JP2023042462A - collision avoidance device - Google Patents

Abstract

To prevent, in a non-contact power supply system, a situation in which when a plurality of movable bodies move for power supply, the movable bodies collide with each other on a power supply device.SOLUTION: A collision avoidance device comprises a control unit that executes collision avoidance control of preventing, in a non-contact power supply system, a situation in which a movable body moving on a power supply device for power supply collides with another movable body. The control unit determines, based on a detection result of detecting the movable bodies approaching the power supply device as objects, whether the movable bodies are likely to collide with each other on the power supply device, and when the movable bodies are likely to collide with each other, outputs a signal for instructing a collision avoidance action for avoiding collision to at least one of the movable bodies.SELECTED DRAWING: Figure 4

Description

The present invention relates to a collision avoidance device.

Patent Literature 1 discloses a contactless power supply system including a power supply device that supplies power in a contactless manner to a power receiving device mounted on an electric vehicle. This power supply device includes a power supply mat having a power transmission coil. This power supply mat is formed in a portable rectangular sheet shape, and can be installed on the road surface on which the electric vehicle runs. Then, when the electric vehicle passes over the power supply mat, power is supplied in a non-contact manner from the power transmission coil on the road surface side to the power reception coil on the vehicle side.

JP 2014-236540 A

A contactless power supply system in which a power supply device is installed on the road surface is not limited to electric vehicles such as those described in Patent Document 1. It is conceivable that various moving bodies are targeted for power supply. Furthermore, a plurality of moving bodies traveling on the road approach the power supply device for power supply, stop on the power supply device for power supply, or pass over the power supply device while supplying power. is assumed. However, since a plurality of mobile bodies approach the power supply device from various directions at various timings and pass over the power supply device, the mobile bodies may collide with each other on the power supply device.

The present invention has been made in view of the circumstances described above, and is directed to a contactless power supply system, which prevents a plurality of mobile bodies from colliding on a power supply device when moving for power supply. It is an object of the present invention to provide a collision avoidance device capable of preventing collisions.

A collision avoidance device according to the present invention is intended for a contactless power feeding system including a power feeding device for contactlessly feeding electric power to a moving body capable of electric travel. a control unit that executes collision avoidance control to prevent the moving object from colliding with another moving body, and the control unit detects the moving object approaching the power supply device as an object based on the detection result of the power supply device. It is determined whether or not there is a high possibility that the moving bodies will collide with each other, and if there is a high possibility that the moving bodies will collide with each other, at least one of the corresponding moving bodies is instructed to avoid the collision. It is characterized by outputting a signal instructing collision avoidance action for the purpose.

INDUSTRIAL APPLICABILITY According to the present invention, it is possible to prevent a plurality of mobile bodies from colliding with each other on the power supply device when a plurality of mobile bodies move for power supply in a contactless power supply system.

FIG. 1 is a diagram schematically showing a collision avoidance device according to an embodiment. FIG. 2 is a schematic diagram for explaining a state in which a small mobile object is detected. FIG. 3 is a functional block diagram for explaining the configuration of the collision avoidance device. FIG. 4 is a flow chart showing control in the power feeding device. FIG. 5 is a flow chart for explaining the control in a small moving object when receiving a collision avoidance instruction.

A collision avoidance device according to an embodiment of the present invention will be specifically described below with reference to the drawings. In addition, this invention is not limited to embodiment described below.

FIG. 1 is a diagram schematically showing a collision avoidance device according to an embodiment. The collision avoidance device 1 is applied to a contactless power supply system in which a small moving body 2 capable of electric travel is supplied with electric power from a power supply device 3 in a contactless manner.

In the contactless power supply system, the power supply device 3 is arranged on the road surface on which the small mobile body 2 runs. and contactless power supply. In other words, the collision avoidance device 1 is intended for a contactless power supply system, and prevents the small moving bodies 2 from colliding with each other on the power feeding device 3 when a plurality of small moving bodies 2 move for power feeding. is configured as At that time, the camera 4 takes an image of the small moving body 2 approaching the power supply device 3 . Image data captured by the camera 4 is input to the power supply device 3 . Also, in this embodiment, a configuration in which the collision avoidance device 1 is provided in the power supply device 3 will be described.

For example, as shown in FIG. 2 , the camera 4 captures images of a plurality of small moving bodies 2 approaching the power supply device 3 . Based on this captured image, the collision avoidance device 1 detects the small moving bodies 2 approaching the power feeding device 3 for power feeding, and also detects the collision between the small moving bodies 2 on the power feeding device 3 . It is possible to control the behavior of the small moving body 2 so that it does not. In this case, the collision avoidance device 1 can issue an instruction to the small moving bodies 2 to take avoidance action in order to prevent the small moving bodies 2 from colliding with each other on the power supply device 3 .

FIG. 3 is a functional block diagram for explaining the configuration of the collision avoidance device. Note that the collision avoidance device 1 is included in the power supply device 3 .

The power feeding device 3 includes a communication section 11 , a control section 12 and a power feeding section 13 .

The communication unit 11 performs wireless communication with the small mobile object 2 . The communication unit 11 receives a signal transmitted from the small mobile body 2 and also transmits a signal from the power supply device 3 to the small mobile body 2 .

The control unit 12 is an electronic control device that controls the power supply device 3 . This electronic control unit includes a microcomputer having a CPU, a RAM, a ROM, and an input/output interface. That is, the control unit 12 performs signal processing according to a program pre-stored in the ROM. Then, the control unit 12 executes various controls based on the signal input from the communication unit 11 . For example, the control unit 12 controls the power supply unit 13 by executing contactless power supply control. At that time, a control signal is output from the control unit 12 to the power supply unit 13 . The power supply unit 13 is configured including a power transmission coil. For example, the power supply unit 13 is configured by a portable sheet-like power supply mat.

In the non-contact power supply control, the control unit 12 controls the power supply unit 13 to transmit power from the power supply unit 13 to the small moving body 2 in a non-contact manner. That is, the control unit 12 has a power supply control unit that executes contactless power supply control.

The control unit 12 also executes collision avoidance control to prevent the small moving bodies 2 from colliding on the power supply device 3 . That is, the control unit 12 has a collision avoidance control unit that executes collision avoidance control. As shown in FIG. 3, the control unit 12 includes an object detection unit 12a, a collision determination unit 12b, an object identification unit 12c, and a collision avoidance instruction generation unit 12d.

The object detection unit 12 a detects the small moving body 2 approaching the power supply device 3 as an object. Based on the image data input from the camera 4, the object detection unit 12a analyzes the image and detects the small moving body 2. FIG. The object detection unit 12a analyzes and recognizes images using AI (artificial intelligence), and identifies where in the image the small moving object 2 appears. This AI is an image recognition AI that machine-learns the image of the small moving object 2 . Image recognition AI is stored in the storage unit of the power supply device 3 .

Further, the object detection unit 12a uses the image captured by the camera 4 to calculate the probability that the object included in the image is the small moving object 2, as shown in FIG. As a result of the image analysis, when the probability of being the small moving body 2 exceeds the threshold, the object detection unit 12a can determine that the small moving body 2 approaching the power supply device 3 has been detected as an object. In this manner, the object detection unit 12a can detect the small moving body 2 as an object. Note that the threshold is a predetermined value set in advance, and can be set to about 65%, for example.

Furthermore, the object detection unit 12a can detect the identification information of the small moving body 2 by image recognition. For example, the outer surface of the small mobile object 2 is provided with information (identification number as an example) that allows the small mobile object 2 to be identified. Therefore, the object detection unit 12a can detect the identification number of the small moving body 2 from the image by image analysis.

The collision determination unit 12b determines whether or not the small moving bodies 2 will collide on the power supply device 3 . That is, the control unit 12 can recognize that the small moving body 2 is approaching the power supply device 3 for power supply based on the detection result of the object detection by the object detection unit 12a. Furthermore, the control unit 12 can calculate the direction in which the small moving body 2 is located and the distance between the small moving body 2 and the power supply device 3 based on the information about the small moving body 2 whose object has been detected. It is possible. The information about the small moving body 2 whose object has been detected includes identification information of the small moving body 2, the direction in which the small moving body 2 is located, the distance from the small moving body 2 to the power supply device 3, and the like. These pieces of information are acquired by the object detection unit 12a.

The collision determination unit 12 b also has a calculation unit that calculates the possibility of collision between the small moving bodies 2 on the power supply device 3 . The calculator calculates the probability of collision using the information acquired by the object detector 12a. Then, when the calculated collision probability, that is, the value indicating the possibility of collision is higher than the threshold value, the collision determination unit 12b determines that there is a high possibility that the small moving bodies 2 will collide on the power supply device 3. can be done. This threshold is a preset value. For example, for two small moving bodies 2, the collision determination unit 12b indicates the direction and distance of one of the small moving bodies 2 and the direction and distance of the other small moving body 2. When it is determined that they will pass over the power supply device 3 at the same timing, it is determined that there is a possibility that these two small moving bodies 2 will collide on the power supply device 3 .

The target identifying unit 12c identifies the small moving body 2 that is caused to take an avoidance action to avoid collision. The target specifying unit 12c specifies a target to which the collision avoidance instruction is to be transmitted.

The collision avoidance instruction creating unit 12d creates a collision avoidance instruction. The collision avoidance instruction is a signal that is sent to the small moving body 2 that is to be caused to take collision avoidance action, and is a signal that instructs the small moving body 2 that receives this signal to take the collision avoidance action. The collision avoidance instruction creating unit 12d creates a collision avoidance instruction for transmission of the small moving body 2 specified by the target specifying unit 12c.

Then, the power supply device 3 transmits the collision avoidance instruction generated by the collision avoidance instruction generation unit 12d to the small moving body 2 identified by the target identification unit 12c. In the storage unit of the power supply device 3, identification information of the small mobile body 2 and information that can designate the small mobile body 2 as a transmission destination are stored in association with each other. Therefore, the power supply device 3 stores the transmission destination information of the small moving body 2 specified as the pointing target by the target specifying unit 12c in the storage unit together with the identification information included in the detection result of the object detection by the object detecting unit 12a. It is possible to specify using the information obtained.

The small moving body 2 includes a communication section 21 , a control section 22 , a power receiving section 23 and a driving section 24 .

The communication unit 21 performs wireless communication with the power supply device 3 . The communication unit 21 receives a collision avoidance instruction signal transmitted from the power supply device 3 and transmits a signal from the small moving body 2 to the power supply device 3 .

The control unit 22 is an electronic control device that controls the small moving body 2 . This electronic control unit includes a microcomputer having a CPU, a RAM, a ROM, and an input/output interface. That is, the control unit 22 performs signal processing according to a program pre-stored in the ROM. Then, the control unit 22 executes various controls for controlling the small moving body 2 . For example, the control unit 22 executes contactless charging control for controlling contactless charging by the power receiving unit 23 and drive control for controlling electric travel by the driving unit 24 .

In the non-contact charging control, a control signal from the control unit 22 is output to the power receiving unit 23, and the power receiving unit 23 is controlled so that power can be received in a non-contact manner. The power receiving unit 23 wirelessly receives power supplied from the power supply device 3 and charges a battery with the received power. Specifically, the power receiving unit 23 has a power receiving coil that receives power supplied from the power supply device 3 in a non-contact manner. Further, the power receiving unit 23 functions as a charger that charges the battery with the power received by the power receiving coil. This battery is a secondary battery capable of discharging and storing electricity, and is composed of, for example, a lithium ion battery or a nickel metal hydride battery. Note that the contactless power supply system including the power transmission coil and the power reception coil may be either a magnetic resonance system or an electromagnetic induction system.

Further, the control unit 22 includes a drive control unit 22a. The drive control unit 22a executes drive control. In drive control, a control signal from the control section 22 is output to the drive section 24, and the drive section 24 is controlled so that the traveling state of the small moving body 2 becomes a desired state. The drive unit 24 has a motor that serves as a power source for running. When the small moving body 2 is running, the motor is driven by supplying electric power from the battery to the motor for generating the driving force of the small moving body 2 .

The drive control unit 22a controls the drive unit 24 to take avoidance action in accordance with the collision avoidance instruction received by the communication unit 21. FIG. Avoidance actions include stopping traveling, changing the moving speed, detouring around the power supply device 3, and the like. In the small moving body 2, what kind of action to take as the avoidance action is set in advance, and the set avoidance action can be automatically taken in response to the reception of the collision avoidance instruction. For example, when stopping traveling is set as an avoidance action, upon detecting a collision avoidance instruction, the control unit 22 controls the driving unit 24 to brake the small moving body 2 to stop traveling.

The camera 4 is installed at a position capable of capturing an image of the environment around the power supply device 3, and captures an image of the small moving object 2 approaching the power supply device 3 for power supply. For example, the imaging range is configured to include 360 degrees around the location where the power supply device 3 is installed. Image data captured by the camera 4 is input to the power supply device 3 . Moreover, when the direction of the small moving body 2 entering the power supply device 3 is specified, the camera 4 may be installed so as to face the entering direction.

FIG. 4 is a flow chart showing control in the power feeding device. Note that the control shown in FIG. 4 is repeatedly performed by the control unit 12 of the power supply device 3 .

The control unit 12 of the power supply device 3 determines whether or not the small moving body 2 has been detected as an object (step S1). In step S<b>1 , based on an image of the small moving body 2 approaching the power supply device 3 , it is determined whether or not the small moving body 2 has been detected as an object. The processing of step S1 is performed by the object detection unit 12a.

If the small moving body 2 is not detected (step S1: No), this control routine ends.

When the small moving body 2 is detected as an object (step S1: Yes), the control unit 12 of the power supply device 3 determines whether the small moving body 2 is above the power supply device 3 based on the detection result of the small moving body 2 being detected as an object. , the possibility of colliding with another small moving body 2 is calculated (step S2). In step S2, the probability that the small mobile bodies 2 moving for power supply collide with each other on the power supply device 3 is calculated. The calculation processing in step S2 is performed by the collision determination section 12b.

Further, the control unit 12 of the power supply device 3 determines whether or not the small moving bodies 2 will collide on the power supply device 3 (step S3). In step S3, it is determined whether or not the small moving body 2 will collide with another small moving body 2 if it passes over the power supply device 3 as it is, based on the calculated collision probability. The determination processing in step S3 is performed by the collision determination section 12b.

If it is determined that the small moving bodies 2 will not collide on the power supply device 3 (step S3: No), this control routine ends.

On the other hand, when it is determined that the small moving bodies 2 will collide on the power supply device 3 (step S3: Yes), the control unit 12 of the power feeding device 3 identifies the small moving body 2 to which the collision avoidance instruction is to be issued. (Step S4). In step S4, at least one of the two small moving bodies 2 judged to have a high possibility of collision is specified as a target of the collision avoidance instruction. In other words, it is possible to specify both of the two small moving bodies 2 as the referent. Further, the processing of step S4 is performed by the target identification unit 12c.

For example, if the small mobile body 2 is a mobile body that transports luggage, it is possible to use information indicating the amount of luggage loaded on the small mobile body 2 in determining the target to be indicated in step S4. The information acquired by the object detection unit 12a includes information on packages carried by the small moving body 2. FIG. That is, the information about the small moving body 2 whose object has been detected includes information about the package that the small moving body 2 is carrying. Therefore, the object detection unit 12a can identify the amount and number of packages by image analysis. In this case, the small moving body 2 carrying a relatively small amount of luggage consumes less power during running than the small moving body 2 carrying a relatively large amount of luggage. The body 2 can be specified as an avoidance target. That is, in order to prevent power failure, the small moving body 2 that needs power supply is given priority and continues to move as a power supply target, and the other small moving body 2 is made to take a collision avoidance action. Determine the referent. It should be noted that it is possible to preferentially supply power to the small moving body 2 that consumes power more easily based on the number of packages and the total weight of the packages, not limited to the amount of packages.

Then, the power supply device 3 transmits a collision avoidance instruction to the small moving body 2 specified as the instruction target (step S5). In step S5, the collision avoidance instruction signal generated by the collision avoidance instruction generation unit 12d is transmitted to the small moving body 2 identified by the target identification unit 12c. For example, when one of the two small moving bodies 2 is identified as the instruction target, the power supply device 3 transmits a collision avoidance instruction signal to the one small moving body 2 . After the processing of step S5 is performed, this control routine ends.

FIG. 5 is a flow chart for explaining the control in a small moving object when receiving a collision avoidance instruction. Note that the control shown in FIG. 5 is repeatedly performed by the control unit 22 of the small moving body 2 .

The control unit 22 of the small moving body 2 determines whether or not a collision avoidance instruction has been received (step S11). In step S11, it is determined whether or not the communication unit 21 has received a collision avoidance instruction.

If no collision avoidance instruction has been received (step S11: No), this control routine ends.

When the collision avoidance instruction is received (step S11: Yes), the control unit 22 of the small moving body 2 executes avoidance action (step S12). In step S12, the driving section 24 is controlled by the driving control section 22a to take an avoidance action to avoid the collision. After executing the process of step S12, this control routine ends.

As described above, according to the embodiment, when a plurality of small moving bodies 2 move for power feeding, collision of the small moving bodies 2 with each other on the power feeding device 3 is prevented in the contactless power feeding system. can be prevented.

In addition, in the example described above, the configuration in which the avoidance action is preset has been described, but the present invention is not limited to this. For example, the collision avoidance instruction signal may include information designating an avoidance action. That is, as the avoidance action, the power supply device 3 creates a collision avoidance instruction including information indicating to stop traveling, and transmits this collision avoidance instruction to the target small moving body 2 . After receiving the collision avoidance instruction, the small moving body 2 is configured to take avoidance action in accordance with the avoidance action information included in the collision avoidance instruction.

Also, although the small mobile object 2 has been described, the mobile object to which power is to be supplied is not limited to this. In other words, it can be applied to a contactless power supply system intended for power supply to an electric vehicle, a mobile body that is not small, or a mobile body that can run automatically.

Also, the configuration in which the collision avoidance device 1 is provided in the power supply device 3 has been described, but the configuration is not limited to this. For example, the collision avoidance device 1 may be provided in a server. This server is connected to the small mobile body 2 and the power supply device 3 via a network so that information can be transmitted and received. In this case, the control shown in FIG. 4 is performed by the server.

Also, the configuration in which the camera 4 is provided separately from the power supply device 3 has been described, but the configuration is not limited to this. For example, the power supply device 3 may be configured including the camera 4 .

Moreover, although the example in which the power supply device 3 includes the power supply unit 13 and the power supply unit 13 is configured by the power supply mat has been described, the present invention is not limited to this. For example, the power supply unit 13 may include a power transmission coil, and the power supply device 3 may be a power supply mat. In other words, the power supply device 3 configured by the sheet-like power supply mat is portable.

Also, the method of detecting the identification information of the small moving body 2 is not limited to the method of detecting by image analysis. For example, the power supply device 3 can detect the identification information of the small mobile body 2 through wireless communication between the small mobile body 2 and the power supply device 3 . In this case, the small moving body 2 transmits a signal such as an approach signal, and the power supply device 3 receives the approach signal. Since the identification information of the small moving body 2 is included in the approach signal, the power supply device 3 can acquire the identification information of the approaching small moving body 2 .

Furthermore, the method of acquiring information on the packages carried by the small moving body 2 is not limited to detection by image analysis. For example, the power supply device 3 can detect the identification information of the small mobile body 2 through wireless communication between the small mobile body 2 and the power supply device 3 . In this case, the small mobile body 2 generates an approach signal containing information (information indicating the number, weight, volume, etc.) of the packages currently loaded by the small mobile body 2 . Since the approach signal includes the information about the package being carried by the small moving body 2, the power supply device 3 can acquire the information about the package being carried by the small moving body 2. FIG.

Further, in step S4 shown in FIG. 4, it is possible to use information indicating the state of charge of the battery of the small mobile body 2, ie, the SOC, when determining the pointing target. Of the two, the small moving body 2 with a relatively high SOC is less likely to run out of power even if power is not supplied this time, so this small moving body 2 is specified as an avoidance instruction target. In this case, the approach signal includes information indicating the SOC of the small moving object 2 . That is, the small mobile object 2 creates an approach signal including information indicating the SOC of the battery. By including information indicating the SOC of the small moving body 2 in this approach signal, the power supply device 3 can acquire information about the current SOC of the small moving body 2 .

1 Collision Avoidance Device 2 Compact Mobile Body 3 Power Supply Device 4 Camera 11 Communication Unit 12 Control Unit 12a Object Detection Unit 12b Collision Judgment Unit 12c Object Identification Unit 12d Collision Avoidance Instruction Creation Unit 13 Power Supply Unit 21 Communication Unit 22 Control Unit 22a Drive Control Unit 23 power receiving unit 24 driving unit

Claims (1)

For a contactless power supply system including a power supply device that supplies electric power to a mobile body capable of electric travel without contact, a mobile body passing over the power supply device for power supply collides with another mobile body. Equipped with a control unit that executes collision avoidance control to prevent
The control unit
Determining whether there is a high possibility that the moving bodies will collide on the power feeding device based on the detection result of the object detection of the moving body approaching the power feeding device,
Collision avoidance characterized by outputting a signal instructing collision avoidance action for avoiding collision to at least one of the moving bodies when there is a high possibility that the moving bodies collide with each other. Device.

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