

Here, P _L is the power supplied to the resistor 406, and P _in is the power output from the AC voltage source 301, and is expressed as follows.

Here, the function Re is a function that returns a real part, and the function conj is a function that returns a conjugate complex number. Further, V ₀ , i ₀ , V ₅ and i ₅ in the equation are calculated by solving the above circuit equation.

  In addition, the value of each reactance of each variable reactance circuit that maximizes the power transmission efficiency η (or high efficiency above a certain level) is calculated, for example, by changing each reactance within a certain range and calculating the power transmission efficiency η multiple times. It can be determined by selecting a combination of reactances that maximize the power transmission efficiency η (or a high efficiency equal to or higher than a certain level) among the plurality of calculated power transmission efficiencies η. When the power transmission efficiency η that is the maximum (or a certain high efficiency) is calculated in a plurality of combinations, for example, the Q value (Quality factor) of the resonance circuit, the coupling coefficient k, etc. are taken into account. Any combination can be selected.

As described with reference to FIG. 3A, when the database 53 includes information that associates position information and inductance information, when the position information is received from the power receiving device 2, the control unit 51 includes the position information. Corresponding inductance information is obtained from the database 53. Next, the control unit 51 sets each self-inductance of each coil and each mutual inductance between the coils as constants, changes each reactance of each variable reactance circuit as a variable, and changes it in a certain range, and uses the above circuit equation. The power transmission efficiency η is calculated a plurality of times. Next, based on the calculated plurality of power transmission efficiencies η, the control unit 51, for example, reactances X ₀ , X ₁ , X ₂ , X ₃ , X _4, and X ₅ when the power transmission efficiency η is maximized. The value is determined as a control target. Next, the control unit 51 transmits a predetermined control signal to the power transmission device 1 and the power reception device 2 using each determined value as a control target, and reactance X of the variable reactance circuits 303, 304, 306, 401, 403, and 405 Control ₀ , X ₁ , X ₂ , X ₃ , X ₄ and X ₅ .

On the other hand, as described with reference to FIG. 3B, when the database 53 includes information that associates the positional information with the reactance information, the power transmission efficiency η as described above in a plurality of positional relationships. Each value of reactance X ₀ , X ₁ , X ₂ , X ₃ , X ₄ and X ₅ is calculated in advance, and the calculation result is registered in the database 53. In this case, when the position information is received from the power receiving device 2, the control unit 51 acquires each value of reactance X ₀ , X ₁ , X ₂ , X ₃ , X _4, and X ₅ corresponding to the position information from the database 53. To do. Next, the control unit 51 transmits a predetermined control signal to the power transmission device 1 and the power reception device 2 using each acquired value as a control target, and reactance X of the variable reactance circuits 303, 304, 306, 401, 403, and 405 Control ₀ , X ₁ , X ₂ , X ₃ , X ₄ and X ₅ .

  As described above, according to the present embodiment, highly efficient wireless power feeding can be realized regardless of the positional relationship between power transmission and reception.

FIG. 4 is a circuit diagram for explaining a configuration example of another embodiment of the present invention. FIG. 4 shows the power transmitting device 1a and the power receiving device 2a in the power supply system 10a of the crane hook part when the configuration of the power supply system 10 of the crane hook part shown in FIGS. 1 and 2 is partially changed.
A power transmission device 1a shown in FIG. 4 is different from the power transmission device 1 shown in FIG. 2 in that variable reactance circuits 303, 304, and 306 (referred to as power transmission side phase adjustment circuits) each include n power transmission side phase adjustment circuits-1 ( Variable reactance circuits 303-1, 304-1 and 306-1), power transmission side phase adjustment circuit-2 (variable reactance circuits 303-2, 304-2 and 306-2),..., Power transmission side phase adjustment circuit-n ( Variable reactance circuits 303-n, 304-n and 306-n).
On the other hand, the power receiving device 2a is different from the power receiving device 2 shown in FIG. 2 in that variable reactance circuits 401, 403, and 405 (referred to as power receiving side phase adjustment circuits) each include n power receiving side phase adjustment circuits-1 (variable reactances). Circuits 401-1, 403-1 and 405-1), power transmission side phase adjustment circuit-2 (variable reactance circuits 401-2, 403-2 and 405-2),..., Power transmission side phase adjustment circuit-n (variable reactance) Circuits 401-n, 403-n and 405-n).
That is, in this embodiment, the power supply system 10a of the crane hook unit has n phase adjustment circuits, and by switching the phase adjustment circuit of the power transmission device 1a and the power reception device 2a according to the direction of power supply, Control the feeding direction.
For simplicity, the case where power is supplied in three types of power supply directions (n = 3) will be described. The three types of feeding directions are a front direction, a direction inclined by 30 degrees, and a direction inclined by 60 degrees.
The reactances X _{0-1 to} X _5-1 of the power transmission side phase adjustment circuit-1 and the power reception side phase adjustment circuit-1 are obtained when the power reception device 2a is in the front direction of the power transmission device 1a (the axial direction of the coils 305 and 307 and the coil Optimized by the control method used in the power supply system 10 of the crane hook part so that the maximum efficiency is obtained when the axial directions of 402 and 404 are 0 degrees.
The reactances X _{0-2 to} X _5-2 of the power transmission side phase adjustment circuit-2 and the power reception side phase adjustment circuit-2 are the cases where the power reception device 2a is inclined by 30 degrees from the front direction of the power transmission device 1a (coil In order to obtain maximum efficiency (when the axial directions of 305 and 307 and the axial directions of the coils 402 and 404 are inclined by 30 degrees), optimization is performed by the control method used in the power supply system 10 of the crane hook portion.
The reactances X _{0-3 to} X _5-3 of the power transmission side phase adjustment circuit-3 and the power reception side phase adjustment circuit-3 are obtained when the power reception device 2a is inclined by 60 degrees from the front direction of the power transmission device 1a (coil It is optimized by the control method used in the power supply system 10 of the crane hook portion so that the maximum efficiency can be obtained in the case where the axial directions of 305 and 307 and the axial directions of the coils 402 and 404 are inclined by 60 degrees.
In this way, by switching a total of six switches (power transmission device 1a and power reception device 2a) in the circuit according to the direction of power reception device 2a, the power feeding direction can be controlled. In addition, by increasing the number n of the phase adjustment circuits, highly efficient power feeding can be performed in any direction.
That is, in the power supply system 10a of the crane hook unit, the power receiving device 2a has a sensor that detects information representing the coordinates of the power receiving device 2a in the position information, and sends the information representing the detected coordinates to the position information acquisition unit 52. Output. In addition, the control unit 51 performs n (multiple) corresponding to information indicating the axial direction of the coil of the power receiving device 2a among the position information before wirelessly transmitting power from the AC voltage source 301 to the resistor 406 (load circuit). ), Variable reactance circuits 304 and 306, variable reactance circuits 401 and 403 (each variable reactance circuit), variable reactance circuit 303 (first variable reactance circuit) and variable reactance circuit 405 (second variable reactance circuit). Each reactance is switched to measure the power transmission efficiency, each reactance having the maximum power transmission efficiency is selected, and information indicating the axial direction of the coil of the power receiving device 2a corresponding to the selection result is obtained as the position information acquisition unit 52. Output to. Further, the control unit 51 refers to the database 53 and controls each reactance selected based on the position information acquired by the position information acquisition unit 52.
As described above, according to the present embodiment, high-efficiency wireless power feeding can be realized regardless of the positional relationship between power transmission and reception, similarly to the power feeding system 10 of the crane hook portion.

  As described above, according to each embodiment of the present invention, highly efficient power transmission can be realized in an arbitrary positional relationship between the power transmission device and the power reception device. Further, according to each embodiment of the present invention, since elements that require physical movement can be eliminated, it is possible to always realize highly efficient power transmission. Further, even when the positional relationship of the power transmission / reception device is continuously changed, highly efficient power transmission can be realized, and an increase in size and cost of the device can be prevented. Further, in the magnetic field resonance type wireless power feeding, high transmission efficiency can be realized by controlling the feeding direction while preventing an increase in size and complexity of the apparatus.

  The control device 5 in the above-described embodiment may be realized by a computer. In that case, a program for realizing this function may be recorded on a computer-readable recording medium, and the program recorded on this recording medium may be read into a computer system and executed. Here, the “computer system” includes an OS and hardware such as peripheral devices. The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. Furthermore, the “computer-readable recording medium” dynamically holds a program for a short time like a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line. In this case, a volatile memory inside a computer system serving as a server or a client in that case may be included and a program held for a certain period of time. Further, the program may be a program for realizing a part of the above-described functions, and may be a program capable of realizing the functions described above in combination with a program already recorded in a computer system. You may implement | achieve using programmable logic devices, such as FPGA (Field Programmable Gate Array).

  The embodiments of the present invention have been described in detail above with reference to the drawings. However, the specific configuration is not limited to the above-described one, and various design changes and the like can be made without departing from the scope of the present invention. Is possible. For example, each variable reactance circuit and each coil may have a configuration in which a plurality of variable reactance circuits and a plurality of coils are connected in parallel or in series.

DESCRIPTION OF SYMBOLS 1, 1a, 1b, 1c Power transmission apparatus 2, 2a Power receiving apparatus 3 Crane hook part 4 Jib 5 Control apparatus 10, 10a Power supply system 31, 32, 41, 42 of crane hook part Resonant circuits 303, 304, 306, 401, 403 , 405 Variable reactance circuit 51 Control unit 52 Position information acquisition unit 53 Databases 305, 307, 402, 404 Coil 301 AC voltage source 302, 406 Resistance

Claims (4)

A power transmission device provided in a jib of a crane, having a plurality of power transmission side resonance circuits each including a coil and a variable reactance circuit, and having an AC power source that supplies power to each power transmission side resonance circuit via a first variable reactance circuit;
A power receiving device provided in a crane hook portion of a crane, having a plurality of power receiving side resonance circuits each including a coil and a variable reactance circuit, and having a load circuit connected to each power receiving side resonance circuit via a second variable reactance circuit; ,
With
A crane hook power feeding system that wirelessly transmits power from the AC power source to the load circuit by resonantly coupling the plurality of power transmission side resonance circuits and the plurality of power reception side resonance circuits,
further,
A position information acquisition unit for acquiring position information of the power receiving device;
The reactances of the variable reactance circuits, the first variable reactance circuit, and the second variable reactance circuit are arranged in a positional relationship based on the position information acquired by the position information acquisition unit between the power transmitting device and the power receiving device. The self-inductance of each of the coils and the mutual inductance between the coils obtained in this case are constants, and calculated using circuit equations representing the power transmitting device and the power receiving device having the reactances as variables. A control unit for controlling each reactance so as to have each value determined based on the transmission efficiency of power;
A power supply system for a crane hook part. A database including information representing a correspondence relationship between the position information and each reactance of each of the variable reactance circuits, the first variable reactance circuit, and the second variable reactance circuit;
Further comprising
The power receiving device includes a sensor that detects the position information, and outputs the detected position information to the position information acquisition unit.
The power supply system for a crane hook unit according to claim 1, wherein the control unit controls the reactances based on the position information acquired by the position information acquisition unit with reference to the database. A database including information representing a correspondence relationship between the position information and each reactance of each of the variable reactance circuits, the first variable reactance circuit, and the second variable reactance circuit;
Further comprising
The power receiving device includes a sensor that detects information representing coordinates of the power receiving device in the position information, and outputs information representing the detected coordinates to the position information acquisition unit,
The control unit, before wirelessly transmitting power from the AC power source to the load circuit, a plurality of the variable reactance circuits corresponding to information indicating the axial direction of the coil of the power receiving device among the position information, Measure the power transmission efficiency by switching each reactance provided in the first variable reactance circuit and the second variable reactance circuit, select each reactance that maximizes the power transmission efficiency, and respond to the selection result Output information indicating the axial direction of the coil of the power receiving device to the position information acquisition unit,
The power supply system for a crane hook unit according to claim 1, wherein the control unit controls the reactances selected based on the position information acquired by the position information acquisition unit with reference to the database. A power transmission device provided in a jib of a crane, having a plurality of power transmission side resonance circuits each including a coil and a variable reactance circuit, and having an AC power source that supplies power to each power transmission side resonance circuit via a first variable reactance circuit;
A power receiving device provided in a crane hook portion of a crane, having a plurality of power receiving side resonance circuits each including a coil and a variable reactance circuit, and having a load circuit connected to each power receiving side resonance circuit via a second variable reactance circuit; ,
A location information acquisition unit;
A crane hook power feeding method that wirelessly transmits power from the AC power source to the load circuit by resonantly coupling the plurality of power transmission side resonance circuits and the plurality of power reception side resonance circuits using a control unit. And
The position information acquisition unit acquires position information of the power receiving device,
The reactances of the variable reactance circuit, the first variable reactance circuit, and the second variable reactance circuit are converted into the position information acquired by the position information acquisition unit by the control unit. Using circuit equations representing the power transmitting device and the power receiving device with the self-inductance of the coils and the mutual inductance between the coils obtained as a constant and the reactances as variables. The crane hook part feeding method of controlling each reactance so as to have each value determined based on the transmission efficiency of the electric power calculated in the above.

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