JP7033396B2 - Crane hook power supply system and crane hook power supply method - Google Patents

Description

The present invention relates to a power supply system for a crane hook portion and a power supply method for the crane hook portion.

When performing construction in areas where it is difficult for people to enter, such as decommissioning work, remotely controllable construction machines (crane, dump truck, excavator car, etc.) are used. For remote control, a camera and lighting to check the work status are indispensable, but it may be difficult to supply power by wire depending on the installation location. FIG. 5 is a diagram showing a case where a working condition by a crane is confirmed by using a camera and lighting. As shown in FIG. 5, in a crane for lifting a suspended load, for example, for lifting, in order to confirm the detailed work status of the suspended load, a power receiving device such as a camera or lighting is attached to the crane hook portion 3 (crane hook portion). 2 is installed.

In this case, the following method is assumed as the power supply to the power receiving device 2 such as a camera and lighting.
(1) Power is supplied by wire from the battery of the crane body.
(2) Power is supplied by incorporating a battery in the camera and lighting.
(3) Built-in battery in camera and lighting to supply wireless power.
When the method (1) is used, it is necessary to route the power supply wiring from the battery of the crane body to the hook portion, but there is a problem that the power supply wiring of the hook wire portion is entangled when the hook is wound up.
When the method (2) is used, it is necessary to replace the battery on a regular basis, and there is a problem that the work labor increases especially in an area where it is difficult for people to enter.

As a means for solving the problems (1) and (2), a system (wireless power transmission system) in which a battery with a built-in camera or lighting is periodically wirelessly charged by the wireless power supply technology which is the method of (3) can be considered. .. FIG. 6 is a diagram showing a configuration example of a wireless power transmission system. As shown in FIG. 6, a power transmission device 1b is installed near the tip of the jib 4 to charge the battery of the camera and lighting which is the power receiving device 2 when the crane is wound up. In this case, the distance between the power transmitting and receiving devices is about several tens of centimeters to several meters, and a magnetic field resonance method (also referred to as a magnetic field resonance method or the like) is generally adopted as the wireless power feeding method.

However, in the magnetic field resonance method, the power transmission efficiency is significantly lowered depending on the relative positional relationship between the power transmitting device 1b and the power receiving device 2, so that sufficient power cannot be supplied depending on the boom (jib) angle during work. There is a problem. FIG. 7 is a diagram for explaining a problem when the magnetic field resonance method is used. As shown in FIG. 7 (a), when the wireless power transmission system is designed to supply power in the front direction of the power transmission device 1c, the angle of the boom (jib) with respect to the ground changes as shown in FIG. 7 (b). There is a possibility that the battery of the power receiving device 2 will run out because sufficient power cannot be supplied to the power receiving device 2.

As a prior art, for example, in a system for electrically connecting and charging a camera, lighting, etc. when hoisting a crane, such as a power feeding system for a crane hook described in Patent Document 1, physical feeding electrodes are used. Although there is a system for proper alignment, it is expected that the electrodes will become dirty or rusted, so regular maintenance will be required. Further, in the power feeding system of the crane hook portion described in Patent Document 1, it is not possible to realize highly efficient power transmission in an arbitrary positional relationship between the power transmitting device and the power receiving device.

Japanese Unexamined Patent Publication No. 2014-237502

The present invention has been made in consideration of the above circumstances, and is a power supply system for a crane hook portion and a crane hook portion capable of realizing highly efficient power transmission in an arbitrary positional relationship between a power transmitting device and a power receiving device. The purpose is to provide a power feeding method.

In order to solve the above problems, one aspect of the present invention comprises an AC power supply having a plurality of transmission-side reactance circuits including a coil and a variable reactance circuit, and supplying power to each transmission-side reactance circuit via a first variable reactance circuit. It has a plurality of power receiving side resonance circuits including a power transmission device provided in the jib of the crane and a coil and a variable reactance circuit, and has a load circuit connected to each of the power receiving side reactance circuits via a second variable reactance circuit. , A power receiving device provided on the crane hook portion of the crane, and power from the AC power supply to the load circuit by a magnetic field resonance method in which the plurality of transmitting side reactance circuits and the plurality of receiving side reactance circuits are resonantly coupled. It is a power supply system of a crane hook unit that wirelessly transmits the above, and further, a position information acquisition unit that acquires the position information of the power receiving device, each of the variable reactance circuits, the first variable reactance circuit, and the second variable reactance circuit. Each reactance of each of the self-inductances of the coils and each of the coils obtained when the reactance of the above and the power receiving device are arranged in a positional relationship based on the position information acquired by the position information acquisition unit. The position information so as to have each value determined based on the transmission efficiency of the power calculated by using the circuit equation representing the transmission device and the power receiving device with the mutual reactance as a constant and each reactance as a variable. The power receiving device includes a control unit that controls each reactance based on the position information acquired by the acquisition unit , the power receiving device has a sensor that detects the position information, and the detected position information is acquired. It is a power supply system of the crane hook part that outputs to the part.

Further, one aspect of the present invention is the power feeding system of the crane hook portion, and the corresponding relationship between the position information and each reactance of the variable reactance circuit, the first variable reactance circuit, and the second variable reactance circuit. The control unit further includes a database including information representing the above , and the control unit controls each reactance based on the position information acquired by the position information acquisition unit with reference to the database.

Further, one aspect of the present invention is the power feeding system of the crane hook portion, and the corresponding relationship between the position information and each reactance of the variable reactance circuit, the first variable reactance circuit, and the second variable reactance circuit. Further comprising a database including information representing the above, the sensor detects information representing the coordinates of the power receiving device among the position information, and the power receiving device displays the detected information representing the coordinates at the position. It is output to the information acquisition unit, and the control unit has a plurality of positions corresponding to the information indicating the axial direction of the coil of the power receiving device in the position information before wirelessly transmitting the power from the AC power supply to the load circuit. , The reactances provided in the variable reactance circuit, the first variable reactance circuit, and the second variable reactance circuit are switched to measure the transmission efficiency of the electric power, and each reactance at which the transmission efficiency of the electric power is maximized is determined. Select and output information indicating the axial direction of the coil of the power receiving device corresponding to the selection result to the position information acquisition unit, and the control unit refers to the database and the position information acquisition unit has acquired the above. Each of the reactances selected based on the position information is controlled.

Further, one aspect of the present invention is a crane having a plurality of transmission-side reactance circuits including a coil and a variable reactance circuit, and having an AC power supply for supplying power to each transmission-side reactance circuit via a first variable reactance circuit. A crane of a crane having a power transmission device provided in a jib, a plurality of power receiving side resonance circuits including a coil and a variable reactance circuit, and a load circuit connected to each power receiving side reactance circuit via a second variable reactance circuit. The AC power supply is a magnetic field resonance method in which the plurality of transmission side reactance circuits and the plurality of power receiving side reactance circuits are resonantly coupled by using a power receiving device provided on the hook unit, a position information acquisition unit, and a control unit. It is a power supply method of a crane hook portion that wirelessly transmits power from Each reactance of the 1 variable reactance circuit and the 2nd variable reactance circuit is obtained when the transmission device and the power receiving device are arranged in a positional relationship based on the position information acquired by the position information acquisition unit. It is determined based on the transmission efficiency of the power calculated by using the circuit equation representing the transmission device and the power receiving device with each self-inductance and each mutual inductance between the coils as a constant and each reactance as a variable. Each reactance is controlled based on the reactance acquired by the position information acquisition unit so as to have each value, and the power receiving device has a sensor for detecting the position information and is detected by the power receiving device. This is a power feeding method for the crane hook unit that outputs the generated position information to the position information acquisition unit .

According to the present invention, highly efficient power transmission can be realized in an arbitrary positional relationship between the power transmitting device and the power receiving device.

It is a schematic diagram for demonstrating the structural example of the Embodiment of this invention. It is a schematic diagram for demonstrating the configuration example of the power transmission device 1, the power receiving device 2, and the control device 5 shown in FIG. It is a schematic diagram for demonstrating the configuration example of the database 53 shown in FIG. It is a circuit diagram for demonstrating the structural example of another Embodiment of this invention. It is a figure which shows the case of confirming the working condition by a crane using a camera and lighting. It is a figure which shows the configuration example of a wireless power transmission system. It is a figure for demonstrating the problem when the magnetic field resonance method is used.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram for explaining a configuration example of an embodiment of the present invention. Further, FIG. 2 is a schematic diagram for explaining a configuration example of the power transmission device 1, the power receiving device 2, and the control device 5 shown in FIG. Further, FIG. 3 is a schematic diagram for explaining a configuration example of the database 53 shown in FIG.
FIG. 1 schematically shows a configuration example of an embodiment of a power feeding system 10 for a crane hook according to the present invention. The power supply system 10 of the crane hook portion shown in FIG. 1 is a magnetic field resonance type wireless power transmission system, and includes a power transmission device 1, a power receiving device 2, and a control device 5.
The power supply system 10 of the crane hook portion is a wireless power supply system that supplies power (charges the battery) from the power transmission device 1 to the power receiving device 2 including a camera, lighting, and the like when the crane hook portion 3 is wound up. In the power supply system 10 of the crane hook portion, the control device 5 controls the power supply direction from the power transmission device 1, so that high transmission is performed regardless of the angle of the jib 4, as shown in FIGS. 1A and 1B. Provide a wireless power supply system that realizes efficiency.
The power transmission device 1 is fixedly installed on the jib 4 of the crane. Further, the power receiving device 2 is fixedly installed on the crane hook portion 3. Further, the control device 5 is installed at a place corresponding to the driver's seat of the crane. The control device 5 may be arranged not in the driver's seat of the crane but in the office of the management building at the construction site.
Here, FIG. 2 shows an example of a circuit configuration of a wireless power feeding system (magnetic field resonance method) in which the feeding direction can be freely determined. Hereinafter, the power transmission device 1, the power reception device 2, and the control device 5 included in the power supply system 10 of the crane hook portion will be described with reference to FIG.

The transmission device 1 has a plurality of resonance circuits (transmission side resonance circuits) 31 and 32 including a coil (inductor) and a variable reactance circuit, and is an AC voltage source 301 (AC power supply) that supplies power to the resonance circuits 31 and 32. It has a resistor (register) 302, a variable reactance circuit (first variable reactance circuit) 303, and a control unit 17. Here, the AC voltage source 301 is an ideal voltage source having zero internal resistance, and the resistance 302 corresponds to the internal resistance of the actual voltage source. In the present application, the reactance circuit is a circuit composed of a capacitor having a capacitive reactance and a coil having an inductive reactance. Further, the variable reactance circuit is a reactance circuit capable of variably controlling the reactance. For example, each variable reactance circuit can be configured with one variable capacitor each. Further, the resonance frequency of the resonance circuit including the coil and the variable reactance circuit is a frequency at which the inductive reactance and the capacitive reactance of the resonance circuit become equal when the reactance of the variable reactance circuit is controlled to a predetermined predetermined value.
The resonant circuit 31 has a variable reactance circuit 304 and a coil 305 connected in series. The resonant circuit 32 has a variable reactance circuit 306 and a coil 307 connected in series.
The coils 305 and 307 are arranged so that the axial direction is a constant direction. Further, the power transmission device 1 has a variable reactance circuit 303, and supplies electric power from the AC voltage source 301 to the resonance circuits 31 and 32 via the variable reactance circuit 303. The output frequency of the AC voltage source 301 and the resonance frequency of the resonance circuits 31 and 32 are the same.

In the power transmission device 1, one of the outputs of the AC voltage source 301 is grounded and the other is connected to one end of the resistor 302. The other end of the resistor 302 is connected to one end of the variable reactance circuit 303. The other end of the variable reactance circuit 303 is connected to each end of the variable reactance circuit 304 and the variable reactance circuit 306. The other end of the variable reactance circuit 304 is connected to one end of the coil 305. The other end of the variable reactance circuit 306 is connected to one end of the coil 307. The other ends of the coil 305 and the coil 307 are grounded.

When the variable reactance circuits 304, 306 and 303 are configured by using a variable capacitor, for example, a control unit 17 such as a MEMS (Micro Electro Mechanical System) variable capacitance element, a combination of a moving part and a trimmer capacitor, etc. is electrically static. It can be configured by using an element having a variable capacitance. Further, in the variable reactance circuits 304, 306 and 303, for example, when a variable inductor is used, a control unit 17 can electrically change the inductance, such as a combination of a movable part and a ferrite coil. Can be configured. The control unit 17 controls the reactances of the variable reactance circuits 304, 306 and 303 based on the reactance control control signal received from the control device 5. The power transmission device 1 receives a control signal for controlling the reactance of the variable reactance circuits 304, 306 and 303 from the control device 5 by using, for example, a wireless LAN (local area network) or the like.

On the other hand, the power receiving device 2 has a plurality of resonance circuits (power receiving side resonance circuits) 41 and 42 including a coil and a variable reactance circuit, and also has a variable reactance circuit (second variable reactance circuit) 405, a resistance 406, and a control unit. 23 and.
The resonant circuit 41 has a variable reactance circuit 401 and a coil 402 connected in series. The resonant circuit 42 has a variable reactance circuit 403 and a coil 404 connected in series.
The coils 402 and 404 are arranged so that the axial direction is a constant direction. Further, the power receiving device 2 has a variable reactance circuit 405, and supplies electric power from the resonance circuits 31 and 32 to the resistance 406 via the variable reactance circuit 405.
In the power receiving device 2, one end of the coil 402 is connected to one end of the variable reactance circuit 401, and the other end is grounded. One end of the coil 404 is connected to one end of the variable reactance circuit 403, and the other end is grounded. The other ends of the variable reactance circuit 401 and the variable reactance circuit 403 are connected to one end of the variable reactance circuit 405. The other end of the variable reactance circuit 405 is connected to one end of the resistance 406. The other end of the resistor 406 is grounded.
Here, the resistor 406 is a device (load circuit) such as a lighting or a camera shown in FIG. 1, and may be a single light bulb, a rectifier circuit, a voltage conversion circuit, a storage battery, or other electric / electronic circuit. Etc. may be included. Further, the power receiving device 2 may include an input / output device, a position acquisition device, and a communication device (not shown). The power receiving device 2 may be mounted on or built in, for example, a mobile terminal such as a smartphone or a tablet PC, an electric vehicle, or the like. Further, the control unit 23 may be configured as one function provided by a controller (computer) included in a mobile terminal, an electric vehicle, or the like.

The variable reactance circuits 401, 403 and 405 may be configured by using, for example, an element capable of electrically changing the reactance by the control unit 23, similarly to the variable reactance circuits 304, 306 and 303 in the power transmission device 1. can. The control unit 23 controls the reactance of the variable reactance circuits 401, 403 and 405 based on the reactance control control signal received from the control device 5. Further, the control unit 23 provides the position information of the power receiving device 2 to the control device 5. The power receiving device 2 and the control device 5 transmit and receive control signals and position information for controlling the reactance of the variable reactance circuits 401, 403 and 405 by using, for example, a wireless LAN (local area network) or the like. The control unit 23 acquires the position information of the power receiving device 2 by using, for example, an indoor GPS (Global Positioning System) or a beacon receiver of the power receiving device 2 (not shown), or shows a diagram for the user's power receiving device 2. It is possible to determine the position information based on a predetermined input operation for a non-existing input unit.

The position information can be defined, for example, by the coordinates of the three-dimensional (or two-dimensional) power receiving device 2 and the axial direction of the coil 402 included in the resonant circuit 41 and the coil 404 included in the resonant circuit 42. However, the information indicating the axial direction of the coils 402 and 404 (direction of the power receiving device 2) does not necessarily have to be included in the position information. For example, when the orientation of the power receiving device 2 at the time of receiving power is fixed, that is, when the axial directions of the coils 402 and 404 are constant, for example, in the vertical direction, or when the orientation is fixed at a constant inclination angle. The position information can be composed of coordinate information. The axial direction of the coils 402 and 404 can be detected by using, for example, a geomagnetic sensor, an acceleration sensor, an inclination angle sensor, or the like (not shown) included in the power receiving device 2.
That is, in the present embodiment, the power receiving device 2 has a sensor that detects position information (information representing the coordinates of the power receiving device 2 and information indicating the axial direction of the coil of the power receiving device 2), and the detected position information. Is output to the control device 5 (position information acquisition unit 52).

The power supply system 10 of the crane hook portion of the present embodiment is an alternating current by resonantly coupling a plurality of resonance circuits 31 and 32 on the transmission side with resonance circuits 41 and 42 on the power reception side by the above-mentioned power transmission device 1 and power reception device 2. Power is wirelessly transmitted from the voltage source 301 to the resistor 406.

On the other hand, the control device 5 is a computer and has a central processing unit, a storage device, a communication device, an input / output device, and the like. The control device 5 controls each device by executing a predetermined program stored in the storage device, for example, to provide the next function. That is, in the present embodiment, the control device 5 functions as the control unit 51 and the position information acquisition unit 52, and stores and manages the database 53 in the storage device.

The control unit 51 controls each reactance of each variable reactance circuit of the power transmission device 1 and the power receiving device 2 based on the position information of the power receiving device 2 acquired by the position information acquisition unit 52 with reference to the database 53. The control unit 51, for example, has a power transmission efficiency based on the self-inductance of the coils 305, 307, 402 and 404 acquired in advance in an arbitrary positional relationship between the power transmission device 1 and the power receiving device 2 and the mutual inductance between the coils. The reactances of the variable reactance circuits 304 and 306 and the variable reactance circuits 401 and 403 (or further, the variable reactance circuits 303 and the variable reactance circuit 405) are controlled to the optimized values so as to be highly efficient.

The position information acquisition unit 52 acquires the position information of the power receiving device 2 from the power receiving device 2.

The database 53 includes information representing a correspondence relationship between the position information of the power receiving device 2 and the information for determining each reactance of each variable reactance circuit. The database 53 contains, for example, information representing the correspondence as one or more tables. The information for determining each reactance may be, for example, the value of each reactance corresponding to each position information itself, or the information used when calculating the value of each reactance corresponding to each position information, for example. , Information indicating the value of the self-inductance of each coil and the mutual inductance between each coil may be used. The number of the plurality of position information is, for example, the number corresponding to each division in which the range in which the power receiving device 2 can receive power is divided into certain regions. FIG. 3 is a schematic diagram for explaining a configuration example of the database 53. FIG. 3 is a diagram showing a configuration example of a table included in the database 53, and FIGS. 3A and 3B show different configuration examples. 3 (a) and 3 (b) show a configuration example of a record included in the table included in the database 53.

The record 53R1 shown in FIG. 3A includes a position information field 531 and an inductance information field 532. The position information field 531 stores the same (or corresponding) information as the position information of the power receiving device 2 acquired by the position information acquisition unit 52 from the power receiving device 2. The position information includes, for example, information representing the coordinates of the three-dimensional or two-dimensional power receiving device 2 and information representing the axial direction of the coil 402 included in the resonance circuit 41 and the coil 404 included in the resonance circuit 42.
The inductance information field 532 is the position information when the power receiving device 2 is arranged at the position indicated by the position information stored in the position information field 531. That is, the power transmission device 1 and the power receiving device 2 are stored in the position information field 531. Information representing the self-inductance of the coils 305, 307, 402 and 404 obtained when arranged in the positional relationship based on the above and the mutual inductance between the coils is stored. The self-inductance and the mutual inductance actually measure the self-inductance of the coils 305, 307, 402 and 404 and the mutual inductance between the coils in the positional relationship between the power transmitting device 1 and the power receiving device 2 based on the position information. , Or it can be obtained by calculation processing, or by combining measurement and calculation processing. The control unit 51 refers to the database 53, and each self-inductance of the coils 305, 307, 402, and 404 and each mutual between the coils in the positional relationship based on the position information of the power receiving device 2 stored in the reactance information field 532. Using inductance, the optimum value of each reactance of the variable reactance circuits 304 and 306 and the variable reactance circuits 401 and 403 (or further the variable reactance circuit 303 and the variable reactance circuit 405) is set so that the power transmission efficiency is high. Find and control each reactance. How to obtain each reactance will be described later.

The record 53R2 shown in FIG. 2B includes a position information field 531 and a reactance information field 533. The position information field 531 is the same as the position information field 531 of the record 53R1. The reactance information field 533 uses the self-inductances of the coils 305, 307, 402 and 404 in the positional relationship between the power transmitting device 1 and the power receiving device 2 based on the position information and the mutual inductance between the coils to increase the power transmission efficiency. Variable reactance circuits 304 and 306 and variable reactance circuits 401 and 403 (or even more variable) so that the power transmission efficiency is high, using the mutual inductance between each coil, which was sought to be high efficiency. Information representing the optimum value of each reactance of the reactance circuit 303 and the variable reactance circuit 405) is stored.

In addition to the table shown in FIG. 2, the database 53 can include, for example, a table that stores information representing the output voltage, output frequency and output resistance of the AC voltage source 301, the resistance value of the resistor 406, and the like.

In the above configuration, in the power feeding system 10 of the crane hook portion shown in FIGS. 1 and 2, the power receiving device 2 periodically transmits, for example, the position information of its own device to the control device 5. In the control device 5, the position information acquisition unit 52 receives the position information transmitted by the power receiving device 2. When the position information acquisition unit 52 receives the position information, the control unit 51 uses the position (known) of the power transmission device 1 and the position information transmitted from the power receiving device 2 to maximize the power transmission efficiency of the power transmission device 1 and the control unit 51. The optimum reactance of each variable reactance circuit in the power receiving device 2 is determined by calculation (or by reading from the database 53). Then, the control unit 51 controls the reactance of the variable reactance circuit installed in the power transmission device 1 and the power receiving device 2 based on the determined optimum reactance. As a result, according to the present embodiment, highly efficient wireless power transmission is possible regardless of the positional relationship of the power transmitting / receiving device.

By controlling each reactance of each variable reactance circuit as described above, in the present embodiment, in the magnetic field resonance (resonance) type wireless power transmission system, the reactance is arranged in a specific direction (that is, in an arbitrary positional relationship). Even in the case), for example, high power transmission efficiency can be realized without physically rotating the power transmission device.

The embodiment of the present invention is not limited to the configuration shown in FIG. For example, the resonance circuits 31 and 32 included in the power transmission device 1 are not limited to two, and may be three or more. However, when adjusting the feeding direction three-dimensionally, it is desirable that the number is three or more. Further, the resonance circuits 41 and 42 included in the power receiving device 2 are not limited to two, and may be three or more. Further, when the number of resonance circuits is three or more, it is desirable to provide a variable reactance circuit (second variable reactance circuit) between each resonance circuit and the resistor 406 as described above. When a plurality of resonance circuits are installed in the power receiving device 2, it is possible to further improve the efficiency.

Next, a procedure for determining each reactance of each variable reactance circuit in the embodiment of the present invention will be described.
As shown _in FIG. 2, the output voltage of the AC voltage source 301 is a voltage Vin. The self-inductances of the coils 305, 307, 402 and 404 are the inductances L ₁₁ , L ₂₂ , L ₃₃ and L ₄₄ , respectively. The mutual inductance between coil 305 and coil 307 is inductance L ₁₂ or L ₂₁ . The mutual inductance between the coil 305 and the coil 402 is an inductance L ₁₃ or L ₃₁ . The mutual inductance between coil 305 and coil 404 is inductance L ₁₄ or L ₄₁ . The mutual inductance between the coil 307 and the coil 402 is an inductance L ₂₃ or L ₃₂ . The mutual inductance between coil 307 and coil 404 is inductance L ₂₄ or L ₄₂ . The mutual inductance between the coil 402 and the coil 404 is an inductance L ₃₄ or L ₄₃ . The resistance value (resistance) of the resistance 302 (the internal resistance of the actual AC voltage source) is the resistance value _R0 . The resistance value of the resistor 406 is the resistance value _RL .

Further, it is assumed that the reactances of the variable reactance circuits 303, 304, 306, 401, 403 and 405 are reactances X ₀ , X ₁ , X ₂ , X ₃ , X ₄ and X ₅ , respectively. The currents flowing through the resistance 302, the variable reactance circuit 304, the variable reactance circuit 306, the variable reactance circuit 401, the variable reactance circuit 403 and the resistance 406 are currents i ₀ , i ₁ , i ₂ , i ₃ , i ₄ and i ₅ , respectively. And. The terminal voltage of the series circuit of the AC voltage source 301 and the resistance 302 (that is, the output circuit of the actual AC voltage source), the coil 305, the coil 307, the coil 402, the coil 404, and the resistance 406 are the voltages V ₀ , V ₁ , respectively. It is assumed that they are V ₂ , V ₃ , V ₄ and V ₅ . The voltage V ₅ is the output voltage V _out of the power supply system 10 of the crane hook portion.

The circuit showing the power supply system 10 (power transmission device 1 and power reception device 2) of the crane hook portion shown in FIG. 2 can be represented by the following circuit equation. The following circuit equation represents a steady-state sinusoidal AC circuit with currents i ₀ , i ₁ , i ₂ , i ₃ , i ₄ and i ₅ and voltages V ₀ , V ₁ , V ₂ , V ₃ , V ₄ and V ₅ are represented by facers, and circuit elements are represented by complex impedance.

Here, ω is the angular frequency of the output of the AC voltage source 301, and j is an imaginary unit.

In the present embodiment, when determining each reactance of each variable reactance circuit using the above circuit equation, the self-inductances L ₁₁ and L are set in a plurality of positional relationships between the power transmission device 1 and the power receiving device 2 prior to the determination. Measured or calculated the mutual inductance L ₁₂ or L ₂₁ , L ₁₃ or L ₃₁ , L ₁₄ or L ₄₁ , L ₂₃ or L ₃₂ , L ₂₄ or L ₄₂ , L ₃₄ or L ₄₃ with ₂₂ , L ₃₃ and L ₄₄ . Get by. In addition, the resistance values R ₀ and _RL are also acquired by actual measurement or calculation. Further, the voltage _Vin is set to a predetermined value. In this case, voltage V _in , inductance L ₁₁ , L ₂₂ , L ₃₃ and L ₄₄ , L ₁₂ or L ₂₁ , L ₁₃ or L ₃₁ , L ₁₄ or L ₄₁ , L ₂₃ or L ₃₂ , L ₂₄ or L ₄₂ , L ₃₄ or L ₄₃ , resistance value R ₀ (internal resistance of the actual AC voltage source), and resistance value _RL are known values (ie, constants). On the other hand, the reactances X ₀ , X ₁ , X ₂ , X ₃ , X ₄ and X ₅ of the variable reactance circuits 303, 304, 306, 401, 403 and 405 are undetermined values (that is, variables).

Then, each reactance of each variable reactance circuit is determined so that the power transmission efficiency η shown below is maximized.

Here, PL is the electric power supplied to the resistor 406, and _Pin is the electric power output from the AC voltage source ₃₀₁ , which is expressed as follows.

Here, the function Re is a function that returns the real part, and the function conj is a function that returns the conjugate complex number. Further, V ₀ , i ₀ , V ₅ and i ₅ in the equation are calculated by solving the above circuit equation.

For the value of each reactance of each variable reactance circuit in which the power transmission efficiency η is maximum (or high efficiency above a certain level), for example, the power transmission efficiency η is calculated multiple times by changing each reactance within a certain range. It can be determined by selecting the combination of each reactance in which the power transmission efficiency η is the maximum (or high efficiency above a certain level) among the plurality of calculated power transmission efficiency ηs. When the maximum (or high efficiency above a certain level) power transmission efficiency η is calculated by combining a plurality of combinations, for example, the Q value (Quality factor) of the resonant circuit, the coupling coefficient k, and the like are taken into consideration. You can select either combination.

As described with reference to FIG. 3A, when the database 53 includes information that associates the position information with the inductance information, when the control unit 51 receives the position information from the power receiving device 2, the position information is included in the position information. The corresponding inductance information is acquired from the database 53. Next, the control unit 51 uses the above circuit equation to change each self-inductance of each coil and each mutual inductance between the coils as constants and each reactance of each variable reactance circuit as a variable within a certain range. The power transmission efficiency η is calculated multiple times. Next, the control unit 51 is based on the calculated power transmission efficiency ηs, for example, reactances X ₀ , X ₁ , X ₂ , X ₃ , X ₄ and X ₅ when the power transmission efficiency η is maximized. Determine the value as a control target. Next, the control unit 51 transmits a predetermined control signal to the power transmission device 1 and the power receiving device 2 with each determined value as a control target, and reactance X of the variable reactance circuits 303, 304, 306, 401, 403 and 405. It controls ₀ , X ₁ , X ₂ , X ₃ , X ₄ and X ₅ .

On the other hand, as described with reference to FIG. 3B, when the database 53 includes information that associates the position information with the reactance information, the power transmission efficiency η is as described above in a plurality of positional relationships. The reactances X ₀ , X ₁ , X ₂ , X ₃ , X ₄ and X ₅ are calculated in advance based on the above, and the calculation results are registered in the database 53. In this case, when the control unit 51 receives the position information from the power receiving device 2, the control unit 51 acquires the reactance values X ₀ , X ₁ , X ₂ , X ₃ , X ₄ and X ₅ corresponding to the position information from the database 53. do. Next, the control unit 51 transmits a predetermined control signal to the power transmission device 1 and the power receiving device 2 with each acquired value as a control target, and reactance X of the variable reactance circuits 303, 304, 306, 401, 403 and 405. It controls ₀ , X ₁ , X ₂ , X ₃ , X ₄ and X ₅ .

As described above, according to the present embodiment, highly efficient wireless power transfer can be realized regardless of the positional relationship between power transmission and reception.

FIG. 4 is a circuit diagram for explaining a configuration example of another embodiment of the present invention. FIG. 4 shows a power transmission device 1a and a power reception device 2a in the power supply system 10a of the crane hook portion when the configuration of the power supply system 10 of the crane hook portion shown in FIGS. 1 and 2 is partially changed.
The power transmission device 1a shown in FIG. 4 is different from the power transmission device 1 shown in FIG. Variable reactance circuits 303-1, 304-1 and 306-1), power transmission side phase adjustment circuit-2 (variable reactance circuits 303-2, 304-2 and 306-2), ..., Power transmission side phase adjustment circuit-n ( It has variable reactance circuits 303-n, 304-n and 306-n).
On the other hand, the power receiving device 2a is different from the power receiving device 2 shown in FIG. Circuits 401-1, 403-1 and 405-1), Transmission side phase adjustment circuit-2 (variable reactance circuits 401-2, 4032 and 405-2), ..., Transmission side phase adjustment circuit-n (variable reactance) It has circuits 401-n, 403-n and 405-n).
That is, in the present embodiment, the power supply system 10a of the crane hook portion has n phase adjustment circuits, and by switching the phase adjustment circuits of the power transmission device 1a and the power reception device 2a according to the direction of power supply. Control the feeding direction.
For the sake of simplicity, a case where power is supplied in three types of power supply directions (n = 3) will be described. The three types of feeding directions are the front direction, the direction tilted by 30 degrees, and the direction tilted by 60 degrees.
The reactances X _0-1 to X _5-1 of the power transmission side phase adjustment circuit-1 and the power reception side phase adjustment circuit-1 are in the case where the power reception device 2a is in the front direction of the power transmission device 1a (the axial direction of the coils 305 and 307 and the coil). It is optimized by the control method used in the power supply system 10 of the crane hook portion so that the maximum efficiency can be obtained (when the axial directions of 402 and 404 are 0 degrees).
Further, the reactances X _0-2 to X _5-2 of the power transmission side phase adjustment circuit-2 and the power reception side phase adjustment circuit-2 are in the direction in which the power reception device 2a is tilted by 30 degrees from the front direction of the power transmission device 1a (coil). It is optimized by the control method used in the power supply system 10 of the crane hook portion so that the maximum efficiency can be obtained (when the axial direction of 305 and 307 and the axial direction of the coils 402 and 404 are tilted by 30 degrees).
Further, the reactances X _0-3 to X _5-3 of the power transmission side phase adjustment circuit-3 and the power reception side phase adjustment circuit-3 are in the direction in which the power reception device 2a is tilted 60 degrees from the front direction of the power transmission device 1a (coil). It is optimized by the control method used in the power supply system 10 of the crane hook portion so that the maximum efficiency can be obtained (when the axial directions of 305 and 307 and the axial directions of the coils 402 and 404 are tilted by 60 degrees).
In this way, it is possible to control the feeding direction by switching a total of six switches (the power transmitting device 1a and the power receiving device 2a) in the circuit according to the direction of the power receiving device 2a. Further, by increasing the number n of the phase adjusting circuits, highly efficient power supply can be performed in any direction.
That is, in the power supply system 10a of the crane hook portion, the power receiving device 2a has a sensor that detects information representing the coordinates of the power receiving device 2a among the position information, and the information representing the detected coordinates is transmitted to the position information acquisition unit 52. Output. Further, before wirelessly transmitting the power from the AC voltage source 301 to the resistance 406 (load circuit), the control unit 51 has n (plurality) of position information corresponding to the information indicating the axial direction of the coil of the power receiving device 2a. , Variable reactance circuits 304 and 306, variable reactance circuits 401 and 403 (each variable reactance circuit), variable reactance circuit 303 (first variable reactance circuit) and variable reactance circuit 405 (second variable reactance circuit). The reactances are switched to measure the power transmission efficiency, each reactance that maximizes the power transmission efficiency is selected, and the information indicating the axial direction of the coil of the power receiving device 2a corresponding to the selection result is obtained by the position information acquisition unit 52. Output to. Further, the control unit 51 controls each reactance selected based on the position information acquired by the position information acquisition unit 52 with reference to the database 53.
As described above, according to the present embodiment, high-efficiency wireless power transfer can be realized regardless of the positional relationship between power transmission and reception, similar to the power supply system 10 of the crane hook portion.

As described above, according to each embodiment of the present invention, highly efficient power transmission can be realized in an arbitrary positional relationship between the power transmitting device and the power receiving device. Further, according to each embodiment of the present invention, it is possible to eliminate elements that require physical movement, so that highly efficient power transmission can always be realized. Further, even when the positional relationship of the power transmitting / receiving device is continuously changed, highly efficient power transmission can be realized, and the size and cost of the device can be prevented. Further, in the magnetic field resonance type wireless power supply, high transmission efficiency can be realized by controlling the power feeding direction while preventing the device from becoming large and complicated.

The control device 5 in the above-described embodiment may be realized by a computer. In that case, a program for realizing this function may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be read by a computer system and executed. The term "computer system" as used herein includes hardware such as an OS and peripheral devices. Further, the "computer-readable recording medium" refers to a portable medium such as a flexible disk, a magneto-optical disk, a ROM, or a CD-ROM, and a storage device such as a hard disk built in a computer system. Further, a "computer-readable recording medium" is a communication line for transmitting a program via a network such as the Internet or a communication line such as a telephone line, and dynamically holds the program for a short period of time. It may also include a program that holds a program for a certain period of time, such as a volatile memory inside a computer system that is a server or a client in that case. Further, the above program may be for realizing a part of the above-mentioned functions, and may be further realized for realizing the above-mentioned functions in combination with a program already recorded in the computer system. It may be realized by using a programmable logic device such as FPGA (Field Programmable Gate Array).

Although the embodiments of the present invention have been described in detail with reference to the drawings, the specific configuration is not limited to the above, and various design changes and the like can be made without departing from the gist of the present invention. It is possible to do. For example, each variable reactance circuit and each coil may have a configuration in which a plurality of variable reactance circuits and a plurality of coils are connected in parallel or in series.

1, 1a, 1b, 1c Transmission device 2, 2a Power receiving device 3 Crane hook part 4 Jib 5 Control device 10, 10a Crane hook part power supply system 31, 32, 41, 42 Resonant circuit 303, 304, 306, 401, 403 , 405 Variable reactance circuit 51 Control unit 52 Position information acquisition unit 53 Database 305, 307, 402, 404 Crane 301 AC voltage source 302, 406 Resistance

Claims (4)

A power transmission device provided in the jib of a crane, which has a plurality of power transmission side resonance circuits composed of a coil and a variable reactance circuit, and has an AC power supply for supplying power to each power transmission side resonance circuit via a first variable reactance circuit.
A power receiving device provided in a crane hook portion of a crane having a plurality of power receiving side resonant circuits composed of a coil and a variable reactance circuit, and having a load circuit connected to each of the receiving side resonant circuits via a second variable reactance circuit. ,
Equipped with
It is a power supply system of a crane hook portion that wirelessly transmits power from the AC power supply to the load circuit by a magnetic field resonance method in which the plurality of transmission side resonance circuits and the plurality of power receiving side resonance circuits are resonantly coupled.
Moreover,
A position information acquisition unit that acquires the position information of the power receiving device, and
Each reactance of the variable reactance circuit, the first variable reactance circuit, and the second variable reactance circuit arranges the transmission device and the power receiving device in a positional relationship based on the position information acquired by the position information acquisition unit. The self-inductance of each coil and each mutual inductance between the coils obtained in the above case are set as constants, and the reactance is used as a variable. A control unit that controls each reactance based on the position information acquired by the position information acquisition unit so as to have each value determined based on the power transmission efficiency.
Equipped with
The power receiving device has a sensor that detects the position information, and outputs the detected position information to the position information acquisition unit.
Power supply system for crane hooks. A database containing information showing the correspondence between the position information and each reactance of the variable reactance circuit, the first variable reactance circuit, and the second variable reactance circuit.
Further prepare
The power supply system for a crane hook according to claim 1, wherein the control unit controls each reactance based on the position information acquired by the position information acquisition unit with reference to the database. A database containing information showing the correspondence between the position information and each reactance of the variable reactance circuit, the first variable reactance circuit, and the second variable reactance circuit.
Further prepare
The sensor detects the information representing the coordinates of the power receiving device among the position information, and detects the information.
The power receiving device outputs the detected information representing the coordinates to the position information acquisition unit.
Before wirelessly transmitting power from the AC power supply to the load circuit, the control unit has a plurality of the variable reactance circuits, corresponding to the information indicating the axial direction of the coil of the power receiving device in the position information. The reactances provided in the first variable reactance circuit and the second variable reactance circuit are switched to measure the transmission efficiency of the power, and each reactance that maximizes the transmission efficiency of the power is selected to correspond to the selection result. Information indicating the axial direction of the coil of the power receiving device is output to the position information acquisition unit.
The power supply system for a crane hook according to claim 1, wherein the control unit controls each reactance selected based on the position information acquired by the position information acquisition unit with reference to the database. A power transmission device provided in the jib of a crane, which has a plurality of power transmission side resonance circuits composed of a coil and a variable reactance circuit, and has an AC power supply for supplying power to each power transmission side resonance circuit via a first variable reactance circuit.
A power receiving device provided in a crane hook portion of a crane, which has a plurality of power receiving side resonant circuits composed of a coil and a variable reactance circuit, and has a load circuit connected to each powered reactance circuit via a second variable reactance circuit. ,
Location information acquisition department and
A power supply method for a crane hook unit that wirelessly transmits power from the AC power supply to the load circuit by a magnetic field resonance method in which the plurality of transmission side resonance circuits and the plurality of power receiving side resonance circuits are resonantly coupled using a control unit. And,
The position information acquisition unit acquires the position information of the power receiving device, and obtains the position information.
By the control unit, the reactances of the variable reactance circuit, the first variable reactance circuit, and the second variable reactance circuit are set to the position information acquired by the position information acquisition unit for the transmission device and the power receiving device. Using a circuit equation representing the power transmitting device and the power receiving device, each self-inductance of each coil and each mutual inductance between the coils obtained when arranged in a positional relationship based on the above are constants, and each reactance is a variable. Each reactance is controlled based on the position information acquired by the position information acquisition unit so as to have each value determined based on the power transmission efficiency calculated in the above steps .
The power receiving device has a sensor that detects the position information, and has a sensor.
The position information detected by the power receiving device is output to the position information acquisition unit.
Power supply method for crane hooks.

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