JP2020005469A5 - - Google Patents
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- JP2020005469A5 JP2020005469A5 JP2018125224A JP2018125224A JP2020005469A5 JP 2020005469 A5 JP2020005469 A5 JP 2020005469A5 JP 2018125224 A JP2018125224 A JP 2018125224A JP 2018125224 A JP2018125224 A JP 2018125224A JP 2020005469 A5 JP2020005469 A5 JP 2020005469A5
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- 238000001514 detection method Methods 0.000 claims 21
- 230000005540 biological transmission Effects 0.000 claims 12
Claims (10)
電力を供給するための電波を送信する複数のアンテナ素子を備えたアレイアンテナと、
所定の検知範囲内の電波の伝搬環境の状態を示す情報であって、前記検知範囲内に異物が存在しない状態において前記アレイアンテナで受信した信号に基づき予め求められた第１の環境情報と、前記第１の環境情報を求めた後に、前記アレイアンテナで受信した信号に基づき求められた前記検知範囲における電波の伝搬環境の状態を示す第２の環境情報とに基づき、前記検知範囲における異物の進入を検出する制御部と、を備え、
前記第１の環境情報は、前記動作パターン毎に求められ、前記ロボットが各動作パターンで動作したときの一定時間毎の電波の伝搬環境の状態の変化を含み、前記制御部は、前記アレイアンテナで受信した信号に基づき前記第２の環境情報を求め、前記第２の環境情報を求めた時の前記ロボットの動作パターンを取得し、前記取得した動作パターンで前記ロボットが動作したときの一定時間毎の電波の伝搬環境の状態の変化を含む前記第１の環境情報を取得し、前記取得した第１の環境情報と前記第２の環境情報との比較結果に基づき前記検知範囲における異物の進入の有無を検出する、
送電装置。 A power transmission device that wirelessly supplies power to a power receiving device in an environment in which robots that move in multiple motion patterns are arranged.
An array antenna equipped with multiple antenna elements that transmit radio waves to supply power,
Information indicating the state of the propagation environment of radio waves within a predetermined detection range, the first environmental information obtained in advance based on the signal received by the array antenna in a state where no foreign matter exists within the detection range, and After obtaining the first environmental information, the foreign matter in the detection range is based on the second environmental information indicating the state of the radio wave propagation environment in the detection range obtained based on the signal received by the array antenna. Equipped with a control unit that detects intrusion,
The first environmental information is obtained for each of the operation patterns, includes a change in the state of the radio wave propagation environment at regular intervals when the robot operates in each operation pattern, and the control unit uses the array antenna. The second environmental information is obtained based on the signal received in the above, the operation pattern of the robot when the second environmental information is obtained is acquired, and a certain period of time when the robot operates according to the acquired operation pattern. The first environmental information including the change in the state of the propagation environment of each radio wave is acquired, and the entry of foreign matter in the detection range is based on the comparison result between the acquired first environmental information and the second environmental information. Detects the presence or absence of
Power transmission device.
前記制御部は、受信したビーコン信号から前記第１及び第２の環境情報を生成する、
請求項３に記載の送電装置。 Further, a receiving unit for receiving a beacon signal from the power receiving device is provided.
The control unit generates the first and second environmental information from the received beacon signal.
The power transmission device according to claim 3.
前記制御部は、前記記憶部から前記第１の環境情報を取得する、
請求項１に記載の送電装置。 A storage unit that stores the first environmental information in advance is further provided.
The control unit acquires the first environmental information from the storage unit.
The power transmission device according to claim 1.
請求項１に記載の送電装置。 The control unit acquires the first environmental information from the outside of the power transmission device.
The power transmission device according to claim 1.
前記送電装置から無線で電力を受ける受電装置と、
を備えた無線電力伝送システム。 The power transmission device according to any one of claims 1 to 7.
A power receiving device that receives power wirelessly from the power transmitting device and
Wireless power transfer system with.
複数のアンテナ素子を備えたアレイアンテナを介して電力を供給するための電波を送信し、 制御部により、検知範囲内の電波の伝搬環境の状態を示す情報であって、前記検知範囲内に異物が存在しない状態において前記アレイアンテナで受信した信号に基づき第１の環境情報を予め求めておき、
前記第１の環境情報は、前記動作パターン毎に求められ、前記ロボットが各動作パターンで動作したときの一定時間毎の電波の伝搬環境の状態の変化を含み、
前記制御部により、前記第１の環境情報を求めた後に、前記アレイアンテナで受信した信号に基づき前記検知範囲における電波の伝搬環境の状態を示す第２の環境情報を求め、 前記制御部により、前記第２の環境情報を求めた時の前記ロボットの動作パターンを取得し、
前記制御部により、前記取得した動作パターンで前記ロボットが動作したときの一定時間毎の電波の伝搬環境の状態の変化を含む前記第１の環境情報を取得し、
前記制御部により、前記取得した第１の環境情報と、前記第２の環境情報とを比較し、その比較結果に基づき前記検知範囲における異物の進入の有無を検出する、
異物検出方法。 A foreign matter detection method in a wireless power transmission system used in an environment where robots that move in multiple motion patterns are arranged.
Information for transmitting radio waves for supplying electric power through an array antenna provided with a plurality of antenna elements and indicating the state of the propagation environment of the radio waves within the detection range by the control unit, and foreign matter within the detection range. The first environmental information is obtained in advance based on the signal received by the array antenna in the absence of
The first environmental information is obtained for each of the operation patterns, and includes a change in the state of the radio wave propagation environment at regular intervals when the robot operates in each operation pattern.
After obtaining the first environmental information by the control unit, the second environmental information indicating the state of the radio wave propagation environment in the detection range is obtained based on the signal received by the array antenna, and the control unit obtains the second environmental information. Acquire the operation pattern of the robot when the second environmental information is obtained,
The control unit acquires the first environmental information including the change in the state of the radio wave propagation environment at regular time intervals when the robot operates in the acquired operation pattern.
The control unit compares the acquired first environmental information with the second environmental information, and detects the presence or absence of foreign matter in the detection range based on the comparison result.
Foreign matter detection method.
前記検知範囲に電波を送信する複数のアンテナ素子を備えたアレイアンテナと、
前記検知範囲における電波の伝搬環境の状態を示す情報であって、前記検知範囲内に異物が存在しない状態において前記アレイアンテナで受信した信号に基づき予め求められた第１の環境情報と、前記第１の環境情報を求めた後に、前記アレイアンテナで受信した信号に基づき求められた前記検知範囲における電波の伝搬環境の状態を示す第２の環境情報とに基づき、前記検知範囲における異物の進入を検出する制御部と、を備え、
前記第１の環境情報は、前記動作パターン毎に求められ、前記ロボットが各動作パターンで動作したときの一定時間毎の電波の伝搬環境の状態の変化を含み、
前記制御部は、前記アレイアンテナで受信した信号に基づき前記第２の環境情報を求め、前記第２の環境情報を求めた時の前記ロボットの動作パターンを取得し、前記取得した動作パターンで前記ロボットが動作したときの一定時間毎の電波の伝搬環境の状態の変化を含む前記第１の環境情報を取得し、取得した前記第１の環境情報と前記第２の環境情報との比較結果に基づき前記検知範囲における異物の進入の有無を検出する、
異物検出装置。 A foreign matter detection device that detects the entry of foreign matter within a predetermined detection range in an environment in which robots that move in a plurality of motion patterns are arranged.
An array antenna equipped with a plurality of antenna elements that transmit radio waves within the detection range, and
Information indicating the state of the propagation environment of radio waves in the detection range, the first environmental information obtained in advance based on the signal received by the array antenna in a state where no foreign matter exists in the detection range, and the first environment information. After obtaining the environmental information of 1, the entry of foreign matter in the detection range is performed based on the second environmental information indicating the state of the propagation environment of the radio wave in the detection range obtained based on the signal received by the array antenna. Equipped with a control unit to detect
The first environmental information is obtained for each of the operation patterns, and includes a change in the state of the radio wave propagation environment at regular intervals when the robot operates in each operation pattern.
The control unit obtains the second environmental information based on the signal received by the array antenna, acquires the operation pattern of the robot when the second environmental information is obtained, and uses the acquired operation pattern to obtain the operation pattern. The first environmental information including the change in the state of the radio wave propagation environment at regular intervals when the robot operates is acquired, and the result of comparison between the acquired first environmental information and the second environmental information is obtained. Based on this, the presence or absence of foreign matter entering in the detection range is detected.
Foreign matter detection device.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018125224A JP6950632B2 (en) | 2018-06-29 | 2018-06-29 | Power transmission device that supplies power wirelessly and foreign matter detection method |
| PCT/JP2019/009233 WO2020003621A1 (en) | 2018-06-29 | 2019-03-08 | Power transmission device for wirelessly supplying power and foreign matter detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018125224A JP6950632B2 (en) | 2018-06-29 | 2018-06-29 | Power transmission device that supplies power wirelessly and foreign matter detection method |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2020005469A JP2020005469A (en) | 2020-01-09 |
| JP2020005469A5 true JP2020005469A5 (en) | 2021-02-04 |
| JP6950632B2 JP6950632B2 (en) | 2021-10-13 |
Family
ID=68984495
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2018125224A Active JP6950632B2 (en) | 2018-06-29 | 2018-06-29 | Power transmission device that supplies power wirelessly and foreign matter detection method |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP6950632B2 (en) |
| WO (1) | WO2020003621A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7334654B2 (en) * | 2020-02-27 | 2023-08-29 | Tdk株式会社 | Wireless power transmission device and wireless power transmission system |
| CN111413908B (en) * | 2020-04-13 | 2021-04-16 | 西安交通大学 | Radio frequency array control circuit and control method thereof |
| JP7187617B1 (en) * | 2021-06-29 | 2022-12-12 | 京セラ株式会社 | Electronic device, control method and control program |
| CN113670929B (en) * | 2021-07-05 | 2024-06-14 | 国网宁夏电力有限公司电力科学研究院 | Power transmission line foreign matter detection method and device, storage medium and terminal equipment |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5021948B2 (en) * | 2006-03-30 | 2012-09-12 | 三菱重工業株式会社 | Obstacle detection device, energy supply device, and energy supply system |
| JP2013096828A (en) * | 2011-10-31 | 2013-05-20 | Panasonic Corp | Doppler radar system and object detection method |
| JP6337797B2 (en) * | 2015-02-13 | 2018-06-06 | オムロン株式会社 | Wireless power supply control system, wireless power supply control device, wireless power supply control method, and directivity information generation method |
| JP6076432B1 (en) * | 2015-10-01 | 2017-02-08 | ニチユ三菱フォークリフト株式会社 | Wireless power supply system |
-
2018
- 2018-06-29 JP JP2018125224A patent/JP6950632B2/en active Active
-
2019
- 2019-03-08 WO PCT/JP2019/009233 patent/WO2020003621A1/en active Application Filing
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