JP4442517B2 - Non-contact power supply device and power supply system for autonomous mobile device - Google Patents

Non-contact power supply device and power supply system for autonomous mobile device Download PDF

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JP4442517B2
JP4442517B2 JP2005166422A JP2005166422A JP4442517B2 JP 4442517 B2 JP4442517 B2 JP 4442517B2 JP 2005166422 A JP2005166422 A JP 2005166422A JP 2005166422 A JP2005166422 A JP 2005166422A JP 4442517 B2 JP4442517 B2 JP 4442517B2
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power supply
primary coil
power
autonomous mobile
mobile device
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JP2006345588A (en
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隼人 井岡
宏一 三谷
一志 畠
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Panasonic Corp
Panasonic Electric Works Co Ltd
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Matsushita Electric Works Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Current-Collector Devices For Electrically Propelled Vehicles (AREA)

Description

本発明は、移動体にコイル間の電磁結合により給電を行う非接触給電装置及び自律移動装置用給電システムに関する。   The present invention relates to a non-contact power feeding device that feeds power to a moving body by electromagnetic coupling between coils and a power feeding system for an autonomous mobile device.

従来から、電動車の二次コイルと給電装置側の一次コイルとを互いに電磁結合可能な状態に配設し、これらのコイルを介して給電装置側から電動車側に、接触を前提とすることなく給電することが行われている。このような非接触給電装置において、一次コイルと二次コイルを互いに異なる方向へ直動又は回転させることにより、一次コイルと二次コイルの位置合わせを行い、給電効率低下の抑止を図る装置が知られている（例えば、特許文献１参照）。
特開平８−９５１２号公報 Conventionally, the secondary coil of the electric vehicle and the primary coil on the power supply device side are arranged in a state where they can be electromagnetically coupled to each other, and contact is made from the power supply device side to the electric vehicle side via these coils. Power is being supplied without any problems. In such a non-contact power feeding device, there is known a device that performs positioning of the primary coil and the secondary coil by linearly moving or rotating the primary coil and the secondary coil in different directions, thereby suppressing reduction in power feeding efficiency. (For example, refer to Patent Document 1).
JP-A-8-9512

しかしながら、上述した特許文献１に示されるような非接触給電装置においては、一次コイルと二次コイルの位置ずれを補正する機構を備えているものの、位置ずれ補正に対して給電効率をフイードバックするものではないので、必ずしも最良の給電状態が得られるとは限らない。   However, the non-contact power feeding device as shown in Patent Document 1 described above has a mechanism for correcting the positional deviation between the primary coil and the secondary coil, but feeds back the feeding efficiency with respect to the positional deviation correction. Therefore, the best power supply state is not always obtained.

本発明は、上記課題を解消するものであって、電動車の停止位置がずれても給電効率を損なうことなく高効率の給電を可能とする非接触給電装置を提供することを目的とする。   The present invention solves the above-described problems, and an object of the present invention is to provide a non-contact power feeding device that enables high-efficiency power feeding without impairing power feeding efficiency even if the stop position of the electric vehicle is shifted.

上記課題を達成するために、請求項１の発明は、移動体側の二次コイルに電磁結合する一次コイルを固定側に有し、前記一次コイル側から二次コイル側に給電を行う非接触給電装置であって、二次コイル側の受電状態を取得する通信手段と、一次コイル側の給電状態を取得する給電状態取得手段と、前記給電状態取得手段によって得られた一次コイル側の給電状態及び前記通信手段によって得られた二次コイル側の受電状態から給電効率を取得する給電効率取得手段と、前記給電効率取得手段によって得られる給電効率が、一次コイルを一方向にのみ動かしたときの最大値となるように一次コイルの位置を移動させる位置決め手段と、前記位置決め手段を動作させて得た最大の給電効率が所定の値以下のときに、前記通信手段を介して移動体側に、あらためて一次コイルの位置決め動作を行わせるためのリトライ信号を送信するリトライ指示手段と、を備えたものである。 In order to achieve the above-mentioned object, the invention of claim 1 has a primary coil that is electromagnetically coupled to a secondary coil on the moving body side on a fixed side, and feeds power from the primary coil side to the secondary coil side. A communication unit that acquires a power reception state on the secondary coil side, a power supply state acquisition unit that acquires a power supply state on the primary coil side, a power supply state on the primary coil side obtained by the power supply state acquisition unit, and and power supply efficiency obtaining means for obtaining the power supply efficiency from the power receiving state of the resulting secondary coil side by the communication means, the power supply efficiency is that power supply efficiency obtained by the acquisition means, when you move the primary coil in one direction only and positioning means to move the position of the primary coil such that the maximum value, when the maximum power supply efficiency obtained by operating the positioning means is equal to or less than a predetermined value, the mobile via the communication means To, those having a retry instruction means for transmitting a retry signal for causing the positioning operation anew primary coil.

請求項２の発明は、請求項１に記載の非接触給電装置において、前記通信手段は、一次コイルと二次コイルとの電磁結合を利用して通信するものである。   According to a second aspect of the present invention, in the non-contact power feeding device according to the first aspect, the communication means communicates using electromagnetic coupling between the primary coil and the secondary coil.

請求項３の発明は、請求項１又は請求項２に記載の非接触給電装置において、前記位置決め手段は、前記給電効率が所定変化幅よりも変化したときに、その給電効率が最大になるように再度一次コイルの位置を移動させるものである。   According to a third aspect of the present invention, in the non-contact power feeding device according to the first or second aspect, the positioning means is configured such that the power feeding efficiency is maximized when the power feeding efficiency changes from a predetermined change width. The position of the primary coil is moved again.

請求項４の発明は、請求項３に記載の非接触給電装置と、前記非接触給電装置の周辺に設定された給電位置まで自律的に走行し停止して当該非接触給電装置から電力を受電してその電力により自律的に移動する移動体である自律移動装置と、を備えた自律移動装置用給電システムにおいて、前記自律移動装置は、走行するための走行手段と、前記走行手段を制御する制御手段と、当該自律移動装置に搭載された機器を駆動させる電力を蓄えるバッテリと、前記非接触給電装置の一次コイルに電磁結合して前記バッテリに蓄える電力を当該一次コイル側から受電する二次コイルと、前記非接触給電装置と通信を行う通信手段と、を備え、前記通信手段が前記非接触給電装置から前記リトライ信号を受信したときに、前記制御手段は前記走行手段を制御して前記給電位置への接近と停止をやり直す位置決め動作を行うものである。 According to a fourth aspect of the present invention, there is provided the wireless power supply device according to the third aspect , and autonomously travels to a power supply position set around the wireless power supply device and stops to receive power from the wireless power supply device. In the autonomous mobile device power supply system, the autonomous mobile device controls the traveling means for traveling and the traveling means. A control unit, a battery that stores electric power for driving the device mounted on the autonomous mobile device, and a secondary that electromagnetically couples to a primary coil of the contactless power supply device and receives electric power stored in the battery from the primary coil side A coil and a communication means for communicating with the non-contact power supply device, and when the communication means receives the retry signal from the non-contact power supply device, the control means is the travel means Controlled and performs a positioning operation to re-close and stop to the feeding position.

請求項１の発明によれば、二次コイルに対する一次コイルの位置ずれ補正に際し、給電効率取得手段によって得られた給電効率を最大とするように一次コイルの位置を移動させるので、二次コイルを備えた移動体、例えば電動車の停止位置がずれても、給電効率を損なうことなく高効率の給電を行うことができる。   According to the first aspect of the present invention, the position of the primary coil is moved so as to maximize the power supply efficiency obtained by the power supply efficiency acquisition means when correcting the positional deviation of the primary coil with respect to the secondary coil. Even when the stop position of the movable body provided, for example, the electric vehicle is shifted, highly efficient power feeding can be performed without impairing the power feeding efficiency.

請求項２の発明によれば、もともと電磁結合するように備えたコイルの構成を用いて通信を行うので、別個の無線アンテナ等を省略でき、安価に通信手段を構成できる。   According to the invention of claim 2, since communication is performed using the configuration of the coil originally provided so as to be electromagnetically coupled, a separate wireless antenna or the like can be omitted, and the communication means can be configured at low cost.

請求項３の発明によれば、給電中に外乱によりコイル間の位置ずれが生じた場合においても、給電効率が最大となるように補正して給電できる。   According to the third aspect of the present invention, even when a positional deviation between the coils occurs due to a disturbance during power feeding, power can be fed with correction so as to maximize the power feeding efficiency.

請求項４の発明によれば、非接触給電装置側で位置決め調整可能な範囲を超えている場合に、移動体側によって位置決め調整可能な状態にすることができるので、高効率の給電を行うことができる。   According to the invention of claim 4, when the position adjustment adjustment range is exceeded on the non-contact power supply device side, the movable body side can be positioned and adjusted, so that highly efficient power supply can be performed. it can.

請求項５の発明によれば、請求項４の発明と同様の効果を奏することができる。   According to the invention of claim 5, the same effect as that of the invention of claim 4 can be obtained.

以下、本発明の実施形態に係る非接触給電装置について、図面を参照して説明する。図１は、非接触給電装置１と、この給電装置によって給電される自律移動装置２のブロック構成を示す。固定側の非接触給電装置１は、移動体側である自律移動装置２に対して、両装置が有する一次コイル１１と二次コイル２１間の電磁結合によって接触を前提とすることなく給電を行う装置である。自律移動装置２は、電気を動力源として自律的に移動する電動車である。ここで非接触とは、機械的に電気接続した電流路を形成しない、という意味である。なお、図１における各ブロック間を結ぶ線と矢印は、電力や制御信号の主な流れのみを示している。   Hereinafter, a non-contact power feeding device according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows a block configuration of a non-contact power feeding device 1 and an autonomous mobile device 2 fed by the power feeding device. The non-contact power feeding device 1 on the fixed side feeds power to the autonomous mobile device 2 on the mobile body side without assuming contact by electromagnetic coupling between the primary coil 11 and the secondary coil 21 included in both devices. It is. The autonomous mobile device 2 is an electric vehicle that autonomously moves using electricity as a power source. Here, non-contact means that a current path that is mechanically electrically connected is not formed. In addition, the line and arrow which connect between each block in FIG. 1 have shown only the main flows of electric power and a control signal.

非接触給電装置１は、所定方向から接近する自律移動装置２の有する二次コイル２１に電磁結合する一次コイル１１と、二次コイル２１側の受電状態を取得する通信手段１２と、一次コイル１１側の給電状態を取得する給電状態取得手段１３と、給電状態取得手段１３によって得られた一次コイル１１側の給電状態及び通信手段１２によって得られた二次コイル２１側の受電状態から給電効率を取得する給電効率取得手段１４と、給電効率取得手段１４によって得られた給電効率を最大とするように一次コイル１１の位置を移動させる位置決め手段１５と、を備えている。   The non-contact power feeding device 1 includes a primary coil 11 that is electromagnetically coupled to a secondary coil 21 of an autonomous mobile device 2 that approaches from a predetermined direction, a communication unit 12 that acquires a power reception state on the secondary coil 21 side, and a primary coil 11. The power supply efficiency is obtained from the power supply state acquisition means 13 for acquiring the power supply state on the side, the power supply state on the primary coil 11 side obtained by the power supply state acquisition means 13 and the power reception state on the secondary coil 21 side obtained by the communication means 12. The power supply efficiency acquisition means 14 to be acquired and the positioning means 15 to move the position of the primary coil 11 so as to maximize the power supply efficiency obtained by the power supply efficiency acquisition means 14 are provided.

さらに、非接触給電装置１は、位置決め手段１５を動作させて得た最大の給電効率が所定の値以下のときに、通信手段１２を介して二次コイル２１側にリトライ信号を送信するリトライ指示手段１６と、一次コイル１１に電力を供給する電源回路１１ａと、給電効率取得手段１４からの情報に基づいて電源回路１１ａ、位置決め手段１５、及びリトライ指示手段１６を制御する制御手段１０と、を備えている。また、給電状態取得手段１３は、電流計１３ａと電圧計１３ｂを有し、これらにより一次コイル１１に投入される電力量、すなわち給電状態を把握する。位置決め手段１５は、位置決め機構を駆動するためのモータＭを備えている。   Further, the non-contact power supply apparatus 1 transmits a retry signal to the secondary coil 21 side via the communication unit 12 when the maximum power supply efficiency obtained by operating the positioning unit 15 is equal to or less than a predetermined value. Means 16, power supply circuit 11a for supplying power to primary coil 11, and control means 10 for controlling power supply circuit 11a, positioning means 15 and retry instruction means 16 based on information from power supply efficiency acquisition means 14. I have. The power supply state acquisition unit 13 includes an ammeter 13a and a voltmeter 13b, and grasps the amount of power input to the primary coil 11, that is, the power supply state. The positioning means 15 includes a motor M for driving the positioning mechanism.

一次コイル１１は、自律移動装置２側に設置された二次コイル２１を通じて自律移動装置２側に電力を伝送し、自律移動装置２の電力源となるバッテリ２１ｂを充電する。通信手段１２は、二次コイル２１の受電状態の情報を受信すると共に、自律移動装置２に対して位置決めリトライなどの指示信号を送信することができる。位置決め手段１５は、一方向に直動し、一次コイル１１と二次コイル２１との位置ずれを補正することができる。   The primary coil 11 transmits electric power to the autonomous mobile device 2 side through a secondary coil 21 installed on the autonomous mobile device 2 side, and charges a battery 21b serving as a power source of the autonomous mobile device 2. The communication unit 12 can receive information on the power reception state of the secondary coil 21 and can transmit an instruction signal such as positioning retry to the autonomous mobile device 2. The positioning means 15 moves linearly in one direction, and can correct the positional deviation between the primary coil 11 and the secondary coil 21.

自律移動装置２は、一次コイル１１に電磁結合する二次コイル２１と、二次コイル２１側の受電状態を取得する受電状態取得手段２３と、受電状態取得手段２３によって得られた二次コイル２１側の受電状態を非接触給電装置１に送信する通信手段２２と、二次コイル２１から電力を受け取ると共に、受電した電力をバッテリ２１ｂに充電する電源回路２１ａと、通信手段２２及び受電状態取得手段２３を制御する制御手段２０と、を備えている。また、受電状態取得手段２３は、電流計２３ａと電圧計２３ｂを有し、これらにより二次コイル２１が受け取る電力量、すなわち受電状態を把握する。なお、制御手段２０は、例えば、制御用コンピュータやその周辺機器によって構成される。   The autonomous mobile device 2 includes a secondary coil 21 that is electromagnetically coupled to the primary coil 11, a power reception state acquisition unit 23 that acquires a power reception state on the secondary coil 21 side, and a secondary coil 21 obtained by the power reception state acquisition unit 23. Communication means 22 for transmitting the power reception state to the non-contact power supply device 1, power supply circuit 21a for receiving power from the secondary coil 21, and charging the battery 21b with the received power, communication means 22 and power reception state acquisition means And control means 20 for controlling 23. The power receiving state acquisition unit 23 includes an ammeter 23a and a voltmeter 23b, and grasps the amount of power received by the secondary coil 21, that is, the power receiving state. The control means 20 is constituted by, for example, a control computer and its peripheral devices.

また、自律移動装置２は、走行するための走行手段５０を備えており、走行手段５０は走行動作を行うための電力をバッテリ２１ｂから供給されて駆動されると共に制御手段２０によって制御される。自律移動装置２は、非接触給電装置１の周辺に設定された給電位置まで走行手段５０によって自律的に走行して停止し、非接触給電装置１から電力を受電し、その電力により自律的に移動する。バッテリ２１ｂは、自律移動装置２に搭載された各機器を駆動させるため、受電した電力を蓄える。この電力によって駆動される各機器は、上述の走行手段５０の他に、制御用コンピュータ等であってもよい。   In addition, the autonomous mobile device 2 includes traveling means 50 for traveling. The traveling means 50 is driven by being supplied with electric power for performing a traveling operation from the battery 21 b and is controlled by the control means 20. The autonomous mobile device 2 autonomously travels and stops by the traveling means 50 to the power feeding position set around the non-contact power feeding device 1, receives power from the non-contact power feeding device 1, and autonomously uses the power. Moving. The battery 21b stores the received power in order to drive each device mounted on the autonomous mobile device 2. Each device driven by this electric power may be a control computer or the like in addition to the traveling means 50 described above.

次に、図２（ａ）（ｂ）、図３（ａ）（ｂ）を参照して、非接触給電装置１と自律移動装置２の具体的な構造を説明する。非接触給電装置１は、図２（ａ）に示すように、外形が略四角形の筐体３を有し、筐体３の内部に図１に示した上述の給電効率取得手段１４等を内蔵し、図示しない商用電源、又はその他の電源に接続されて自律移動装置２の走行面上に設置されている固定側の装置である。筐体３の上部には、自律移動装置２と通信を行う通信手段１２の一部（無線アンテナ）が設けられている。   Next, specific structures of the non-contact power feeding device 1 and the autonomous mobile device 2 will be described with reference to FIGS. 2 (a), 2 (b) and 3 (a), 3 (b). As shown in FIG. 2A, the non-contact power feeding apparatus 1 has a housing 3 having a substantially rectangular outer shape, and the above-described power feeding efficiency acquisition means 14 shown in FIG. And it is the apparatus of the stationary side connected to the commercial power source which is not shown in figure, or other power supplies, and is installed on the traveling surface of the autonomous mobile apparatus 2. FIG. A part of the communication means 12 (wireless antenna) that communicates with the autonomous mobile device 2 is provided in the upper part of the housing 3.

非接触給電装置１の前方（図の手前）の下部には、開口３１が設けられており、その開口３１から前方方向（矢印ｘ方向）に進退自在に駆動される平板状の一次コイル保持体４が設けられている。一次コイル保持体４には一次コイル１１が内蔵されて固定されている。一次コイル保持体４の上面４１と開口３１の上縁部とは、摺動可能に接触し、又は適切な隙間を有して配置されており、その上縁部は、一次コイル保持体４の上面４１に異物が乗ってしまった場合に、開口３１の上縁部が異物除去手段として機能する。開口３１の上縁部に異物除去用のブラシやゴム片を配置することもできる。なお、図２（ａ）は、一次コイル保持体４が筐体３から突出した状態を示し、図２（ｂ）は一次コイル保持体４が筐体３内に収納された状態を示す。   An opening 31 is provided in the lower part of the front (front side of the figure) of the non-contact power feeding device 1, and a flat primary coil holder that is driven to move forward and backward in the forward direction (arrow x direction) from the opening 31. 4 is provided. A primary coil 11 is built in and fixed to the primary coil holder 4. The upper surface 41 of the primary coil holder 4 and the upper edge of the opening 31 are slidably in contact with each other, or are arranged with an appropriate gap, and the upper edge of the primary coil holder 4 is arranged on the primary coil holder 4. When a foreign object gets on the upper surface 41, the upper edge part of the opening 31 functions as a foreign substance removing means. A brush or rubber piece for removing foreign matter can be disposed on the upper edge of the opening 31. 2A shows a state in which the primary coil holding body 4 protrudes from the housing 3, and FIG. 2B shows a state in which the primary coil holding body 4 is housed in the housing 3.

自律移動装置２は、図３（ａ）に示すように、装置本体５の下部に左右２つの駆動輪５１（図では重なっていて一方しか見えない）と前後２つの補助輪５２を有し、装置本体５に内蔵したバッテリ２１ｂと駆動モータ（不図示）によって駆動輪５１を駆動して自律的に移動する。上述の走行手段５０は、これらの駆動輪５１、補助輪５２、駆動モータ等によって構成されている。自律移動装置２は、図１に示した上述の二次コイル２１を装置本体５の下部に内蔵すると共に、受電状態取得手段２３等（不図示）を装置本体５に内蔵している。また、装置本体５の上部には、非接触給電装置１との間で通信を行う通信手段２２の一部（無線アンテナ）、及び自律移動装置２が周辺通行人やユーザ等の外部に対して警告などの表示を行うディスプレイ５３が設けられている。なお、図３（ｂ）は、二次コイル２１を内蔵した部分を拡大して示している。   As shown in FIG. 3 (a), the autonomous mobile device 2 has two left and right drive wheels 51 (overlapping in the figure, only one of them can be seen) and two front and rear auxiliary wheels 52 at the bottom of the device body 5. The drive wheel 51 is driven autonomously by a battery 21b and a drive motor (not shown) built in the apparatus body 5 to move autonomously. The traveling means 50 described above is constituted by these drive wheels 51, auxiliary wheels 52, drive motors and the like. The autonomous mobile device 2 incorporates the above-described secondary coil 21 shown in FIG. 1 in the lower portion of the device main body 5, and also incorporates a power receiving state acquisition means 23 and the like (not shown) in the device main body 5. In addition, a part of the communication means 22 (wireless antenna) that communicates with the non-contact power feeding device 1 and the autonomous mobile device 2 are connected to the outside of a passerby or a user around the upper part of the device body 5. A display 53 for displaying a warning or the like is provided. In addition, FIG.3 (b) has expanded and shown the part which incorporated the secondary coil 21. FIG.

次に、図４（ａ）（ｂ）、図５を参照して、一次コイル１１と二次コイル２１の位置決め構造について説明する。図４（ａ）は、自律移動装置２が、非接触給電装置１に対して矢印ｙの方向から接近して所定位置に停止した状態を示す。一次コイル１１は、一次コイル保持体４に保持されて、非接触給電装置１の筐体３内部に収納されており、二次コイル２１は、自律移動装置２の装置本体５の下部に保持されている。   Next, the positioning structure of the primary coil 11 and the secondary coil 21 will be described with reference to FIGS. FIG. 4A shows a state in which the autonomous mobile device 2 approaches the non-contact power feeding device 1 from the direction of the arrow y and stops at a predetermined position. The primary coil 11 is held by the primary coil holder 4 and housed in the housing 3 of the non-contact power feeding device 1, and the secondary coil 21 is held at the lower part of the device body 5 of the autonomous mobile device 2. ing.

図４（ｂ）は、一次コイル保持体４が、所定位置に停止した自律移動装置２に向かって非接触給電装置１側から矢印ｘ方向に沿って移動し、一次コイル１１が二次コイル２１の下部に配置された状態を示す。一次コイル保持体４は、モータＭ（不図示）によって駆動される位置決め手段１５によって矢印ｘ方向（前後方向）に沿って直動する。   4B, the primary coil holding body 4 moves along the arrow x direction from the non-contact power feeding apparatus 1 toward the autonomous mobile apparatus 2 stopped at a predetermined position, and the primary coil 11 is moved to the secondary coil 21. The state arrange | positioned at the lower part is shown. The primary coil holder 4 moves linearly along the arrow x direction (front-rear direction) by positioning means 15 driven by a motor M (not shown).

図５は、一次コイル１１と二次コイル２１の間の電力伝送効率、すなわち給電効率が一次コイル１１と二次コイル２１のｘ方向の離間距離によって変化する様子を示す。停止した自律移動装置２に保持されて固定された二次コイル２１に対して、一次コイル１１のｘ方向における位置が変化すると、給電効率Ｅは、図５の曲線ａによって示すように、山形の変化を示す。   FIG. 5 shows a state in which the power transmission efficiency between the primary coil 11 and the secondary coil 21, that is, the power supply efficiency, changes according to the separation distance in the x direction between the primary coil 11 and the secondary coil 21. When the position of the primary coil 11 in the x direction with respect to the secondary coil 21 held and fixed by the stopped autonomous mobile device 2 is changed, the power supply efficiency E is expressed as a mountain shape as shown by the curve a in FIG. Showing change.

ここで、再び図１を参照して、給電効率Ｅの取得について説明する。上述の給電効率Ｅは、一次コイル１１が二次コイル２１に電磁結合して給電する際に、非接触給電装置１における給電状態と、自律移動装置２における受電状態とに基づいて、給電効率取得手段１４によって求められる。非接触給電装置１側における給電状態は、一次コイル１１における電流値と電圧値で表すことができ、これらの値は給電状態取得手段１３の電流計１３ａと電圧計１３ｂによって計測されて給電効率取得手段１４に送られる。   Here, referring to FIG. 1 again, acquisition of the power supply efficiency E will be described. The above-described power supply efficiency E is obtained when the primary coil 11 is electromagnetically coupled to the secondary coil 21 to supply power based on the power supply state in the non-contact power supply device 1 and the power reception state in the autonomous mobile device 2. Determined by means 14. The power feeding state on the non-contact power feeding device 1 side can be expressed by a current value and a voltage value in the primary coil 11, and these values are measured by the ammeter 13 a and the voltmeter 13 b of the power feeding state obtaining unit 13 to obtain power feeding efficiency. Sent to means 14.

同様に、自律移動装置２側における受電状態は、二次コイル２１における電流値と電圧値で表すことができる。これらの値は受電状態取得手段２３の電流計２３ａと電圧計２３ｂによって計測され、通信手段２２を介して非接触給電装置１の給電効率取得手段１４に送られる。給電効率取得手段１４は、一次コイル１１、二次コイル２１双方の電圧値と電流値からそれぞれのコイルにおける電力を計算し、その電力の比から給電効率Ｅを算出する。   Similarly, the power receiving state on the autonomous mobile device 2 side can be represented by a current value and a voltage value in the secondary coil 21. These values are measured by the ammeter 23 a and the voltmeter 23 b of the power receiving state acquisition unit 23, and are sent to the power supply efficiency acquisition unit 14 of the non-contact power supply device 1 through the communication unit 22. The power supply efficiency acquisition means 14 calculates the power in each coil from the voltage value and current value of both the primary coil 11 and the secondary coil 21, and calculates the power supply efficiency E from the ratio of the power.

非接触給電装置１の制御手段１０は、給電効率取得手段１４によって得られた給電効率Ｅを最大とするように位置決め手段１５を制御して一次コイル１１の位置を移動させる。すなわち、非接触給電装置１は、給電効率Ｅの情報をフイードバックして一次コイル１１と二次コイル２１の位置ずれを補正するので、自律移動装置２の停止位置がずれていても給電の効率を損なうことなく高効率の給電を行うことができる。   The control means 10 of the non-contact power supply apparatus 1 controls the positioning means 15 to move the position of the primary coil 11 so as to maximize the power supply efficiency E obtained by the power supply efficiency acquisition means 14. That is, the non-contact power feeding apparatus 1 feeds back the information on the power feeding efficiency E and corrects the positional deviation between the primary coil 11 and the secondary coil 21, so that the power feeding efficiency is improved even when the stop position of the autonomous mobile device 2 is deviated. Highly efficient power feeding can be performed without loss.

次に、上述の図１乃至図５に加え、図６のフローチャートを参照して、非接触給電装置１による自律移動装置２への給電処理の一連の流れを説明する。自律移動装置２が、受電のために非接触給電装置１の前面の所定位置に停止すると、非接触給電装置１は、互いの通信手段１２，２２を介した通信により停止を検知して、以下の給電処理の動作を開始する。なお、自律移動装置２が停止したことを検知する停止検知センサを設けて、そのセンサの出力により給電処理の動作を開始するようにしてもよい。   Next, in addition to the above-described FIG. 1 to FIG. 5, a flow of power supply processing to the autonomous mobile device 2 by the non-contact power supply device 1 will be described with reference to the flowchart of FIG. 6. When the autonomous mobile device 2 stops at a predetermined position on the front surface of the non-contact power feeding device 1 for power reception, the non-contact power feeding device 1 detects the stop by communication via the communication means 12 and 22 and The operation of the power supply process is started. In addition, a stop detection sensor that detects that the autonomous mobile device 2 has stopped may be provided, and the operation of the power supply process may be started by the output of the sensor.

非接触給電装置１は、まず、位置決め手段１５を駆動し（Ｓ１）、一次コイル保持体４を移動させ一次コイル１１を二次コイル２１に接近させると共に給電効率Ｅの変化を調べる（Ｓ２）。すなわち、非接触給電装置１は、この位置決めの段階において、給電効率Ｅを求めるための給電動作を行う。位置決めの段階では、自律移動装置２はバッテリ２１ｂへの充電は行わない。一次コイル１１が二次コイル２１に接近して、コイル間の相対距離が近づくと、図５に示した特性により、給電効率Ｅが増加傾向となり、給電効率Ｅがピークに近づくと給電効率Ｅの増加率は小さくなり、ピークを超えたところで、給電効率Ｅは減少傾向となる。この給電効率Ｅが増加傾向から減少傾向に転じたら（Ｓ２でＹＥＳ）、位置決め手段１５による一次コイル保持体４の移動を停止する（Ｓ３）。   The non-contact power feeding apparatus 1 first drives the positioning means 15 (S1), moves the primary coil holding body 4 to bring the primary coil 11 closer to the secondary coil 21, and checks the change in the power feeding efficiency E (S2). That is, the non-contact power feeding device 1 performs a power feeding operation for obtaining the power feeding efficiency E at the positioning stage. In the positioning stage, the autonomous mobile device 2 does not charge the battery 21b. When the primary coil 11 approaches the secondary coil 21 and the relative distance between the coils approaches, the power supply efficiency E tends to increase due to the characteristics shown in FIG. 5, and when the power supply efficiency E approaches the peak, the power supply efficiency E increases. The increase rate becomes small, and the power supply efficiency E tends to decrease when the peak is exceeded. When the power supply efficiency E changes from an increasing tendency to a decreasing tendency (YES in S2), the movement of the primary coil holder 4 by the positioning means 15 is stopped (S3).

上述の一次コイル１１の停止位置において、給電効率Ｅは一次コイル１１の直動方向におけるピーク値となるが、自律移動装置２の位置が何らかの原因で一次コイル１１の直動方向に直交する方向にずれていると、この停止位置は、一次コイル１１と二次コイル２１の最良の位置ではないことになる。このような状況を回避して最良の位置にするため、給電効率Ｅの大きさが所定値以上かどうかを調べる。もし、給電効率Ｅが所定値以上でなければ（Ｓ４でＮＯ）、非接触給電装置１の制御手段１０は、リトライ指示手段１６、及び通信手段１２を介して自律移動装置２にリトライ信号を発し（Ｓ１０）、位置決め手段１５を駆動して一次コイル保持体４、従って一次コイル１１を筐体３の内部に収納する。一方、自律移動装置２の通信手段２２が非接触給電装置１からリトライ信号を受信すると、自律移動装置２の制御手段２０は、あらためて位置決め動作を行うため、走行手段５０を制御して装置本体５を給電位置から一旦離脱させると共に、再度、給電位置への接近と停止をやり直す。   At the stop position of the primary coil 11 described above, the power supply efficiency E becomes a peak value in the linear motion direction of the primary coil 11, but in a direction orthogonal to the linear motion direction of the primary coil 11 due to the position of the autonomous mobile device 2 for some reason. If it is shifted, this stop position is not the best position of the primary coil 11 and the secondary coil 21. In order to avoid such a situation and obtain the best position, it is checked whether or not the magnitude of the power supply efficiency E is equal to or greater than a predetermined value. If the power supply efficiency E is not equal to or greater than the predetermined value (NO in S4), the control means 10 of the non-contact power supply apparatus 1 issues a retry signal to the autonomous mobile device 2 via the retry instruction means 16 and the communication means 12. (S10), the positioning means 15 is driven, and the primary coil holder 4 and thus the primary coil 11 are housed in the housing 3. On the other hand, when the communication means 22 of the autonomous mobile device 2 receives the retry signal from the non-contact power feeding device 1, the control means 20 of the autonomous mobile device 2 controls the traveling means 50 to perform the positioning operation again, thereby controlling the apparatus main body 5. Is once removed from the power feeding position, and approaching and stopping the power feeding position are performed again.

給電効率Ｅが所定値以上の場合（Ｓ４でＹＥＳ）、自律移動装置２は、一次コイル１１から供給される電力を二次コイル２１、電源回路２１ａを介してバッテリ２１ｂに充電する。この充電の間においても、非接触給電装置１の制御手段１０は、給電効率Ｅの変動を監視しており、その変動が所定の変化幅よりも変化した場合（Ｓ６でＹＥＳ）、給電中に外乱によりコイル間の位置がずれるなどの何らかの異常が発生したものとして、位置決め手段１５を駆動して一次コイル１１を筐体３の内部に収納し（Ｓ１２）、制御をステップＳ１に戻す。外乱等によるコイルの位置ずれは、ステップＳ１〜Ｓ４，及びステップＳ１０，Ｓ１１によって解消されることになる。   When the power supply efficiency E is equal to or greater than the predetermined value (YES in S4), the autonomous mobile device 2 charges the battery 21b with the power supplied from the primary coil 11 via the secondary coil 21 and the power supply circuit 21a. Even during this charging, the control means 10 of the non-contact power feeding device 1 monitors the fluctuation of the power feeding efficiency E, and when the fluctuation has changed more than a predetermined change width (YES in S6), during power feeding. Assuming that some abnormality such as a shift in position between the coils has occurred due to disturbance, the positioning means 15 is driven to house the primary coil 11 in the housing 3 (S12), and the control returns to step S1. The positional deviation of the coil due to disturbance or the like is eliminated by steps S1 to S4 and steps S10 and S11.

給電効率Ｅの変化が所定変化幅以上ではない場合（Ｓ６でＮＯ）、充電完了を監視しつつ給電を続行する。充電完了は、自律移動装置２からの受電状態の情報に基づいて判断することができる。充電が終了すると（Ｓ７でＹＥＳ）、非接触給電装置１は給電を停止し（Ｓ８）、一次コイル１１を筐体３の内部に収納し（Ｓ９）、一連の給電処理動作を終了する。上述の各ステップにおける繰り返しは、非接触給電装置１における所定の制御周期に従って行われる。   If the change in the power supply efficiency E is not equal to or greater than the predetermined change width (NO in S6), power supply is continued while monitoring the completion of charging. The completion of charging can be determined based on the information on the power receiving state from the autonomous mobile device 2. When charging is completed (YES in S7), the non-contact power feeding device 1 stops power feeding (S8), the primary coil 11 is housed in the housing 3 (S9), and a series of power feeding processing operations is finished. The repetition in each step described above is performed according to a predetermined control cycle in the non-contact power feeding device 1.

上述のように、非接触給電装置１は、バッテリ２１ｂに充電中にリアルタイムで給電効率Ｅを監視し、給電効率Ｅが著しく変化した場合には、外乱により一次コイル１１と二次コイル２１との相対位置がずれたと見做して一旦一次コイル１１を収納し、再度位置決め動作をやり直す。これにより、給電効率Ｅが最大となる状態で一次コイル１１を位置決めして給電することができる。   As described above, the non-contact power feeding device 1 monitors the power feeding efficiency E in real time while the battery 21b is being charged, and when the power feeding efficiency E changes significantly, the primary coil 11 and the secondary coil 21 are affected by disturbance. Assuming that the relative position has shifted, the primary coil 11 is temporarily stored, and the positioning operation is performed again. As a result, the primary coil 11 can be positioned and fed in a state where the feeding efficiency E is maximized.

次に、図７を参照して、本発明の他の実施形態に係る非接触給電装置１を説明する。図７は、前出の図１と同様に、非接触給電装置１と同給電装置によって給電される自律移動装置２のブロック構成を示す。なお、各ブロック間を結ぶ線と矢印は、電力や制御信号の主な流れのみを示している。この図に示す非接触給電装置１は、図１に示した非接触給電装置１における通信手段１２と自律移動装置２における通信手段２２を用いた通信の替わりに、一次コイル１１と二次コイル２１との電磁結合を利用して通信を行う点が図１に示したものと異なり、他の点は同様である。   Next, with reference to FIG. 7, the non-contact electric power feeder 1 which concerns on other embodiment of this invention is demonstrated. FIG. 7 shows a block configuration of the autonomous mobile device 2 that is fed by the non-contact power feeding device 1 and the power feeding device, as in FIG. In addition, the line and arrow which connect between each block have shown only the main flows of electric power and a control signal. The non-contact power feeding device 1 shown in this figure has a primary coil 11 and a secondary coil 21 instead of communication using the communication means 12 in the non-contact power feeding device 1 and the communication means 22 in the autonomous mobile device 2 shown in FIG. 1 is different from that shown in FIG. 1 in that communication is performed using electromagnetic coupling with the other points.

非接触給電装置１は、電磁結合を利用して通信を行うために、制御手段１０と一次コイル１１との間に、電力を伝送する周波数とは異なる周波数の高周波信号を発信する通信データ発信回路１７と、二次コイル２１から送信される高周波信号を受信する通信データ受信回路１８とを備えている。リトライ指示手段１６からのリトライ信号は、通信データ発信回路１７を介して自律移動装置２側に送信される。   In order to perform communication using electromagnetic coupling, the non-contact power feeding apparatus 1 transmits a high-frequency signal having a frequency different from the frequency for transmitting power between the control means 10 and the primary coil 11. 17 and a communication data receiving circuit 18 that receives a high-frequency signal transmitted from the secondary coil 21. The retry signal from the retry instruction means 16 is transmitted to the autonomous mobile device 2 side via the communication data transmission circuit 17.

同様に、自律移動装置２は、高周波信号を発信する通信データ発信回路２７と、一次コイル１１から送信される高周波信号を受信する通信データ受信回路２８とを備えている。このような非接触給電装置１によれば、もともと電磁結合するように備えた給電用の一次コイル１１と二次コイル２１の構成を用いて通信を行うので、別個の無線アンテナ等を省略でき、安価に通信手段を構成できる。   Similarly, the autonomous mobile device 2 includes a communication data transmission circuit 27 that transmits a high-frequency signal, and a communication data reception circuit 28 that receives a high-frequency signal transmitted from the primary coil 11. According to such a non-contact power feeding device 1, since communication is performed using the configuration of the primary coil 11 and the secondary coil 21 for power feeding originally provided to be electromagnetically coupled, a separate wireless antenna or the like can be omitted, Communication means can be configured at low cost.

なお、本発明は、上記構成に限られることなく種々の変形が可能である。例えば、上記では、通信手段としてアンテナを介する電波やコイル間の電磁結合を用いる例を示したが、赤外線などの光を用いて通信を行うようにしてもよい。また、上記では、一次コイル１１と二次コイル２１のそれぞれが１つのコイルから成り、互いの一面を対向させて電磁結合させた例を示しているが、いずれかのコイル又は両方のコイルを複数用いて、互いにコイル間に嵌挿させて複数の面で対向させるようにしてもよい。また、コイルは走行面に平行、すなわち水平に設けることに限らず、垂直に設けるようにしてもよい。また、位置決め手段１５は、一次コイル１１を一方向に直動するだけに限らず、一次コイル１１を２方向に移動して位置決する機能を備えることもがきる。また、自律移動装置２が、その装置本体５に対して二次コイル２１の位置を移動させる駆動装置を備え、自律移動装置２がリトライ信号を受信したときに、自律移動装置２自身がこの駆動装置を用いて、装置本体５の移動を行うことなく、二次コイル２１を移動させるようにしてもよい。自律移動装置２が移動すると共にこの駆動装置を用いて二次コイル２１を移動させるようにしてもよい。   The present invention is not limited to the above-described configuration, and various modifications can be made. For example, in the above description, the radio wave via the antenna or the electromagnetic coupling between the coils is used as the communication means. However, the communication may be performed using light such as infrared rays. In the above description, each of the primary coil 11 and the secondary coil 21 is composed of one coil and electromagnetically coupled with one surface facing each other. It is also possible to use a plurality of surfaces that are fitted between the coils and face each other. Further, the coil is not limited to be provided parallel to the traveling surface, that is, horizontally, but may be provided vertically. Further, the positioning means 15 is not limited to linearly moving the primary coil 11 in one direction, but can also have a function of moving and positioning the primary coil 11 in two directions. In addition, the autonomous mobile device 2 includes a drive device that moves the position of the secondary coil 21 with respect to the device main body 5. When the autonomous mobile device 2 receives a retry signal, the autonomous mobile device 2 itself drives this drive. You may make it move the secondary coil 21 using the apparatus, without moving the apparatus main body 5. FIG. You may make it move the secondary coil 21 using this drive device while the autonomous mobile device 2 moves.

また、非接触給電装置１とともに自律移動装置用給電システムを構成する自律移動装置２は、自律的に移動するための種々の手段を備えることができる。これらは、例えば、所定の移動目標地までの走行経路を生成する経路生成手段、走行領域の地図情報、障害物検出手段、地図上の自己位置を認識する自己位置認識手段等である。制御手段２０は、これらの手段を用いて自己位置を認識しつつ障害物を回避しながら走行手段５０を制御して走行経路に沿って装置本体５を移動させる。なお、自律移動装置２は、少なくとも、非接触給電装置２の近傍位置から、給電位置まで自律的に移動可能であればよい。すなわち、自律移動装置２は、通常、所定軌道上を走行しており、受電の必要性に応じて、所定軌道を離れて最寄りの給電位置に自律的に移動する、という構成とすることもできる。   Moreover, the autonomous mobile device 2 which constitutes the autonomous mobile device power supply system together with the non-contact power supply device 1 can include various means for autonomously moving. These are, for example, route generation means for generating a travel route to a predetermined movement target location, map information on the travel area, obstacle detection means, self-position recognition means for recognizing the self-position on the map, and the like. The control means 20 moves the apparatus main body 5 along the traveling route by controlling the traveling means 50 while recognizing its own position and avoiding an obstacle using these means. In addition, the autonomous mobile device 2 should just be able to move autonomously from the position near the non-contact power feeding device 2 to the power feeding position. That is, the autonomous mobile device 2 is normally traveling on a predetermined track, and can autonomously move to the nearest power feeding position by leaving the predetermined track according to the necessity of power reception. .

本発明の一実施形態に係る非接触給電装置と同給電装置によって給電される自律移動装置のブロック構成図。The block block diagram of the autonomous mobile device electrically fed by the non-contact electric power feeder which concerns on one Embodiment of this invention, and the electric power feeder. （ａ）は同上非接触給電装置の給電可能な状態における斜視図、（ｂ）は同非接触給電装置の非給電状体における斜視図。(A) is a perspective view in the state which can supply electric power of a non-contact electric power feeder same as the above, (b) is a perspective view in the non-electric power supply body of the non-contact electric power feeder. （ａ）は同上非接触給電装置によって給電される自律移動装置の外形側面図、（ｂ）は（ａ）のＡ部拡大図。(A) is an external side view of the autonomous mobile device fed by the contactless power feeding device, and (b) is an enlarged view of part A of (a). （ａ）は同上非接触給電装置に自律移動装置が接近した状態を示す一部破断側面図、（ｂ）は同上非接触給電装置が自律移動装置に給電する際の動作を説明する一部破断側面図。(A) is a partially broken side view showing a state in which the autonomous mobile device approaches the non-contact power feeding device, and (b) is a partially broken view for explaining the operation when the non-contact power feeding device supplies power to the autonomous mobile device. Side view. 同上非接触給電装置の有する一次コイルと自律移動装置の有する二次コイルの相対位置と給電効率の関係を説明するグラフ。The graph explaining the relationship between the relative position of the primary coil which a non-contact electric power feeder same as the above and the secondary coil which an autonomous mobile device has, and electric power feeding efficiency. 同上非接触給電装置が行う給電処理のフローチャート。The flowchart of the electric power feeding process which a non-contact electric power feeder same as the above performs. 本発明の他の実施形態に係る非接触給電装置と同給電装置によって給電される自律移動装置のブロック構成図。The block block diagram of the autonomous mobile device electrically fed by the non-contact electric power feeder which concerns on other embodiment of this invention, and the electric power feeder.

符号の説明Explanation of symbols

１ 非接触給電装置
２ 自律移動装置
１１ 一次コイル
１２ 通信手段
１３ 給電状態取得手段
１４ 給電効率取得手段
１５ 位置決め手段
１６ リトライ指示手段
２０ 制御手段
２１ 二次コイル
２１ｂ バッテリ
２２ 通信手段
５０ 走行手段 DESCRIPTION OF SYMBOLS 1 Non-contact electric power feeder 2 Autonomous mobile device 11 Primary coil 12 Communication means 13 Power supply state acquisition means 14 Power supply efficiency acquisition means 15 Positioning means 16 Retry instruction means 20 Control means 21 Secondary coil 21b Battery 22 Communication means 50 Traveling means

Claims (4)

移動体側の二次コイルに電磁結合する一次コイルを固定側に有し、前記一次コイル側から二次コイル側に給電を行う非接触給電装置であって、
二次コイル側の受電状態を取得する通信手段と、
一次コイル側の給電状態を取得する給電状態取得手段と、
前記給電状態取得手段によって得られた一次コイル側の給電状態及び前記通信手段によって得られた二次コイル側の受電状態から給電効率を取得する給電効率取得手段と、
前記給電効率取得手段によって得られる給電効率が、一次コイルを一方向にのみ動かしたときの最大値となるように一次コイルの位置を移動させる位置決め手段と、
前記位置決め手段を動作させて得た最大の給電効率が所定の値以下のときに、前記通信手段を介して移動体側に、あらためて一次コイルの位置決め動作を行わせるためのリトライ信号を送信するリトライ指示手段と、を備えたことを特徴とする非接触給電装置。 A non-contact power feeding device that has a primary coil that is electromagnetically coupled to a secondary coil on the moving body side on a fixed side and that feeds power from the primary coil side to the secondary coil side,
A communication means for acquiring a power reception state on the secondary coil side;
Power supply state acquisition means for acquiring the power supply state of the primary coil side;
Power supply efficiency acquisition means for acquiring power supply efficiency from the power supply state on the primary coil side obtained by the power supply state acquisition means and the power reception state on the secondary coil side obtained by the communication means;
The power supply efficiency is that power supply efficiency obtained by the acquisition means, a positioning means for moving the maximum value so as to position the primary coil when moving the primary coil in one direction only,
Retry instruction for transmitting a retry signal for performing the positioning operation of the primary coil again to the moving body side via the communication means when the maximum power supply efficiency obtained by operating the positioning means is not more than a predetermined value. non-contact power feeding device characterized by comprising: a means. 前記通信手段は、一次コイルと二次コイルとの電磁結合を利用して通信することを特徴とする請求項１に記載の非接触給電装置。   The non-contact power feeding apparatus according to claim 1, wherein the communication unit performs communication using electromagnetic coupling between a primary coil and a secondary coil. 前記位置決め手段は、前記給電効率が所定変化幅よりも変化したときに、その給電効率が最大になるように再度一次コイルの位置を移動させることを特徴とする請求項１又は請求項２に記載の非接触給電装置。   3. The positioning device according to claim 1, wherein when the power supply efficiency changes from a predetermined change width, the positioning unit moves the position of the primary coil again so that the power supply efficiency is maximized. 4. Non-contact power feeding device. 請求項３に記載の非接触給電装置と、前記非接触給電装置の周辺に設定された給電位置まで自律的に走行し停止して当該非接触給電装置から電力を受電してその電力により自律的に移動する移動体である自律移動装置と、を備えた自律移動装置用給電システムにおいて、
前記自律移動装置は、走行するための走行手段と、前記走行手段を制御する制御手段と、当該自律移動装置に搭載された機器を駆動させる電力を蓄えるバッテリと、前記非接触給電装置の一次コイルに電磁結合して前記バッテリに蓄える電力を当該一次コイル側から受電する二次コイルと、前記非接触給電装置と通信を行う通信手段と、を備え、前記通信手段が前記非接触給電装置から前記リトライ信号を受信したときに、前記制御手段は前記走行手段を制御して前記給電位置への接近と停止をやり直す位置決め動作を行うことを特徴とする自律移動装置用給電システム。 The contactless power supply device according to claim 3 , and autonomously travels to a power supply position set around the contactless power supply device, stops, receives power from the contactless power supply device, and autonomously by the power An autonomous mobile device power supply system comprising an autonomous mobile device that is a moving body that moves to
The autonomous mobile device includes a travel unit for traveling, a control unit for controlling the travel unit, a battery for storing electric power for driving a device mounted on the autonomous mobile device, and a primary coil of the non-contact power feeding device. A secondary coil that receives the electric power that is electromagnetically coupled and stored in the battery from the primary coil side, and a communication unit that communicates with the non-contact power supply device, the communication unit from the non-contact power supply device When receiving a retry signal, the control means controls the running means to perform a positioning operation for re-approaching and stopping the power supply position.
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