JP2020174504A - Contact power receiving system - Google Patents

Abstract

To provide a contact power receiving system capable of improving control responsivity when adjusting the contact pressure of first and second shoes 31 and 32 with respect to first and second wires 71 and 72.SOLUTION: A system includes an arm 20 attached to a vehicle 10 so as to relatively displace, a driving portion 40 that drives the arm 20, first and second shoes 31 and 32 attached to a tip end of the arm 20, an electromagnet 80, and a control portion 90. The electromagnet 80 is provided on the arm 20 and generates a magnetic flux flowing in the first and second shoes 31 and 32 and first and second wires 71 and 72, thereby generating force pressing the first and second shoes 31 and 32 on the first and second wires 71 and 72. The control portion 90 controls the upper magnetic flux by controlling the energization of the coil of the electromagnet 80 so as to adjust the contact pressure of the first and second wires 71 and 72 to the first and second shoes 31 and 32.SELECTED DRAWING: Figure 2

Description

The present invention relates to a contact power receiving system mounted on a vehicle.

As described in Patent Document 1, this type of system includes an arm extending from the vehicle in the vehicle width direction, and the power receiving portion of the arm comes into contact with an overhead wire provided along the traveling path of the vehicle. As a result, it is known that power is received from the overhead wire via the power receiving unit. Here, in order to suppress the occurrence of disconnection, which is a phenomenon in which the power receiving unit is separated from the overhead wire, and wear of the power receiving unit and the overhead wire, it is necessary to adjust the contact pressure of the power receiving unit with respect to the overhead wire to an appropriate value.

Therefore, in the above system, a slide rail provided along the front-rear direction of the vehicle body, an actuator provided slidably on the slide rail, one end rotatably attached to the arm, and the other end rotatably attached to the actuator. It is equipped with a spring damper attached to. When the actuator slides in a specific direction on the slide rail, the arm is displaced outward in the vehicle width direction with respect to the vehicle body. By adjusting the sliding amount of the actuator, the pressing force of the arm against the overhead wire is adjusted, and by extension, the contact pressure of the power receiving portion with respect to the overhead wire is adjusted.

International Publication No. 2015/115474

In a configuration in which the contact pressure of the power receiving portion is adjusted by adjusting the pressing force of the arm against the overhead wire, there is a concern that the control responsiveness when adjusting the contact pressure to an appropriate value is lowered.

An object of the present invention is to provide a contact power receiving system capable of improving control response when adjusting contact pressure.

The present invention includes an arm that is mounted so that it can be displaced relative to the vehicle.
The drive unit that drives the arm and
A contact power receiving unit provided with a power receiving unit attached to the tip of the arm, and receiving power from the overhead wire via the power receiving unit when the power receiving unit comes into contact with an overhead wire provided along the traveling path of the vehicle. In the system
A magnetic flux generating unit provided on the arm and generating a force for pressing the power receiving unit against the overhead wire by generating a magnetic flux flowing through the power receiving unit and the overhead wire.
In order to adjust the contact pressure of the power receiving unit with respect to the overhead wire, the power receiving unit and a control unit that controls the magnetic flux flowing through the overhead wire by driving control of the magnetic flux generating unit are provided.

In the present invention, the magnetic flux flowing through the power receiving unit and the overhead wire is controlled by the drive control of the magnetic flux generating unit. When the magnetic flux flows, a magnetic force is generated between the power receiving unit and the overhead wire, and the power receiving unit is attracted to the overhead wire. As a result, in the overhead wire, it is possible to suppress the deviation of the power receiving unit in a direction different from the direction of the suction force acting on the power receiving unit.

In the present invention, the attractive force acting on the power receiving portion is adjusted by controlling the magnetic flux described above, and the contact pressure of the power receiving portion with respect to the overhead wire is adjusted. Since the contact pressure is adjusted by the suction force on the tip side of the arm, the contact pressure is adjusted to an appropriate value as compared with the configuration in which the arm is pressed against the overhead wire by the drive unit to adjust the contact pressure of the power receiving unit. The control responsiveness can be improved.

The figure which shows typically the whole structure of the contact power receiving system when the vehicle which concerns on 1st Embodiment is seen from above. The figure which shows typically the whole structure of the contact power receiving system. The figure which shows the flow of magnetic flux. A flowchart showing a procedure of processing performed by the control unit. The figure which shows typically the structure near the arm tip of the contact power receiving system which concerns on 2nd Embodiment. The figure which shows typically the structure near the arm tip of a contact power receiving system. The figure which shows typically the structure near the arm tip of a contact power receiving system. The flowchart which shows the procedure of the process performed by the control unit which concerns on 3rd Embodiment. The figure which shows typically the structure near the arm tip of the contact power receiving system which concerns on 4th Embodiment. The figure which shows typically the structure near the arm tip of the contact power receiving system which concerns on the modification of 4th Embodiment. The figure which shows typically the structure near the arm tip of the contact power receiving system which concerns on the modification of 4th Embodiment. The figure which shows typically the whole structure of the contact power receiving system when the vehicle which concerns on 5th Embodiment is seen from the side. The figure which shows typically the structure near the arm tip of a contact power receiving system. The figure which shows the structure which corrects the deviation in the vehicle width direction of an arm. The figure which shows the structure which corrects the deviation in the vehicle width direction of an arm.

<First Embodiment>
Hereinafter, a first embodiment embodying the contact power receiving system according to the present invention will be described with reference to the drawings. In the present embodiment, this system is mounted on a passenger car or a commercial vehicle including a rotary electric machine that serves as a running power source for the vehicle.

As shown in FIGS. 1 and 2, the vehicle 10 includes an arm 20, a drive unit 40, a power converter 50, a battery 51, a rotary electric machine 52, and an inverter 53. The arm 20 has a long shape and is rotatably provided around a rotation shaft 21 thereof. The arm 20 is rotationally driven by a drive unit 40 as an actuator. Due to this rotational drive, the arm 20 protrudes to the side of the vehicle 10 or is stored in the vehicle 10.

A first shoe 31 (corresponding to the "first electrode portion") and a second shoe 32 (corresponding to the "second electrode portion") as a power receiving portion are attached to the tip end portion of the arm 20. Specifically, among the tip portions of the arm 20, the first shoe 31 is attached to the upper side, and the second shoe 32 is attached to the lower side. The first shoe 31 and the second shoe 32 are made of a conductive ferromagnetic material (soft magnetic material). The first shoe 31 is provided so as to come into contact with the first overhead wire 71, and the second shoe 32 is provided so as to come into contact with the second overhead wire 72.

The first overhead wire 71 and the second overhead wire 72 are equipment on the ground side, and are made of a conductive ferromagnetic material (soft magnetic material). The first overhead line 71 and the second overhead line 72 are provided along the traveling path of the vehicle 10. The first overhead wire 71 and the second overhead wire 72 are provided so as to be located on the side of the vehicle 10, and are fixed to, for example, guard posts provided at predetermined intervals along the traveling path. Each of the first overhead wire 71 and the second overhead wire 72 is composed of a plurality of long plate-shaped conductive members. The first overhead wire 71 and the second overhead wire 72 are arranged in a substantially V shape when viewed from their longitudinal directions.

The first overhead line 71 and the second overhead line 72 are electrically connected to the power supply device 74, which is a facility on the ground side. A connecting portion 73 is provided between the first overhead wire 71 and the second overhead wire 72 via a gap. The connecting portion 73 is made of a magnetic material that magnetically connects the first overhead wire 71 and the second overhead wire 72 while electrically blocking the connection between the first overhead wire 71 and the second overhead wire 72. Is composed of a ferromagnetic material (soft magnetic material). The connecting portions 73 may be continuously provided along the first overhead wire 71 and the second overhead wire 72, or may be provided at predetermined intervals. The ground-side power supply facility is composed of the first overhead wire 71, the second overhead wire 72, the connection portion 73, and the power supply device 74. In addition, instead of the configuration in which the gap is provided between the first and second overhead wires 71 and 72 and the connecting portion 73, even in the configuration in which the first and second overhead wires 71 and 72 and the connecting portion 73 come into contact with each other. Good. In this case, a gap may be provided in the intermediate position of the connecting portion 73 from the first overhead wire 71 to the second overhead wire 72. Further, the gap or the gap shown in FIG. 2 may be provided with an insulating material having an electrically insulating property so as to fill the gap.

The first shoe 31 is electrically connected to the power converter 50 via the first wiring 54a, and the second shoe 32 is electrically connected to the power converter 50 via the second wiring 54b. When DC power is exchanged between the overhead wires 71 and 72 and the shoes 31 and 32, the first DC voltage V1 is applied from the power supply device 74 to the first overhead wire 71, and the power supply device 74 to the second overhead wire 72. 2 DC voltage V2 (<V1) is applied. At this time, the power converter 50 is, for example, a DCDC converter that transforms (for example, boosts) the input DC voltage and outputs it. On the other hand, when AC power is exchanged between the overhead wires 71 and 72 and the shoes 31 and 32, an AC voltage is applied from the power supply device 74 to the overhead wires 71 and 72. At this time, the power converter 50 is, for example, an ACDC converter that converts an input alternating current into a direct current and outputs it.

The output power of the power converter 50 is supplied to the battery 51. As a result, the battery 51 is charged. Further, the output power of the power converter 50 is supplied to the rotary electric machine 52 via the inverter 53. As a result, the rotor of the rotary electric machine 52 is rotationally driven, and the drive wheels of the vehicle 10 capable of transmitting power to the rotor rotate.

The arm 20 is provided with an electromagnet 80 as a magnetic flux generating portion. The electromagnet 80 includes an iron core and a coil wound around the iron core. When the coil is energized, the electromagnet 80 generates magnetic flux. This magnetic flux flows through a magnetic circuit including the first shoe 31, the first overhead wire 71, the connecting portion 73, the second overhead wire 72, the second shoe 32, and the electromagnet 80, as shown by the broken line arrow in FIG.

The system includes a first pressure sensor 60a, a second pressure sensor 60b, a camera 61 as an imaging device, and a current sensor 62. The first pressure sensor 60a is provided on the first shoe 31 and detects the contact pressure of the first shoe 31 with respect to the first overhead wire 71. The second pressure sensor 60b is provided on the second shoe 32 and detects the contact pressure of the second shoe 32 with respect to the second overhead wire 72. In the present embodiment, the pressure sensors 60a and 60b are provided at positions of the shoes 31 and 32 away from the sliding surface with the overhead wires 71 and 72. This is to suppress wear of the pressure sensors 60a and 60b.

The camera 61 is provided on the tip end side of the arm 20 and images the vicinity of the shoes 31 and 32, respectively. The current sensor 62 is provided so as to be able to detect the current flowing through at least one of the first wiring 54a, the second wiring 54b, the direct current output from the power converter 50, and the coil of the electromagnet 80. When there are a plurality of current detection points, a plurality of current sensors 62 are provided corresponding to the detection points. Although the current sensor 62 is shown in the vehicle 10 for convenience in FIG. 2, the current sensor 62 may be provided on the arm 20 depending on the current detection location.

The system includes a control unit 90. In the present embodiment, the control unit 90 is mainly composed of a microcomputer and is provided on the arm 20. The detection values of the sensors 60a, 60b, 62 and the imaging data of the camera 61 are input to the control unit 90. The control unit 90 controls the current flowing through the coil of the electromagnet 80 in order to adjust the contact pressure of the first and second shoes 31 and 32 with respect to the first and second overhead wires 71 and 72. Specifically, the control unit 90 causes the electromagnet to flow a magnetic flux from the electromagnet 80 through the first shoe 31, the first overhead wire 71, the connecting portion 73, the second overhead wire 72, and the second shoe 32 and returning to the electromagnet 80. The current flowing through the 80 coils is controlled.

The function provided by the control unit 90 can be provided, for example, by software recorded in a physical memory device, a computer that executes the software, hardware, or a combination thereof.

Subsequently, the power receiving process executed by the control unit 90 will be described with reference to FIG.

In step S10, it is determined whether or not there is a power receiving request for the vehicle 10. For example, on the condition that it is determined that the overhead wires 71 and 72 are located outside the vehicle width direction of the vehicle 10, the remaining capacity of the battery 51 is equal to or less than the predetermined capacity, and the in-vehicle electricity including the rotary electric machine 52. When it is determined that at least one of the conditions that the power consumption of the load is equal to or higher than the predetermined power is satisfied, it may be determined that there is a power receiving request.

If a negative determination is made in step S10, this series of processes is terminated. On the other hand, if an affirmative determination is made in step S10, the process proceeds to step S11, and the drive control of the drive unit 40 is performed so that the arm 20 extends outward in the vehicle width direction and the shoes 31 and 32 are pressed against the overhead wires 71 and 72. I do. In the present embodiment, when the shoes 31 and 32 are pressed against the overhead wires 71 and 72 by the process of step S11, the contact pressure of the shoes 31 and 32 with respect to the overhead wires 71 and 72 is smaller than the target value. It has become. This target value is set to an appropriate value for suppressing the occurrence of disconnection, which is a phenomenon in which the shoes 31 and 32 are separated from the overhead wires 71 and 72, and the wear of the shoes 31 and 32 and the overhead wires 71 and 72. For example, it can be determined in advance by experiment or calculation. The traveling speed of the vehicle 10 and the environment around the vehicle so that the contact pressure determined by the process of step S11 can be changed based on the traveling speed of the vehicle 10 and the environmental conditions around the vehicle (for example, temperature and weather). Drive control of the drive unit 40 may be performed based on the conditions.

In step S12, a current (direct current) is passed through the coil of the electromagnet 80. As a result, magnetic flux flows through the magnetic circuit including the iron cores of the first shoe 31, the first overhead wire 71, the connecting portion 73, the second overhead wire 72, the second shoe 32, and the electromagnet 80, and the shoes 31, 32 and each overhead wire 71, A magnetic force is generated between the head and the 72. As a result, a suction force acts on the shoes 31 and 32.

In steps S13 and S14, the contact states of the shoes 31 and 32 with respect to the overhead wires 71 and 72 are detected, and based on the detection result, the amount of the contact pressure generated in the process of step S11 is insufficient with respect to the target value. The current flowing through the coil of the electromagnet 80 is feedback-controlled so as to compensate. In this embodiment, the current flowing through the coil is controlled by at least one of the following (A) to (D). It should be noted that at least two combinations of (A) to (D) are also possible.

(A) The larger of the detected pressures of the first and second pressure sensors 60a and 60b, the smaller of the detected pressures of the first and second pressure sensors 60a and 60b, or the first and second pressure sensors 60a and 60b. Let the average value of the detected pressures be the pressure detected values. In this case, when it is determined that the pressure detection value is higher than the target value, the current flowing through the coil of the electromagnet 80 is reduced to reduce the magnetic flux. As a result, the suction force acting on the shoes 31 and 32 is reduced, and the pressure detection value approaches the target value.

On the other hand, when it is determined that the pressure detection value is lower than the target value, the current flowing through the coil of the electromagnet 80 is increased to increase the magnetic flux. As a result, the suction force acting on the shoes 31 and 32 increases, and the pressure detection value approaches the target value.

(B) Whether or not sparks are generated between the first overhead wire 71 and the first shoe 31 and between the second overhead wire 72 and the second shoe 32 based on the image data of the camera 61. To judge. Sparks can occur when the overhead wire and shoe repeatedly come into contact with each other and separate from each other. When it is determined that a spark is generated, the current flowing through the coil of the electromagnet 80 is increased to increase the magnetic flux. As a result, the suction force acting on the shoes 31 and 32 increases, and the insufficient contact pressure approaches the target value. As a result, it is possible to suppress the generation of sparks and reduce the loss associated with the exchange of electric power between the overhead wires 71 and 72 and the shoes 31 and 32. Since the sparks are observed between the overhead lines 71 and 72 and the shoes 31 and 32, it is possible to view them through a fiberscope instead of directly viewing them with the camera 61. Further, in order to reduce the friction loss between the overhead wires 71 and 72 and the shoes 31 and 32, it is possible to use a control that weakens the suction force to the extent that sparks do not occur. In other words, when sparks no longer occur, it is possible to control the suction force without increasing it any further.

(C) The received current (for example, the output current of the power converter 50) or the received power via the shoes 31 and 32 is calculated. Then, when it is determined that the calculated received current or received power is smaller than the specified value, the current flowing through the coil of the electromagnet 80 is increased to increase the magnetic flux. In this control, when the contact pressure of the shoes 31 and 32 with respect to the overhead wires 71 and 72 is lower than the target value, the contact state of the shoes 31 and 32 with respect to the overhead wires 71 and 72 deteriorates, and the instantaneous power receiving current or power receiving is received. It is based on the fact that the power is smaller than the average received current or the received power. The received current or the received power may be calculated based on, for example, the detected value of the current sensor 62.

(D) When a predetermined voltage (DC voltage) is applied to the coil of the electromagnet 80, the current flowing through the coil is detected. Then, when it is determined that the detected current is smaller than the predetermined current, the current flowing through the coil is increased to increase the magnetic flux. This control is performed in view of the increase in the reluctance of the magnetic circuit when the contact pressure is insufficient and a gap is generated between the shoe and the overhead wire. When it is determined that the detected current is smaller than the predetermined current, the attractive force acting on the shoes 31 and 32 is increased by increasing the magnetic flux. As a result, the insufficient contact pressure approaches the target value, and the contact state between the shoes 31 and 32 and the overhead wires 71 and 72 is improved.

The predetermined current used in the process (D) may be set based on, for example, map information or mathematical formula information in which the predetermined voltage applied to the coil and the predetermined current are related. This setting is based on the fact that the larger the predetermined voltage applied to the coil, the larger the detected current.

In step S15, it is determined whether or not the power receiving request continues. If it is determined that the power receiving request is continuing, the process returns to step S11. On the other hand, if it is determined that there is no power receiving request, the process proceeds to step S16, and the energization of the electromagnet 80 to the coil is stopped. Then, in step S17, the drive control of the drive unit 40 is performed so that the arm 20 is stored in the vehicle 10.

According to the present embodiment described in detail above, the following effects can be obtained.

By controlling the energization of the coil of the electromagnet 80, the magnetic flux flowing through the overhead wires 71 and 72, the connecting portion 73, the shoes 31 and 32, and the electromagnet 80 is controlled. As a result, the suction force acting on the shoes 31 and 32 is adjusted, and the contact pressure of the shoes 31 and 32 with respect to the overhead wires 71 and 72 is adjusted. Since the contact pressure is adjusted by the suction force on the tip side of the arm 20, the contact pressure is controlled to the target value as compared with the configuration in which the contact pressure of each shoe 31 and 32 is adjusted only by the drive unit 40. Control responsiveness can be improved. As a result, deterioration of the behavior of the vehicle 10 due to the adjustment of the contact pressure can be prevented, and the riding comfort can be improved. Further, since the control responsiveness is improved, for example, the contact pressure of the shoes 31 and 32, which changes each time depending on the operating state of the driver and the wind, can be appropriately controlled to the target value.

Since the attractive force is controlled by the magnetic flux, the influence of the length of the arm 20 on the adjustment of the contact pressure is small. Further, since the contact pressure can be adjusted on the tip end side of the arm 20, a large force is generated in the drive unit 40 for driving the arm 20 in order to adjust the contact pressure, for example, as in the configuration described in Patent Document 1. There is no need. As a result, the contact power receiving system can be simplified.

The contact state of each shoe 31 and 32 with respect to the overhead wires 71 and 72 is detected, and based on the detection result, the electromagnet is compensated for the shortage of the contact pressure generated in the process of step S11 with respect to the target value. The current flowing through the 80 coils was feedback-controlled. As a result, the generated magnetic force of the electromagnet 80 required to control the contact pressure to the target value can be reduced, and eventually the contact power receiving system can be miniaturized.

<Modified example of the first embodiment>
-Instead of the process (B) described in step S14 of FIG. 4, the following process can also be performed. Specifically, based on the image data of the camera 61, it is determined that no spark is generated between the first overhead wire 71 and the first shoe 31 and between the second overhead wire 72 and the second shoe 32. The current flowing through the coil of the electromagnet 80 continues to increase over the period of time. After that, when it is determined that sparks have occurred between the first overhead wire 71 and the first shoe 31 and between the second overhead wire 72 and the second shoe 32 based on the image data of the camera 61, The above current is reduced by a predetermined amount. According to this control method, the contact pressure can be maintained at a high value while suppressing the generation of sparks.

The current flowing through the coil of the electromagnet 80 may be an alternating current instead of a direct current. In this case, in step S14 of FIG. 4, the amplitude of the alternating current flowing through the coil may be controlled.

<Second Embodiment>
Hereinafter, the second embodiment will be described with reference to the drawings, focusing on the differences from the first embodiment. In the present embodiment, the configuration of the power receiving unit attached to the tip of the arm 20 is changed.

5 to 7 show the configuration of the power receiving unit of the present embodiment. In FIGS. 5 to 7, the X direction indicates the front-rear direction of the vehicle, the Y direction indicates the vehicle width direction of the vehicle, and the Z direction indicates the height direction of the vehicle. FIG. 5 is a view of the tip end side of the arm 20 viewed from the front of the vehicle, FIG. 6 is a view of the tip end side of the arm 20 viewed from above the vehicle, and FIG. 7 is a view of the tip end side of the arm 20 below the vehicle. It is a figure seen from. In FIGS. 5 to 7, the same configurations as those shown in FIG. 2 or the corresponding configurations are designated by the same reference numerals for convenience.

In the present embodiment, the power supply equipment does not include the connecting portion 73, but includes a first overhead wire 81 and a second overhead wire 82 provided apart from the first overhead wire 81. The traveling path sides of the first overhead line 81 and the second overhead line 82 are flat surfaces parallel to each other.

The first A shoe 33a and the first B shoe 33b are attached to the upper side of the tip of the arm 20 so as to be separated from each other in the front-rear direction of the vehicle. Specifically, of the upper side of the tip of the arm 20, the first A shoe 33a is attached to the front side of the vehicle, and the first B shoe 33b is attached to the rear side of the vehicle. The first A shoe 33a and the first B shoe 33b are provided so as to be in contact with the first overhead wire 81, and correspond to a "paired first electrode portion".

A second A shoe 34a and a second B shoe 34b are attached to the lower side of the tip of the arm 20 so as to be separated from each other in the front-rear direction of the vehicle. Specifically, of the lower side of the tip of the arm 20, the second A shoe 34a is attached to the front side of the vehicle, and the second B shoe 34b is attached to the rear side of the vehicle. The second A shoe 34a and the second B shoe 34b are provided so as to be in contact with the second overhead wire 82, and correspond to a "paired second electrode portion".

The first A shoe 33a and the first B shoe 33b are electrically connected to the power converter 50 via the first wiring 54a (not shown), and the second A shoe 34a and the second B shoe 34b are the second wiring 54b (not shown). It is electrically connected to the power converter 50 via.

The arm 20 is provided with a first electromagnet 91 and a second electromagnet 92 as magnetic flux generating portions. Each of the electromagnets 91 and 92 includes an iron core and a coil wound around the iron core, similarly to the electromagnet 80 of the first embodiment.

In this embodiment, a direct current flows through the coil of the first electromagnet 91. The magnetic flux generated by this passes from the first electromagnet 91 through the first B shoe 33b, the first overhead wire 81 and the first A shoe 33a and returns to the first electromagnet 91, as shown by the broken line arrow in FIG. It flows.

Further, a direct current flows through the coil of the second electromagnet 92. The magnetic flux generated by this passes from the second electromagnet 92 through the second A shoe 34a, the second overhead wire 82 and the second B shoe 34b and returns to the second electromagnet 92, as shown by the broken line arrow in FIG. It flows.

In the present embodiment, the control unit 90 individually applies the contact pressures of the first A shoe 33a and the first B shoe 33b to the first overhead wire 81 and the contact pressures of the second A shoe 34a and the second B shoe 34b to the second overhead wire 82. Control. Specifically, the control unit 90 controls the direct current flowing through the coil of the first electromagnet 91 in order to control the contact pressure of the first A shoe 33a and the first B shoe 33b with respect to the first overhead wire 81 to the target value, and the second In order to control the contact pressure of the second A shoe 34a and the second B shoe 34b with respect to the overhead wire 82 to the target value, the direct current flowing through the coil of the second electromagnet 92 is controlled. The control of the contact pressure of the first A shoe 33a and the first B shoe 33b with respect to the first overhead wire 81 and the control of the contact pressure of the second A shoe 34a and the second B shoe 34b with respect to the second overhead wire 82 are shown in FIG. It may be carried out in the same manner as the method shown.

According to the present embodiment described above, the contact pressure of the first A shoe 33a and the first B shoe 33b with respect to the first overhead wire 81 and the contact pressure of the second A shoe 34a and the second B shoe 34b with respect to the second overhead wire 82 are individually determined. Can be controlled. Therefore, for example, the progress of wear between the first A shoe 33a and the first B shoe 33b and the second A shoe 34a and the second B shoe 34b can be suitably suppressed.

Further, even if the contact surfaces of the shoes 33a, 33b, 34a, 34b of the overhead wires 81, 82 are flat surfaces, the suction forces acting on the shoes 33a, 33b, 34a, 34b cause the shoes 33a, 33b, respectively. , 34a, 34b can be suitably suppressed.

<Modified example of the second embodiment>
A plurality of pairs of shoes may be attached to the upper side of the tip of the arm 20. For example, when two pairs of shoes are attached, the number of shoes attached to the upper side at the tip of the arm 20 is four. The same applies to the lower side of the tip of the arm 20.

An alternating current may be passed through the coils of the first and second electromagnets 91 and 92.

-The first and second overhead lines 81 and 82 shown in FIG. 5 may be used in the first embodiment.

<Third Embodiment>
Hereinafter, the third embodiment will be described with reference to the drawings, focusing on the differences from the first embodiment. In the present embodiment, the control unit 90 determines whether or not the first and second shoes 31 and 32 pass through the joints of the first and second overhead wires 71 and 72, and determines that the electromagnets pass through the joints. The current flowing through the coil of 80 is made smaller than the above current when it is determined that the coil does not pass through the joint. Here, the joint exists at the boundary of the elongated conductive members constituting the overhead wires 71 and 72.

Further, the control unit 90 determines whether or not metal (ferromagnetic) foreign matter is attached to at least one of the first and second shoes 31, 32 and the first and second overhead wires 71 and 72, and the foreign matter is determined. The current when it is determined that foreign matter is attached is made smaller than the current when it is determined that foreign matter is not attached. Hereinafter, the process executed by the control unit 90 in the present embodiment will be described with reference to FIG. In the present embodiment, the above-mentioned process of FIG. 4 is also performed in addition to the process of FIG.

In step S20, as in step S10, it is determined whether or not there is a power receiving request of the vehicle.

If a negative determination is made in step S20, this series of processes is terminated. On the other hand, if an affirmative determination is made in step S20, the process proceeds to step S21, and it is determined whether or not the first and second shoes 31 and 32 pass through the joints of the first and second overhead lines 71 and 72. This determination can be carried out, for example, as shown in (E) and (F) below.

(E) Based on the image data of the camera 61, it is determined whether or not the first and second shoes 31 and 32 pass through the joints of the first and second overhead wires 71 and 72.

(F) It is considered that vibration occurs when the first and second shoes 31 and 32 pass through the joints of the first and second overhead wires 71 and 72. Therefore, for example, the vibration generation timing and the generation cycle are calculated based on the detected values of the pressure sensors 60a and 60b, and the first and second shoes 31 and 32 are the first and second overhead wires based on the calculation results. It is determined whether or not the joint of 71 and 72 is passed.

In step S21, it is also determined whether or not foreign matter is attached to at least one of the first and second shoes 31, 32 and the first and second overhead wires 71 and 72. This determination may be performed, for example, based on the imaging data of the camera 61.

When it is determined in step S21 that the first and second shoes 31 and 32 pass through the joints of the first and second overhead wires 71 and 72, or when it is determined that the first and second shoes 31 and 32 pass through the joints of the first and second overhead wires 71 and 72, or when the first and second shoes 31, 32 and the first and second overhead wires 71 and 72 are passed. If it is determined that a foreign substance is attached to at least one of the above, the process proceeds to step S22. In step S22, when the first and second shoes 31 and 32 pass through the joints of the first and second overhead wires 71 and 72, the current flowing through the coil determined in step S14 of FIG. 4 is temporarily reduced. To do. In this case, the amplitude may be reduced to a predetermined value larger than 0, or may be reduced to 0. When it is determined that the shoe passes through the joint, the first and second shoes 31 and 32 become the first and second shoes 31 and 32 when passing through the joint of the first and second overhead wires 71 and 72 due to the reduction of the current. The acting suction force temporarily decreases. As a result, it is possible to suppress wear of the shoes 31 and 32 and the overhead wires 71 and 72 due to a step or the like at the joint. On the other hand, when it is determined that foreign matter is attached, the foreign matter attached to the shoes 31 and 32 and the overhead wires 71 and 72 can be removed by reducing the current. In addition, since substances other than ferromagnets may be attached due to other factors such as adhesion, if foreign matter cannot be removed even after stopping energization several times, it is possible to cancel the energization stop due to foreign matter. It is possible.

<Modified example of the third embodiment>
The configuration of the third embodiment can also be applied to the second embodiment.

<Fourth Embodiment>
Hereinafter, the fourth embodiment will be described with reference to the drawings, focusing on the differences from the first embodiment. In this embodiment, as shown in FIG. 9, a permanent magnet 93 is used as the magnetic flux generating portion. In FIG. 9, the same configurations as those shown in FIG. 2 and the like or the corresponding configurations are designated by the same reference numerals for convenience.

The arm 20 is provided with a motor 94 and a ball screw 95 as magnet arrangement changing portions. The motor 94 is mechanically connected to the ball screw 95, and the ball screw 95 is mechanically connected to the permanent magnet 93. The control unit 90 changes the position of the permanent magnet 93 via the ball screw 95 by driving the motor 94. When the permanent magnet 93 is displaced away from the shoes 31 and 32, the magnetic flux flowing through the magnetic circuit including the permanent magnet 93, the first shoe 31, the first overhead wire 71, the connection portion 73, the second overhead wire 72, and the second shoe 32. Is reduced. Displacement of the permanent magnet 93 in a direction away from the shoes 31 and 32 is equivalent to reducing the current flowing through the coil of the electromagnet 80 in the first embodiment.

On the other hand, when the permanent magnet 93 is displaced in the direction approaching the shoes 31 and 32, the magnetic circuit including the permanent magnet 93, the first shoe 31, the first overhead wire 71, the connecting portion 73, the second overhead wire 72 and the second shoe 32 is formed. The flowing magnetic flux increases. Displacement of the permanent magnet 93 in the direction closer to the shoes 31 and 32 is equivalent to increasing the current flowing through the coil of the electromagnet 80.

Also in the present embodiment described above, the contact pressure of the shoes 31 and 32 with respect to the overhead wires 71 and 72 can be controlled as in the first embodiment.

<Modified example of the fourth embodiment>
The configuration for changing the arrangement of the permanent magnets 93 is not limited to the configuration using the motor 94 and the ball screw 95.

For example, as shown in FIG. 10, the permanent magnet 93 may be moved by hydraulic pressure. Specifically, this configuration includes a spring 96, a piston 97, and a hydraulic source 98 as magnet arrangement changing portions. The spring 96 urges the permanent magnet 93 in a direction in which the permanent magnet 93 is separated from the shoes 31 and 32, respectively. By adjusting the hydraulic pressure of the hydraulic pressure source 98, the piston 97 is displaced in the direction in which the permanent magnet 93 approaches the shoes 31 and 32, or the permanent magnet 93 is displaced in the direction away from the shoes 31 and 32. .. The hydraulic pressure of the hydraulic pressure source 98 may be adjusted by, for example, the control unit 90.

Further, for example, as shown in FIG. 11, the permanent magnet 93 may be rotated. FIG. 11 shows a schematic configuration when the tip end portion of the arm 20 is viewed from the vehicle side in the longitudinal direction of the arm 20. By rotating the permanent magnet 93 around its center of rotation P, the distance through which the magnetic flux φ passes through a portion other than the magnetic material (for example, air) changes, and the magnetoresistance changes. As a result, the amount of magnetic flux changes and the attractive force can be controlled. For example, when the permanent magnet 93 changes from the state shown in FIG. 11 (A) to the state shown in FIG. 11 (B), the magnetic resistance increases and the attractive force decreases. The permanent magnet 93 may be rotated by, for example, a motor. This motor may be driven by the control unit 90.

<Fifth Embodiment>
Hereinafter, the fifth embodiment will be described with reference to the drawings, focusing on the differences from the first embodiment. In this embodiment, as shown in FIG. 12, the arm 110 is attached to the lower part of the vehicle 100. The arm 110 has a long shape and is rotatably provided about a rotation shaft 111 thereof. The arm 110 is rotationally driven by a drive unit (not shown). Due to this rotational drive, the arm 110 extends below the vehicle 100 or is stored in the vehicle 100.

The power feeding facility includes a first overhead wire 131, a second overhead wire 132, and a connecting portion 133 made of a conductive ferromagnetic material (soft magnetic material). In the present embodiment, the first overhead wire 131, the second overhead wire 132, and the connecting portion 133 are provided in a state of being exposed on the surface of the traveling path 200 of the vehicle 100, as shown in FIG. In the present embodiment, a gap is provided between the first overhead wire 131 and the connecting portion 133. For example, a gap may be provided between the second overhead wire 132 and the connecting portion 133, or a gap may be provided in the connecting portion 133 at an intermediate position from the first overhead wire 131 to the second overhead wire 132. May be good. Further, an insulating material may be provided in the gap.

A first shoe 121 and a second shoe 122 are attached to the tip of the arm 110 so as to be separated from each other in the vehicle width direction. The first shoe 121 is provided so as to come into contact with the first overhead wire 131, and the second shoe 122 is provided so as to come into contact with the second overhead wire 132.

The arm 110 is provided with an electromagnet 140 as a magnetic flux generating portion. The magnetic flux generated by energizing the coil of the electromagnet 140 is the first shoe 121, the first overhead wire 131, the connecting portion 133, the second overhead wire 132, the second shoe 122, and the second shoe 122, as shown by the broken line arrow in FIG. It flows through a magnetic circuit including an electromagnet 140.

Also in the present embodiment described above, the contact pressure of the shoes 121 and 122 with respect to the overhead wires 131 and 132 can be controlled to the target value as in the first embodiment. Therefore, for example, when the vehicle 100 travels on the uneven portion of the traveling path 200, even when the vertical position of the vehicle 100 changes, it is possible to prevent the contact pressure of the shoes 121 and 122 from deviating significantly from the target value. it can.

In addition to the configuration shown in FIG. 12 for rotating the arm 110, the vehicle 100 may be provided with a configuration for correcting the deviation of the shoes 121 and 122 in the vehicle width direction with respect to the overhead wires 131 and 132. In this configuration, as shown in FIG. 14, when the vehicle 100 is viewed from above, the arm 110 is rotationally driven around a rotation shaft 112 extending in the height direction of the vehicle. In this case, even if the arm 110 swings in the left-right direction (vehicle width direction) and a deviation occurs between the overhead wires 131 and 132 and the shoes 121 and 122, the overhead wires 131 and 132 and the shoe are in the direction of eliminating the deviation. By acting a suction force between the 121 and 122, it is possible to secure the power feeding capacity. In FIG. 14, the connection portion 133 and the like are not shown.

The configuration for correcting the deviation of the shoes 121 and 122 in the vehicle width direction with respect to the overhead wires 131 and 132 is not limited to the configuration shown in FIG. 14, and for example, as shown in FIG. 15, the root portion of the arm 110 is used. It may be configured to slide in the vehicle width direction.

<Other Embodiments>
In addition, each of the above-described embodiments may be modified as follows.

In the first embodiment, in addition to the configuration shown in FIG. 1 in which the arm 110 is rotated, the vehicle 10 is provided with a configuration for correcting the deviation of the shoes 31 and 32 in the height direction with respect to the overhead wires 71 and 72. May be done. This configuration may be, for example, a configuration in which the arm 110 is rotationally driven around a rotation axis extending in the front-rear direction of the vehicle, or the base portion of the arm 110 is slid in the height direction of the vehicle. The same applies to the second to fourth embodiments.

-In step S21 of FIG. 8, only one of the process of determining whether or not to pass through the joint and the process of determining whether or not foreign matter is attached may be performed.

-The configuration described in each of the above embodiments can receive power not only while the vehicle is running but also when the vehicle is parked and stopped.

-The arm is not limited to the one that is rotationally driven, and may be, for example, an arm that extends linearly to the side or downward of the vehicle and is pressed against the overhead wire.

-The electrode portion constituting the power receiving portion is not limited to the shoe, and may be, for example, a roller that rotates by contacting the overhead wire.

-The present invention may be applied to a batteryless vehicle in which a battery is not installed. In this case, the received electric power is supplied to an in-vehicle electric load such as a rotary electric machine.

The controls and methods thereof described in the present disclosure are realized by a dedicated computer provided by configuring a processor and memory programmed to perform one or more functions embodied by a computer program. May be done. Alternatively, the controls and methods thereof described in the present disclosure may be implemented by a dedicated computer provided by configuring the processor with one or more dedicated hardware logic circuits. Alternatively, the control unit and method thereof described in the present disclosure may be a combination of a processor and memory programmed to perform one or more functions and a processor composed of one or more hardware logic circuits. It may be realized by one or more dedicated computers configured. Further, the computer program may be stored in a computer-readable non-transitional tangible recording medium as an instruction executed by the computer.

10 ... Vehicle, 20 ... Arm, 31, 32 ... First and second shoes, 40 ... Drive unit, 71, 72 ... First and second overhead wires, 80 ... Electromagnet, 90 ... Control unit.

Claims (10)

Arms (20,110) that can be mounted relative to the vehicle (10,100)
A drive unit (40) that drives the arm and
An overhead wire (71, 72, 81) provided with a power receiving unit (31, 32, 33a, 33b, 34a, 34b, 121, 122) attached to the tip of the arm and provided along the traveling path of the vehicle. , 82, 131, 132) in a contact power receiving system that receives power from the overhead wire via the power receiving unit by contacting the power receiving unit.
A magnetic flux generating unit (80, 91 to 93, 140) provided on the arm and generating a force for pressing the power receiving unit against the overhead wire by generating a magnetic flux flowing through the power receiving unit and the overhead wire.
A contact power receiving system including the power receiving unit and a control unit (90) for controlling the magnetic flux flowing through the overhead wire by driving control of the magnetic flux generating unit in order to adjust the contact pressure of the power receiving unit with respect to the overhead wire. The overhead wire has a first overhead wire (81) and a second overhead wire (82) provided apart from the first overhead wire.
The power receiving unit
A pair of first electrode portions (33a, 33b) that are in contact with the first overhead wire and are provided apart from each other.
It has a pair of second electrode portions (34a, 34b) that are in contact with the second overhead wire and are provided apart from each other.
The magnetic flux generating portion includes a magnetic flux flowing through each of the first electrode portions, the first overhead wire, and a magnetic circuit including the magnetic flux generating portion, and magnetism including the second electrode portion, the second overhead wire, and the magnetic flux generating portion. Generates magnetic flux flowing through the circuit,
The control unit controls the magnetic flux flowing through each of the first electrode portions, the first overhead wire, and the magnetic flux generating portion in order to adjust the contact pressure of each of the first electrode portions with respect to the first overhead wire, and the second The contact power receiving system according to claim 1, wherein the magnetic flux flowing through each of the second electrode portions, the second overhead wire, and the magnetic flux generating portion is controlled in order to adjust the contact pressure of each of the second electrode portions with respect to the overhead wire. The overhead wire is made of a magnetic material that connects the first overhead wire (71, 131), the second overhead wire (72, 132) provided apart from the first overhead wire, and the first overhead wire and the second overhead wire. (73,133) and
The power receiving unit
The first electrode portions (31, 121) that come into contact with the first overhead wire and
It has a second electrode portion (32, 122) which is provided apart from the first electrode portion and abuts on the second overhead wire.
The magnetic flux generating portion generates magnetic flux flowing in a magnetic circuit including the first electrode portion, the first overhead wire, the connecting portion, the second overhead wire, the second electrode portion, and the magnetic flux generating portion.
The control unit includes magnetic flux from the magnetic flux generating unit, passing through the first electrode unit, the first overhead wire, the connecting unit, the second overhead wire, and the second electrode unit, and returning to the magnetic flux generating unit. The magnetic flux is alternately flowed from the magnetic flux generating portion through the second electrode portion, the second overhead wire, the connecting portion, the first overhead wire, and the first electrode portion and returning to the magnetic flux generating portion. The contact power receiving system according to claim 1, wherein the drive control of the generating unit is performed. The control unit determines whether or not the power receiving unit passes through the joint of the overhead wire, and the power receiving unit determines the magnetic flux when it is determined that the power receiving unit passes through the joint of the overhead wire. The contact power receiving system according to any one of claims 1 to 3, wherein the magnetic flux is made smaller than the magnetic flux when it is determined that the magnetic flux does not pass through. The control unit determines whether or not foreign matter is attached to at least one of the power receiving unit and the overhead wire, and determines that the foreign matter is not attached to the magnetic flux when it is determined that the foreign matter is attached. The contact power receiving system according to any one of claims 1 to 4, wherein the magnetic flux is made smaller than the magnetic flux when determined. The control unit drives the arm so that the power receiving unit is pressed against the overhead wire by controlling the drive of the drive unit, and the contact pressure generated by driving the arm is relative to the target value. The contact power receiving system according to any one of claims 1 to 5, wherein the magnetic flux is controlled by driving control of the magnetic flux generating unit so as to compensate for the shortage. The control unit determines whether or not sparks are generated between the overhead wire and the power receiving unit, and controls the magnetic flux by driving control of the magnetic flux generating unit based on the determination result. The contact power receiving system according to any one of Items to 6. The contact power receiving unit according to any one of claims 1 to 7, wherein the control unit controls the magnetic flux by driving control of the magnetic flux generating unit based on the amount of power received by the power receiving unit from the overhead wire. system. The magnetic flux generating portion includes an electromagnet (80) that generates magnetic flux when energized.
The contact power receiving system according to any one of claims 1 to 8, wherein the control unit controls the magnetic flux by driving control of the magnetic flux generating unit based on the amount of electricity applied to the coil of the electromagnet. The magnetic flux generating portion includes a permanent magnet (93).
The control unit is described in any one of claims 1 to 8, wherein the control unit controls the magnetic flux by driving control of the magnetic flux generating unit using the magnet arrangement changing unit (94 to 98) for changing the arrangement of the permanent magnets. Contact power receiving system.

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