JP2023023162A - Mobile body, transmission equipment, server, power transmission system and power transmission method - Google Patents

Abstract

To provide a power transmission system, executing power feeding in a contactless manner, capable of achieving continuous power transmission while reducing an adverse effect on pedestrians which may be accompanied by power transmission.SOLUTION: A mobile body 100 is configured to receive power in a contactless manner from transmission equipment 200 provided outside. The mobile 100 includes: a reception coil 120 capable of receiving electric power in a contactless manner from the transmission equipment 200; a lifting device 125; and an ECU 110 for controlling the lifting device 125. The lifting device 125 is configured so that an interval between the transmission equipment 200 and the a reception coil 120 can be changed. The ECU 110, when detecting a pedestrian on the transmission equipment 200 or around the transmission equipment 200, reduces the interval between the transmission coil 200 and the reception coil 120 more than when a pedestrian is not detected.SELECTED DRAWING: Figure 5

Description

The present disclosure relates to mobile bodies, power transmission devices, servers, power transmission systems, and power transmission methods, and more particularly to contactless power transmission technology.

2. Description of the Related Art As disclosed in Japanese Patent Laying-Open No. 2018-157686 (Patent Document 1), a contactless power supply system that supplies electric power to a vehicle in a contactless manner from a power transmission unit arranged outside has been conventionally known. Such a contactless power supply system has a configuration in which electric power supplied from a power transmission section arranged on the ground is received by a power reception section arranged on the floor surface of the vehicle.

Japanese Patent Application Laid-Open No. 2018-157686 (Patent Document 1) discloses that, in a contactless power supply system, when a foreign object is detected on the road in front of the vehicle when the vehicle travels in a power supply lane in which a power supply unit is arranged, A configuration for stopping or suppressing power supply from a power supply unit is disclosed. By adopting such a configuration, it is possible to suppress heat generation of foreign matter due to the power supply operation.

JP 2018-157686 A

Pedestrians may enter the road on which the power supply unit as described above is arranged. During contactless power transmission, an electromagnetic field is generated between the power transmission coil and the power reception coil, and if this electromagnetic field leaks to the surroundings, it may affect pedestrians in the surrounding area.

As a solution to this problem, it is conceivable to stop power transmission from the power transmission device when a pedestrian is detected around the power transmission device. Power transmission is frequently interrupted, and the battery may not be sufficiently charged.

The present disclosure has been made to solve such problems, and the object thereof is to transmit power while reducing the impact on pedestrians accompanying power transmission in a power transmission system capable of power feeding in a contactless manner. It is to continue.

(1) A mobile body according to the first aspect of the present disclosure is configured to be capable of receiving power in a contactless manner from a power transmission device provided outside. The mobile includes a power receiving coil capable of contactlessly receiving power from the power transmission device, a mobile device, and a control device that controls the mobile device. The mobile device is configured such that the distance between the power transmitting device and the power receiving coil can be changed. When detecting a pedestrian on or around the power transmission device, the control device reduces the distance between the power transmission device and the power receiving coil compared to when no pedestrian is detected.

With configuration (1) above, when a pedestrian is detected on or around the power transmission device, the distance between the power transmission device and the power receiving coil is set small. As a result, it is possible to reduce the leakage electromagnetic field between the power transmitting device and the power receiving coil, thereby reducing the influence on pedestrians.

(2) The power transmission device includes a power feeding mat placed on the road surface. The control device acquires the amount of protrusion of the road surface on which the power feeding mat is arranged, and if the amount of protrusion of the road surface on which the power feeding mat is arranged is large, the distance between the power transmitting device and the power receiving coil is made larger than the amount of protrusion. At the same time, the received power is reduced compared to when the amount of protrusion is small.

With configuration (2) above, when the amount of protrusion of the road surface on which the power supply mat is arranged is large, the distance between the power transmitting device and the power receiving coil is made larger than the amount of protrusion. Thereby, interference between the power receiving coil and the power feeding mat can be suppressed. Furthermore, the leakage electromagnetic field can be reduced by reducing the received power compared to the case where the amount of protrusion is small.

(3) When the amount of protrusion of the road surface on which the power supply mat is arranged is greater than a predetermined amount, the control device outputs a command to reduce the transmitted power to the power transmission device.

According to the above configuration (3), when the amount of protrusion of the road surface on which the power feeding mat is arranged is large, the power to be transmitted is reduced without reducing the distance between the power transmitting device and the power receiving coil. As a result, it is possible to reduce the leakage electromagnetic field while suppressing interference between the power receiving coil and the power feeding mat.

(4) The moving body further includes a detection device for detecting pedestrians.
According to the above configuration (4), the moving body can detect pedestrians on and around the power feeding mat.

(5) The power transmitting device includes a sensing device for detecting pedestrians. The mobile body is configured to be able to communicate with the power transmission device. The controller detects a pedestrian based on the information from the detector.

With configuration (5) above, the moving object can detect pedestrians on and around the power feeding mat based on information from the detection device provided in the power transmission device.

(6) A power transmission device according to a second aspect of the present disclosure is configured to be capable of transmitting power to a moving object in a contactless manner. The power transmission device includes a plurality of power transmission coils, a power supply device that supplies power to the plurality of power transmission coils, a control device that controls the power supply device, and a detection device. The sensing device senses pedestrians on or around the power transmitting device. The mobile body includes a power receiving coil capable of contactlessly receiving power from the power transmission device, and a mobile device. The mobile device is configured such that the distance between the power receiving coil and the power transmitting device can be changed. When a pedestrian is detected on or around the power transmission device, the control device instructs the moving body to reduce the distance between the power receiving coil and the power transmission device compared to when no pedestrian is detected. Output.

According to the above configuration (6), when a pedestrian is detected on or around the power transmission device, the distance between the power transmission device and the power receiving coil is greater than when the pedestrian is not detected. set small. As a result, it is possible to reduce the leakage electromagnetic field between the power transmitting device and the power receiving coil, thereby reducing the influence on pedestrians.

(7) A power transmission system according to a third aspect of the present disclosure includes a mobile object, a power transmission device capable of transmitting power to the mobile object in a contactless manner, a detection device, and a server. The sensing device senses pedestrians on or around the power transmitting device. The server is configured to communicate with the mobile and the power transmission device. The mobile body includes a power receiving coil capable of contactlessly receiving power from the power transmission device, and a mobile device. The mobile device is configured to be able to change the distance between the power receiving coil and the power transmitting device based on a command from the server. When the detection device detects a pedestrian on or around the power transmission device, the server issues a command to reduce the distance between the power receiving coil and the power transmission device if the pedestrian is not detected. output to

According to the above configuration (7), when a pedestrian is detected on or around the power transmission device, the distance between the power transmission device and the power receiving coil is greater than when the pedestrian is not detected. set small. As a result, it is possible to reduce the leakage electromagnetic field between the power transmitting device and the power receiving coil, thereby reducing the influence on pedestrians.

(8) The detection device is a camera or a motion sensor attached around the power transmission device.

With configuration (8) above, a pedestrian can be detected using a detection signal from a camera or a human sensor attached around the power transmission device.

(9) A server according to a fifth aspect of the present disclosure is used in a power transmission system capable of wirelessly transmitting power from a power transmission device to a mobile object. A server includes a processor and a storage device storing a program executed by the processor. The power transmission system includes a sensing device for sensing pedestrians on or around the transmission device. The mobile body includes a power receiving coil capable of contactlessly receiving power from the power transmission device, and a mobile device. The mobile device is configured to be able to change the distance between the power receiving coil and the power transmitting device based on a command from the server. When the detector detects a pedestrian on or around the power transmission device, the processor outputs a command to the moving object to make the distance smaller than when the pedestrian is not detected.

According to the above configuration (9), when a pedestrian is detected on or around the power transmission device, the distance between the power transmission device and the power receiving coil is greater than when the pedestrian is not detected. set small. As a result, it is possible to reduce the leakage electromagnetic field between the power transmitting device and the power receiving coil, thereby reducing the influence on pedestrians.

(10) A power transmission method according to a fifth aspect of the present disclosure relates to a power transmission method from a power transmission device to a mobile object. The mobile body includes a power receiving coil capable of contactlessly receiving power from the power transmission device, and a mobile device. The mobile device is configured such that the distance between the power receiving coil and the power transmitting device can be changed. The power transfer method includes the steps of: i) detecting a pedestrian on or around the device; reducing the spacing between.

According to the above configuration (10), when a pedestrian is detected on or around the power transmission device, the distance between the power transmission device and the power receiving coil is greater than when the pedestrian is not detected. set small. As a result, it is possible to reduce the leakage electromagnetic field between the power transmitting device and the power receiving coil, thereby reducing the influence on pedestrians.

According to the power transmission system according to the present disclosure, and the mobile body and the power transmission device used therein, the mobile body includes the mobile device capable of changing the distance between the power receiving coil and the power transmission device, and When a pedestrian is detected around the power transmitting device, the distance between the power transmitting device and the power receiving coil is set small. As a result, the leakage electromagnetic field between the power transmission device and the power receiving coil can be reduced, so power transmission can be continued while reducing the impact of power transmission on pedestrians.

1 is a schematic configuration diagram of a power transmission system according to an embodiment; FIG. FIG. 4 is a diagram showing a power feeding mat used in the power transmission device; 3 is a diagram showing an example of a state in which the power supply mat shown in FIG. 2 is in use; FIG. FIG. 3 is a diagram for explaining the configuration of a moving object and the configuration of a power transmission device in the power transmission system according to the embodiment; 3 is a functional block diagram of a mobile body and a power transmission device in the power transmission system according to the embodiment; FIG. 4 is a flowchart for explaining control executed in a mobile object; FIG. 7 is a flowchart for explaining the details of control executed in steps S150 and S160 of FIG. 6; FIG. 4 is a flow chart for explaining control executed in the server; 4 is a flowchart for explaining control executed in the power transmission device;

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. The same or corresponding parts in the drawings are denoted by the same reference numerals, and the description thereof will not be repeated.

[Overview of power transmission system]
FIG. 1 is a schematic diagram of a power transmission system 10 according to this embodiment. Referring to FIG. 1 , power transmission system 10 includes mobile body 100 , power transmission device 200 , and server 300 . Mobile object 100, power transmission device 200, and server 300 are configured to be able to communicate with each other via communication network 400 such as the Internet. Communication between mobile object 100 and communication network 400, communication between power transmission device 200 and communication network 400, and communication between mobile object 100 and power transmission device 200 are performed wirelessly. Communication between server 300 and communication network 400 may be wired or wireless. Although not shown in FIG. 1, when there are a plurality of mobile units 100, communication between the mobile units is performed wirelessly either directly or through a communication network.

The moving body 100 is configured to be able to receive electric power in a non-contact manner from a power transmission device 200 arranged outside.

Server 300 includes processor 310 , storage device 320 and communication device 330 . Processor 310, storage device 320, and communication device 330 are connected to each other by common bus 340, and are configured to be able to exchange information with each other.

Processor 310 is, for example, a CPU (Central Processing Unit), and is configured to execute predetermined arithmetic processing described in a program. The storage device 320 includes ROM (Read Only Memory) and RAM (Random Access Memory). The ROM stores programs executed by the processor 310 . RAM temporarily stores data generated by execution of a program in processor 310 and data input via communication device 330 . RAM also functions as temporary data memory that is used as a working area.

Communication device 330 is a communication interface for exchanging data between mobile object 100 and power transmission device 200 via communication network 400 . As described above, communication between server 300 and communication network 400 may be wired or wireless.

The server 300 receives the requested power from the mobile object 100 to which power is to be supplied, and outputs a command regarding the power to be transmitted to the mobile object 100 to the power transmission device 200 .

[Configuration of moving body and power transmission device]
(Description of power supply mat)
FIG. 2 is a diagram showing power supply mat 205 used in power transmission device 200 in the present embodiment. Referring to FIG. 2 , power feeding mat 205 includes sheet base material 210 and a plurality of power transmitting coils 220 provided inside sheet base material 210 . The power feeding mat 205 is configured to be portable. The weight of the power feeding mat 205 is light enough to be carried by one or several people, for example. Also, the power supply mat 205 is configured to be detachable from a power supply facility (see FIG. 3), which will be described later. The power supply mat 205 has flexibility to the extent that it can be rolled into a cylindrical shape. FIG. 2 shows the power supply mat 205 partially wound into a cylindrical shape. Note that the power supply mat 205 can also be entirely wound in a cylindrical shape. By winding the power feeding mat 205 into a cylindrical shape, the power feeding mat 205 can be easily carried. The power supply mat 205 may be stored in a cylindrically wound state. The power supply mat 205 can also be spread out like a sheet. The power supply mat 205 is used in an unfolded state as shown in FIG. The power supply mat 205 is configured to be installable on the indoor floor. Powered mat 205 may be secured with removable fasteners (eg, clamps or grippers) after it is placed on the floor.

In the present embodiment, power feeding mat 205 in the spread state has a rectangular outer shape (planar shape). However, the outer shape of the power supply mat 205 is not limited to a rectangular shape and can be changed as appropriate. The outer shape of the power supply mat 205 may be polygonal (triangular, pentagonal, hexagonal, etc.) other than square, circular, or elliptical. In this embodiment, a plurality of power transmission coils 220 are embedded in sheet base material 210 of power supply mat 205 . However, the present invention is not limited to this, and power transmission coil 220 may be provided so as to be exposed on the surface of power feeding mat 205 . The sheet base material 210 is made of resin, for example. Power transmission coil 220 may be made of, for example, metal or conductive resin.

In power feeding mat 205 of the present embodiment, a plurality of power transmitting coils 220 are regularly arranged vertically and horizontally on the main surface of power feeding mat 205 . Power transmission coils 220 are arranged, for example, in a grid. Note that the power transmission coils 220 may be arranged irregularly. In the example shown in FIG. 2, power transmission coil 220 is formed in a regular hexagon in plan view, but the shape of power transmission coil 220 can be changed as appropriate. The planar shape of power transmission coil 220 may be a polygon other than a hexagon (for example, a quadrangle), or may be circular. The size of the power transmission coil 220 may also be appropriately changed according to the application of the power feeding mat 205 (for example, the structure of the mobile body using the power feeding mat 205).

FIG. 3 is a diagram showing an example of a state in which power feeding mat 205 is in use. In the example shown in FIG. 3, a state in which moving bodies 100A to 100G are placed on power supply mat 205 is shown. A plurality of power transmission coils 220 included in power feeding mat 205 are configured to be capable of individually powering separate mobile bodies. When one of the power transmission coils 220 included in the power feeding mat 205 and one of the power reception coils of the moving bodies 100A to 100G face each other, contactless power feeding from the power transmission coil 220 to the moving bodies becomes possible. Each of the moving bodies 100A to 100G can select one power transmission coil 220 from a plurality of power transmission coils 220 included in the power feeding mat 205 and receive power from the selected power transmission coil 220. FIG. It should be noted that power can be supplied from the power transmission device 200 whether the mobile body is in a stopped state or in a running state. Any non-contact power transmission method may be used, and may be a magnetic resonance method or an electromagnetic induction method. Also, other schemes may be employed.

Each of moving bodies 100A to 100G is, for example, a small BEV (electric vehicle) capable of running indoors. In the example of this embodiment, each of mobiles 100A-100E is an automated guided vehicle (AGV). Each of the moving bodies 100F and 100G is a one-seat electric vehicle.

Vehicles 100A-100E are AGVs of the same type. Each of mobile bodies 100A to 100E is used for transporting packages. In the example shown in FIG. 3, each of mobile bodies 100A to 100C is carrying a load alone. On the other hand, mobile bodies 100D and 100E cooperate to carry a large load that cannot be carried by one unit. Each of moving bodies 100A to 100E is suitable for indoor transportation.

Each of the moving bodies 100F and 100G is configured so that it can be driven manually by a person, or can be driven automatically by an unmanned vehicle. The moving body 100F has a handlebar. The vehicle 100G has a handlebar and a seat. Each of mobile bodies 100F and 100G is suitable as a vehicle for moving indoors.

Note that the power supply mat 205 may be installed outdoors. The mobile object 100 to which the power supply mat 205 is applied is not limited to the vehicle used indoors as described above. The mobile object 100 is not limited to a BEV without an internal combustion engine, and may be a PHEV (plug-in hybrid vehicle) with an internal combustion engine. Mobile object 100 may be an agricultural machine, a walking robot, a drone, a robotic cleaner, or a space probe, or may be a rail vehicle, a ship, or an airplane.

(Description of moving body and power transmission device)
Next, detailed configurations of mobile body 100 and power transmission device 200 will be described with reference to FIGS. 4 and 5. FIG.

First, the configuration of power transmission device 200 will be described with reference to FIGS. 4 and 5. FIG. Power transmission device 200 according to the present embodiment includes power supply mat 205 , power supply module 250 , camera 252 , and motion sensor 256 . Note that camera 252 and human sensor 256 may be provided separately and independently from power transmission device 200 .

The power supply module 250 corresponds to power equipment for the power supply mat 205 . The power supply module 250 is electrically connected to the power supply mat 205 via a cable. Power supply module 250 includes power supply circuitry 254 . Power supply circuit 254 is configured to receive power supply from power system 260 and supply power to each of a plurality of power transmission coils 220 included in power supply mat 205 . The power system 260 is a power network constructed by power plants and power transmission/distribution equipment (not shown). Power system 260 supplies AC power (eg, three-phase AC power) to power supply module 250 . Power supply circuit 254 includes a power conversion circuit (not shown). Power supply circuit 254 converts the power supplied from power system 260 into power suitable for power supply mat 205 and supplies the converted power to power supply mat 205 .

Camera 252 is positioned adjacent to power module 250 where power mat 205 is within the field of view. The camera 252 is configured to receive power from the power supply module 250 and image the inside of the power supply mat 205 and the periphery of the power supply mat 205 . Power supply module 250 includes power supply circuitry (not shown) for camera 252 in addition to power supply circuitry 254 for power mat 205 . Camera 252 may be wall mounted. Alternatively, a stanchion may be provided to support the camera 252 . The camera 252 incorporates, in addition to the image sensor, a processor and an image processing circuit for analyzing video captured by the image sensor. Camera 252 captures an image of the entire surface of power feeding mat 205 and identifies objects present on power feeding mat 205 and pedestrians present around power feeding mat 205 . Camera 252 also detects the condition of the road surface on which power supply mat 205 is laid. Human sensor 256 is, for example, an infrared sensor that detects heat, and detects whether or not a pedestrian exists on power supply mat 205 and its surroundings.

The power feeding mat 205 further includes a power feeding device 230 , a communication device 245 , and a controller 240 that controls the power feeding device 230 in addition to the plurality of power transmission coils 220 inside the sheet base material 210 . In FIG. 5, power transmission coils 220A to 220E are shown as examples of the plurality of power transmission coils 220. As shown in FIG.

Controller 240 can be a computer that includes a processor, RAM, and storage. In the controller 240, various controls in the power supply mat 205 are executed by the processor executing a program stored in the storage device. Various controls in power supply mat 205 are not limited to being executed by software, and part or all of them can be executed by dedicated hardware (electronic circuit).

Power feeding device 230 includes a connection switching circuit (not shown). This connection switching circuit is configured to receive power supply from power supply circuit 254 and switch connection/disconnection between each power transmission coil 220 included in power supply mat 205 and power supply circuit 254 . The connection switching circuit of power supply device 230 may include a switch provided for each power transmission coil 220 . In this embodiment, the connection switching circuit is a normally-off switching circuit. When the controller 240 is in a stopped state (including a sleep state), each power transmission coil 220 included in the power feeding mat 205 and the power supply circuit 254 are cut off.

Power supply device 230 further includes a power conversion circuit. This power conversion circuit is configured to apply a voltage suitable for contactless power supply to each power transmission coil 220 electrically connected to the power supply circuit 254 . Specifically, the power conversion circuit of power supply device 230 may include a resonance circuit (for example, an LC resonance circuit), a filter circuit, an inverter, and a PFC (Power Factor Correction) circuit.

Communication device 245 is a communication interface for exchanging data with mobile object 100 and with server 300 via communication network 400 . The communication device 245 may be configured to perform near field communication such as NFC (Near Field Communication) or Bluetooth (registered trademark) and/or wireless communication using a wireless LAN (Local Area Network). .

The controller 240 controls the power supply device 230 based on the position information transmitted from the mobile object 100 to select the power transmission coils used for power transmission. As a result, power can be supplied not only when the moving body 100 is stopped, but also when the moving body 100 is running.

Next, the configuration of the moving body 100 will be described. The moving body 100 includes an ECU (Electronic Control Unit) 110 that is a control device, a storage device 115, a power receiving coil 120, a lifting device 125, a charging device 130, a battery 140, a driving device 150, and a driving motor. 155 , a communication device 160 and a detection device 180 . Note that the lifting device 125 corresponds to the “moving device” in the present disclosure.

Power receiving coil 120 is arranged on the bottom surface of the floor panel forming the bottom surface of moving body 100 via lifting device 125 . The lifting device 125 includes, for example, a link mechanism or a cylinder mechanism. Lifting device 125 is controlled by ECU 110 and configured to adjust the distance between power receiving coil 120 and the ground (that is, power transmitting device 200). Power receiving coil 120 receives power transmitted from power transmitting device 200 in a contactless manner. The power received by power receiving coil 120 is output to charging device 130 .

Charging device 130 includes, for example, an AC/DC converter or a rectifier. Charging device 130 is controlled by ECU 110 and converts AC power received by power receiving coil 120 into DC power suitable for charging battery 140 to charge battery 140 . Battery 140 is an assembled battery including a plurality of cells. Each cell included in battery 140 is a secondary battery such as a lithium ion battery or a nickel metal hydride battery. Other power storage devices such as an electric double layer capacitor may be employed instead of the secondary battery.

Drive device 150 includes, for example, a DC/DC converter and an inverter. Drive device 150 converts DC power from battery 140 into AC power to drive motor 155 . The motor 155 is driven by the AC power from the driving device 150 and applies driving torque to the drive wheels 170 to cause the moving body 100 to travel.

Communication device 160 is a communication interface for exchanging signals with power transmission device 200 and with server 300 via communication network 400 . In addition, the communication device 160 is configured to be able to communicate with other nearby moving bodies 100 as well. Communication between communication device 160 and other devices is performed wirelessly.

The detection device 180 includes a position detection sensor 181 for detecting the position of the moving body 100 , a road surface detection sensor 182 for detecting road surface conditions, and a pedestrian detection sensor 183 . Position detection sensor 181 is, for example, a GPS (Global Positioning System) sensor. Position detection sensor 181 can detect the current position of moving body 100 and the position of power receiving coil 120 on power feeding mat 205 . Based on the position of power receiving coil 120 detected by position detection sensor 181 , power transmitting coil 220 to be used for power feeding in power feeding mat 205 is selected.

The road surface detection sensor 182 is composed of, for example, a camera or a distance sensor using infrared rays or ultrasonic waves. The road surface detection sensor 182 can detect the unevenness of the road surface.

The pedestrian detection sensor 183 is composed of a human sensor that detects infrared rays or a distance sensor that uses ultrasonic waves or the like. Pedestrian detection sensor 183 detects the presence or absence of pedestrians around mobile object 100 .

Although not shown in the figure, the detection device 180 may include an automatic driving sensor for automatic driving. The automatic driving sensors include sensors that acquire information for recognizing the external environment of the mobile body 100 and sensors that acquire information about the position and orientation of the mobile body 100 . Automatic driving sensors include, for example, cameras, millimeter wave radars, lidars, IMUs (Inertial Measurement Units), GPS sensors, and the like.

The ECU 110 comprehensively controls the mobile body 100 . The ECU 110 includes a CPU (not shown) and executes various controls in the mobile object 100 by executing programs stored in the storage device 115 .

[Electromagnetic field leakage prevention control using a lifting device]
In the power transmission system as described above, a pedestrian may enter the power supply mat. During contactless power transmission, an electromagnetic field is generated between the power transmission coil and the power reception coil, and if this electromagnetic field leaks to the surroundings, it may affect pedestrians in the surrounding area.

On the other hand, it is conceivable that power transmission from the power transmission device is stopped when a pedestrian is detected around the power transmission device. The battery may not be fully charged.

Here, in the moving body, the power receiving coil is provided with an elevating device for the purpose of improving power transmission efficiency during contactless power feeding and preventing damage to the power receiving coil during normal running. There is In the present embodiment, this lifting device is used to perform leakage prevention control for reducing the leakage electromagnetic field during power transmission.

Schematically, when a pedestrian is detected on or around power feeding mat 205, the lifting position of lifting device 125 is lowered to reduce the distance between power transmitting coil 220 and power receiving coil 120. , to reduce leakage fields during power transmission.

<Processing flow in each device>
Details of the control executed by mobile object 100, power transmission device 200, and server 300 will be described below with reference to FIGS. 6 to 9. FIG. FIG. 6 is a flow chart for explaining the control executed in the moving body 100. As shown in FIG. FIG. 7 is a flowchart for explaining the details of gap control and charge control executed in step S150 in FIG. FIG. 8 is a flow chart for explaining control executed in the server 300. As shown in FIG. FIG. 9 is a flowchart for explaining control executed in power transmission device 200 .

The flowcharts of FIGS. 6 to 9 are called from the main routine and executed in ECU 110 of mobile body 100, controller 240 of power transmission device 200, and processor 310 of server 300 when predetermined conditions are established. Each step in the flowchart is realized by software processing, but some or all of the steps may be realized by hardware such as LSI (Large Scale Integration) included in ECU 110 , controller 240 and processor 310 .

(Processing in moving body)
First, control in the moving body 100 will be described. Referring to FIG. 6 , when moving body 100 enters the area of power supply mat 205 , SOC of battery 140 is calculated in step (hereinafter step is abbreviated as S) 100 . Next, in S110, the moving body 100 calculates the required power to the power transmission device 200 in consideration of the battery temperature and the like in addition to the calculated SOC. Then, in S<b>120 , moving body 100 transmits to server 300 a power supply request including ID information for identifying moving body 100 and the calculated required power.

When the moving body 100 receives the power feeding permission information from the server 300 in response to the power feeding request (S130), then in S140, the lifting device 125 is adjusted to reduce the distance between the power receiving coil 120 and the power transmitting coil. power receiving coil 120 is brought closer to power transmitting coil 220 to a position where is a predetermined initial gap amount. This initial gap may be a fixed value, or may be variably set according to the supplied power. Then, in S150, moving body 100 executes control for correcting the gap amount depending on the presence or absence of pedestrians on power feeding mat 205 and around power feeding mat 205, and drives charging device 130 to charge battery 140. Execute. At this time, the moving body 100 transmits moving body information including position information of the moving body 100 to the power supply mat 205 . The power feeding mat 205 recognizes the position of the mobile body 100 on the power feeding mat 205 from the mobile body information, and supplies power to the power transmission coil 220 at the corresponding position.

When the charging process is executed, the moving body 100 determines in S160 whether the moving body 100 has left the power feeding mat 205 or whether the charging has been completed. In other words, it is determined whether or not the charging process should be terminated. When it is determined that the charging process should not be ended (NO in S160), the process returns to S150 to continue the gap control of power receiving coil 120 and the charging process.

If it is determined that the charging process should be terminated (YES in S160), the process proceeds to S170, and the mobile body 100 terminates the charging process (S170), and notifies the server 300 and power supply of the charging termination. It is transmitted to mat 205 (S180). When ending the charging process, the charging device 130 is stopped and the lifting device 125 is pulled up to the upper limit. As a result, a series of charging control in the moving body 100 ends.

Next, details of gap control and charge control in step S150 of FIG. 6 will be described with reference to FIG. When the initial gap amount of power receiving coil 120 is set in S140, moving body 100 acquires in-vehicle sensor information from detecting device 180 in S151, and sensors of camera 252 and human sensor 256 in S152. Get information. Then, in S153, the moving body 100 determines whether or not a pedestrian is detected within the power feeding mat 205 and the surrounding power feeding area based on the sensor information.

If a pedestrian is not detected within the power supply area (NO in S153), the process proceeds to S154, and moving body 100 executes the charging process with the initial gap amount set in S140.

On the other hand, if a pedestrian is detected within the power supply area (YES in S153), the process proceeds to S155, and moving body 100 detects the detection value of road surface detection sensor 182 and/or power transmission device 200 or Based on the road surface shape data stored in advance from the server 300, the amount of protrusion of the road surface is detected. Then, in S156, the moving body 100 determines whether or not the detected protrusion amount of the road surface is greater than the threshold value α.

If the protrusion amount is equal to or less than threshold value α (NO in S156), the process proceeds to S157, and moving body 100 reduces the gap amount so that the distance between power receiving coil 120 and power transmitting coil 220 is reduced. Let The gap amount set in S157 is set to a value larger than the threshold α and smaller than the initial gap amount. Then, the process proceeds to S154 and the charging process is executed. Accordingly, the charging process can be performed while reducing the leakage electromagnetic field between power receiving coil 120 and power transmitting coil 220 .

On the other hand, if the protrusion amount is larger than the threshold value α (YES in S156), reducing the gap amount may cause contact between the bumps on the road surface and power receiving coil 120, resulting in damage. advances the process to S158 and stops the charging process. As a result, although the battery 140 cannot be charged, damage to the receiving coil 120 can be prevented, and pedestrians can be prevented from being affected by the leakage electromagnetic field. After the process of S158, the process proceeds to S160.

In S158, instead of stopping the charging process, it is also possible to continue the charging process by setting the received power to be low in a state in which the distance between the power receiving coil and the power transmitting coil is set to be larger than the protrusion amount. good.

In this way, when there are pedestrians around the moving object to which power is to be supplied, the distance between the power receiving coil and the power transmitting coil is set smaller than when there are no pedestrians. The charging operation can be continued while reducing the generated leakage electromagnetic field. In addition, even if there are pedestrians, if the amount of protrusion of the road surface is large, damage to the power receiving coil is prevented by not reducing the distance between the power receiving coil and the power transmitting coil and stopping the charging operation. While preventing, the influence on a pedestrian can be suppressed.

Although not shown in FIG. 7, when the pedestrian disappears from the power supply area after the charging process is stopped in S165, the distance between power receiving coil 120 and power transmitting coil 220 is set to the initial gap amount. back and the charging process resumes.

(Processing in server)
Next, details of the control in the server 300 will be described with reference to FIG. The server 300 determines in S<b>210 whether or not a power supply request has been obtained from the mobile object 100 . If a power supply request has not been acquired (NO in S210), that is, if there is no moving object to be supplied with power, the process returns to S210, and server 300 waits for a power supply request to be transmitted from moving object 100. wait.

If a power supply request has been acquired (YES in S210), the process proceeds to S220, where server 300 searches for mobile object 100 in power supply mat 205 and acquires the required power from the power supply request of each mobile object. , determines whether power can be supplied to the moving object 100 to which power is to be supplied. Then, when power supply is possible, server 300 transmits a power supply command including power supply permission to mobile body 100 to mobile body 100 and power transmission device 200 in S<b>230 . The charging process as described above is performed between the power transmission device 200 and the moving object 100 in accordance with this power supply command.

Then, in S240, server 300 determines whether or not the charging process for moving body 100 on power feeding mat 205 has ended based on the charging end notification from moving body 100. FIG. If the charging process for moving body 100 has not ended (NO in S240), the process returns to S220 and the charging process between moving body 100 and power transmission device 200 continues. If the charging process for mobile object 100 has ended (YES at S240), server 300 ends the process.

(Processing in Power Transmission Device)
Next, details of control in power transmission device 200 will be described with reference to FIG. 9 . In S310, the power transmission device 200 receives the power supply instruction for the mobile object 100 from the server 300, and then acquires the position of the mobile object 100 from the mobile object information transmitted from the mobile object 100 in S320. Then, the power transmission device 200 selects a power transmission coil corresponding to the position of each moving body 100 in S330, and starts power supply processing in S340.

Thereafter, in S350, the power transmission device 200 determines whether or not it has received a power supply stop command from the mobile body. If the power supply stop command has not been received from moving body 100 (NO in S350), the process returns to S320, and the power supply process to moving body 100 continues.

When the power supply stop command is received from mobile object 100 (YES at S350), power transmission device 200 stops the power supply process at S360 and transmits a power supply process end notification to server 300 at S370.

By controlling each device with the above processing, when there are pedestrians on and around the power supply mat, the charging operation can be performed while reducing the influence of the leaked electromagnetic field on the pedestrian due to power transmission. can continue.

In the above description, the configuration for setting the gap amount of the power receiving coil (that is, the amount of descent of the lifting device) in the moving body was described. You may make it

The embodiments disclosed this time should be considered as examples and not restrictive in all respects. The scope of the present disclosure is indicated by the scope of claims rather than the description of the above-described embodiments, and is intended to include all modifications within the scope and meaning equivalent to the scope of the claims.

10 power transmission system, 100, 100A to 100G moving body, 110 ECU, 115, 320 storage device, 120 power receiving coil, 125 lifting device, 130 charging device, 140 battery, 150 driving device, 155 motor, 160, 245, 330 communication Device, 170 drive wheel, 180 detection device, 181 position detection sensor, 182 road surface detection sensor, 183 pedestrian detection sensor, 200 power transmission device, 205 power feeding mat, 210 sheet base material, 220, 220A to 220E power transmission coil, 230 power feeding device , 240 controller, 250 power supply module, 252 camera, 254 power supply circuit, 256 human sensor, 260 power system, 300 server, 310 processor, 340 bus, 400 communication network.

Claims (11)

A mobile body capable of contactlessly receiving power from an external power transmission device,
a receiving coil capable of contactlessly receiving power from the power transmission device;
a moving device configured to change the distance between the power transmitting device and the power receiving coil;
a control device that controls the moving device;
When a pedestrian is detected on or around the power transmission device, the control device controls the moving device so as to make the distance smaller than when the pedestrian is not detected. . The power transmission device includes a power feeding mat placed on the road surface,
The control device is
Acquiring the protrusion amount of the road surface on which the power supply mat is arranged,
2. The moving body according to claim 1, wherein when the road surface on which the power supply mat is arranged has a large amount of protrusion, the interval is made larger than the amount of protrusion, and the received power is made smaller than when the amount of protrusion is small. . 3. The mobile body according to claim 2, wherein said control device outputs a command to reduce transmitted power to said power transmission device when the amount of protrusion of the road surface on which said power supply mat is arranged is larger than a predetermined amount. The moving body according to any one of claims 1 to 3, further comprising a detection device for detecting pedestrians. The power transmission device includes a detection device for detecting pedestrians,
The mobile body is configured to be able to communicate with the power transmission device,
The moving body according to any one of claims 1 to 3, wherein said control device detects a pedestrian based on information from said detection device. A power transmission device capable of transmitting electric power to a mobile body in a contactless manner,
a plurality of power transmission coils;
a power supply device that supplies power to the plurality of power transmission coils;
a control device that controls the power supply device;
a detection device for detecting a pedestrian on or around the power transmission device;
The moving body is
a receiving coil capable of contactlessly receiving power from the power transmission device;
a moving device configured to change the distance between the power receiving coil and the power transmitting device;
wherein, when a pedestrian is detected on or around the power transmission device, the control device outputs to the moving body a command to reduce the distance compared to when the pedestrian is not detected. Device. 7. The power transmission device according to claim 6, wherein said detection device is a camera or a motion sensor attached around said power transmission device. A power transmission system,
a mobile object;
a power transmission device capable of contactlessly transmitting power to the mobile object;
a detection device for detecting a pedestrian on or around the power transmission device;
a server capable of communicating with the mobile object and the power transmission device;
The moving body is
a receiving coil capable of contactlessly receiving power from the power transmission device;
a moving device configured to be able to change the distance between the power receiving coil and the power transmitting device based on a command from the server;
When the detection device detects a pedestrian on or around the power transmission device, the server outputs a command to the moving object to reduce the distance compared to when the pedestrian is not detected. , power transmission system. 9. The power transmission system according to claim 8, wherein said detection device is a camera or a motion sensor attached around said power transmission device. A server used in a power transmission system capable of wirelessly transmitting power from a power transmission device to a mobile body,
a processor;
a storage device storing a program to be executed by the processor;
The power transmission system includes a detection device for detecting pedestrians on or around the power transmission device,
The moving body is
a receiving coil capable of contactlessly receiving power from the power transmission device;
a moving device configured to be able to change the distance between the power receiving coil and the power transmitting device based on a command from the server;
When the detection device detects a pedestrian on or around the power transmission device, the processor outputs a command to the moving body to make the distance smaller than when the pedestrian is not detected. server. A power transmission method from a power transmission device to a mobile body,
The moving body is
a receiving coil capable of contactlessly receiving power from the power transmission device;
a moving device configured to change the distance between the power receiving coil and the power transmitting device;
The power transmission method includes:
a step of detecting the presence or absence of a pedestrian on or around the power transmission device;
reducing the distance when a pedestrian is detected compared to when no pedestrian is detected.

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