JP7345520B2 - Power supply system, power supply device and power supply method - Google Patents

Description

The present invention relates to a power feeding system, a power feeding device, and a power feeding method.

Cordless power transfer systems that supply power using radio waves have been proposed so far (for example, Patent Document 1). In Patent Document 1, a power carrier terminal transmits default power to an electrical appliance using radio waves with good diffraction property, and the electrical equipment transmits its own unique data and requested power intensity data to the power carrier terminal using radio waves with good diffraction property. A point in response to this is disclosed. The network host described in Patent Document 1 is characterized in that an ID is assigned to an electrical appliance, and a power transfer terminal transmits the ID data assigned to the electrical appliance and the requested power intensity using radio waves with good straightness. There is.

However, in the conventional cordless power transfer system, it is assumed that the power supply device is fixed, and there is a problem in that only the power supply targets within the reachable range of the default power source (radio waves) can be managed.

Japanese Patent Application Publication No. 2002-017058

A power feeding system according to an embodiment of the present disclosure is a power feeding system including a plurality of devices and a power feeding device that wirelessly feeds power to the plurality of devices, and the plurality of devices are each connected to a power feeding device. The power supply device has a power reception unit that receives power, a power storage unit that stores the received power, and a communication unit that transmits attribute information including identification information in response to a request from the power supply device. a power supply unit that wirelessly supplies power to a device; an imaging unit that captures multiple images with different imaging ranges; a detection unit that uses image recognition to detect a device included in an image as a power supply target among the multiple devices; The power supply unit includes a position detection unit that acquires location information of the devices, a communication unit that receives attribute information from a plurality of devices, and a registration unit that registers the received attribute information in association with the location information. It is characterized in that power supply is executed based on registered attribute information and location information.

In the power supply system according to an embodiment of the present disclosure, if the identification information of the newly detected device is the same as one of the registered identification information, the registration unit newly updates the registered attribute information. It may be updated based on the attribute information of the detected device.

In the power supply system according to an embodiment of the present disclosure, if the identification information of the newly detected device is different from any of the registered identification information, the registration unit updates the attribute information of the newly detected device with a new one. You may register for .

The power supply system according to an embodiment of the present disclosure may further include a position comparison unit that compares position information of a newly detected device with registered position information of a previously detected device.

In the power feeding system according to an embodiment of the present disclosure, the attribute information may further include information regarding at least one of the power reception level and the remaining charge.

In the power feeding system according to an embodiment of the present disclosure, the imaging unit may capture images while changing the imaging range.

In the power feeding system according to an embodiment of the present disclosure, the imaging unit may be fixed to the power feeding device and may image the surroundings of the power feeding device.

In the power supply system according to an embodiment of the present disclosure, the power supply device may further include a route setting unit that sets a route to be moved to search for a plurality of power supply targets, and a movable unit that moves according to the route. .

In the power supply system according to an embodiment of the present disclosure, the route setting unit may set a route so that the power supply device moves around the outer periphery of the imaging range.

In the power supply system according to an embodiment of the present disclosure, the route setting unit may set a route so that the power supply device moves comprehensively within the imaging range.

In the power supply system according to an embodiment of the present disclosure, the route setting unit may optimize a route for detecting other power supply targets based on position information of a plurality of power supply targets detected in the past.

In the power supply system according to an embodiment of the present disclosure, the route setting unit sets a route to move to an area where the probability of existence of other devices is high based on the distribution of devices obtained from position information of the plurality of devices. You may do so.

In the power supply system according to an embodiment of the present disclosure, the route setting unit may preset a route along which the power supply device moves.

A power supply device according to an embodiment of the present disclosure includes a power supply unit that wirelessly supplies power to a plurality of devices, an imaging unit that captures a plurality of images with different imaging ranges, and a power supply device that is included in the image among the plurality of devices. A detection unit that detects a device as a power supply target by image recognition, a position detection unit that acquires position information of multiple devices, and a signal that requests attribute information including identification information from multiple devices, The power supply unit includes a communication unit that receives attribute information from the device, and a registration unit that registers the received attribute information in association with location information, and the power supply unit executes power supply based on the registered attribute information and location information. , is characterized by.

In the power supply device according to an embodiment of the present disclosure, if the identification information of the newly detected device is the same as one of the registered identification information, the registration unit newly updates the registered attribute information. It may be updated based on the attribute information of the detected device.

In the power supply device according to an embodiment of the present disclosure, if the identification information of the newly detected device is different from any of the registered identification information, the registration unit updates the attribute information of the newly detected device with a new one. You may register for .

A power supply method according to an embodiment of the present disclosure captures a plurality of images with different imaging ranges, detects a device included in the image among the plurality of devices as a power supply target by image recognition, and obtains positional information of the plurality of devices. , transmits a signal requesting attribute information including identification information to multiple devices, receives attribute information from multiple devices, registers the received attribute information in association with location information, and determines directivity. The present invention is characterized in that wireless power supply is performed to a plurality of devices based on registered attribute information and location information using light or electromagnetic waves.

In the power supply method according to an embodiment of the present disclosure, if the identification information of a newly detected device is the same as one of the registered identification information, the registered attribute information of the newly detected device is the same as one of the registered identification information. May be updated using attribute information.

In the power supply method according to an embodiment of the present disclosure, if the identification information of a newly detected device is different from any of the registered identification information, attribute information of the newly detected device is newly registered. good.

1 is a diagram for explaining an overview of a power supply system according to an embodiment of the present disclosure, in which (a) is a plan view showing an example of the arrangement of a power supply device and a plurality of devices in a predetermined area; FIG. FIG. 3 is a diagram illustrating an example of mapping the positions of a plurality of devices detected by a power supply device onto two-dimensional coordinates. FIG. 1 is a block diagram of a power supply device and equipment that constitute a power supply system according to an embodiment of the present disclosure. FIG. 1 is a sequence diagram of a power supply system according to an embodiment of the present disclosure. 1 is a flowchart for explaining an operation procedure of a power supply device according to an embodiment of the present disclosure. In the power feeding system according to an embodiment of the present disclosure, a diagram for explaining a procedure in which the power feeding device detects a first device, in which (a) shows the arrangement of the power feeding device and a plurality of devices in a predetermined area. It is a top view which shows an example, and (b) is a figure which shows the example which mapped the position of the 1st apparatus detected by the power supply device on two-dimensional coordinates. In the power supply system according to an embodiment of the present disclosure, it is a diagram for explaining a procedure in which the power supply device detects a second device, in which (a) shows the arrangement of the power supply device and a plurality of devices in a predetermined area. It is a top view which shows an example, and (b) is a figure which shows the example which mapped the position of the second device detected by the power supply device on two-dimensional coordinates. FIG. 3 is a diagram for explaining a procedure in which the power supply device detects a third device in the power supply system according to an embodiment of the present disclosure, in which (a) shows the arrangement of the power supply device and a plurality of devices in a predetermined area; It is a top view which shows an example, and (b) is a figure which shows the example which mapped the position of the 3rd device detected by the power supply device on two-dimensional coordinates. In the power feeding system according to an embodiment of the present disclosure, it is a diagram for explaining a procedure in which the power feeding device detects a fourth device, in which (a) shows the arrangement of the power feeding device and a plurality of devices in a predetermined area. It is a top view which shows an example, and (b) is a figure which shows the example which mapped the position of the 4th device detected by the power supply device on two-dimensional coordinates. In the power supply system according to an embodiment of the present disclosure, it is a table showing an example of attribute information and position information of a plurality of devices detected by the power supply device. In the power supply system according to an embodiment of the present disclosure, when the location coordinates and identification information of a newly detected device are different from the registered location coordinates and identification information, the location of the detected device is displayed on two-dimensional coordinates. It is a figure which shows the example of mapping. In the power supply system according to an embodiment of the present disclosure, when the location coordinates of a newly detected device are different from the registered location coordinates and the identification information is the same as one of the registered identification information, FIG. 3 is a diagram showing an example of mapping the detected position of a device onto two-dimensional coordinates. (a) to (d) are plan views showing examples of movement paths of the power supply device when the power supply device detects multiple devices while dynamically moving in the power supply system according to an embodiment of the present disclosure. be.

Hereinafter, a power feeding system, a power feeding device, and a power feeding method according to the present invention will be described with reference to the drawings. However, it should be noted that the technical scope of the present invention is not limited to these embodiments, but extends to the invention described in the claims and equivalents thereof.

First, an overview of a power feeding system according to an embodiment of the present disclosure will be described. FIG. 1 shows a diagram for explaining an overview of a power feeding system according to an embodiment of the present disclosure. FIG. 1(a) is a plan view showing an example of the arrangement of the power supply device 10 and a plurality of devices (201 to 205) in a predetermined area 300, and FIG. 205) is mapped onto two-dimensional coordinates. The power supply device 10 includes a camera that is an imaging section 2. The imaging unit 2 images a plurality of devices (201 to 205) that can receive power using light or electromagnetic waves. The power supply device 10 wirelessly supplies power to devices (201 to 204) determined to be power supply targets based on captured images. As a method of wireless power supply, for example, light emitted from the power supply device 10 is propagated through space, and power is supplied by converting the light into electrical energy at the power receiving unit of the device (201 to 204). Wireless power supply is performed by the power supply device 10 transmitting light or radio waves to each of the plurality of devices (201 to 204). Wireless power supply systems that use light or radio waves have high directivity and can supply power when the optical axes are aligned. Therefore, the power supply device 10 and the device to which power is supplied (power supply target) need to have a one-to-one correspondence. Furthermore, power can be supplied to devices within the reach of light or electromagnetic waves from the power supply device 10.

Here, if there are multiple devices (201 to 205) as shown in FIG. It is necessary to manage whether or not For example, in FIG. 1A, since the device 201 is included in the imaging range R1 of the imaging unit 2 such as a camera of the power supply device 10, it is necessary to detect the device 201 and manage whether or not it is a target for power supply. I can do it. However, since the other devices (202, 203, 204) are outside the imaging range R1, the power supply device 10 cannot be managed using only the images in the imaging range R1.

Therefore, in the power supply system 100 according to an embodiment of the present disclosure, the power supply device 10 manages information of a plurality of devices (201 to 205) by capturing a plurality of images with different imaging ranges. There is. Specifically, the imaging unit 2 of the power supply device 10 images a plurality of devices (201 to 205) arranged in a predetermined area 300 multiple times while changing the imaging range. The imaging unit 2 may be fixed to the power supply device 10 and may image the surroundings of the power supply device 10 . Note that, although the predetermined area 300 is a rectangle having a length Lx in the horizontal axis direction and a length Ly in the vertical axis direction, the predetermined area 300 is not limited to such an example.

Furthermore, the power supply device 10 includes a position detection unit 4 such as a sensor, and can map the positions of a plurality of devices (201 to 205) as shown in FIG. 1(b). For example, the position P1 of the device 201 can be plotted at a position (x1, y1) on two-dimensional coordinates. Similarly, by changing the imaging range and detecting the position of the device 202 by the position detection unit 4, the position P2 of the device 202 can be plotted at the position (x2, y2) on the two-dimensional coordinates. Other devices 203 to 205 can be plotted in the same way, and the positions of a plurality of devices (201 to 205) can be mapped on two-dimensional coordinates.

Here, the position detection unit 4 may use a sensor that detects the position of the object, the distance to the object, and the angle with respect to the object. For example, if the distance to the device 202 detected by the position detection unit 4 is d, the angle is θ, and the position coordinates of the position detection unit 4 are (x0, y0), the coordinates (x2, y2) of the device 202 are as follows. It can be calculated using the formula.
x2=x0+d×cosθ
y2=y0+d×sinθ

In addition, the power supply device 10 acquires attribute information including identification information from each of the plurality of devices (201 to 205) to determine whether the newly detected device is different from previously detected devices. It is possible to determine whether the device detected in the past has moved. For example, suppose that the power supply device 10 detects a plurality of devices (201 to 204) and then newly detects another device 205. At this time, the identification information of the device 205 is acquired, and if it is different from the identification information of any of the detected devices (201 to 204), the device 205 is determined to be a newly added device. I can do it. On the other hand, if the identification information of the device 205 is the same as one of the identification information of the detected devices (201 to 204), it can be determined that a new device has not been added.

Furthermore, if the identification information of the new device 205 is the same as the identification information of the detected device, the coordinates (x5, y5) of the position P5 of the new device 205 are the coordinates of the device with the same identification information. If the coordinates are different, it can be determined that the detected device has moved, and if the coordinates are the same, it can be determined that it has not moved.

In this way, the power supply device 10 dynamically captures images while detecting devices to be powered, and manages information about the devices, thereby making it possible to accurately manage the targets to be powered.

FIG. 2 shows a block diagram of the power supply device 10 and equipment 20 that constitute the power supply system 100 according to an embodiment of the present disclosure. The power supply system 100 includes a device 20 and a power supply device 10 that individually supplies power to the plurality of devices 20. Note that a plurality of devices 20 may be included in the power feeding system 100 according to one embodiment.

The device 20 includes a power receiving section 21, a power storage section 22, and a communication section 23. The device 20 may further include a control section 24 and a storage section 25. Additionally, these components may be connected by a bus 26.

The power receiving unit 21 receives power from the power supply device 10. The power receiving unit 21 may receive power using a light beam such as a laser beam, for example. The power receiving unit 21 may include a photoelectric conversion element to convert a light beam such as a laser beam into electric power.

Power storage unit 22 can store received power. The power storage unit 22 may be a storage battery such as a secondary battery. As the storage battery, for example, a lithium ion battery or the like may be used.

The communication unit 23 communicates with the power supply device 10 and transmits attribute information including identification information in response to a request from the power supply device 10. The control unit 24 may be a microcomputer such as a CPU. The storage unit 25 may store identification information regarding the device 20 and a program for controlling the device 20.

The power supply device 10 includes a power supply section 1 , an imaging section 2 , a detection section 3 , a position detection section 4 , a communication section 5 , and a registration section 6 . Further, the power supply device 10 may further include a position comparison section 7, a route setting section 8, and a movable section 9. The detection unit 3, the position detection unit 4, the position comparison unit 7, and the route setting unit 8 are realized as software (program) by a computer in the power supply device 10 including a CPU, ROM, RAM, and the like. Further, these components are connected by a bus 11.

The power supply unit 1 wirelessly supplies power to the device 20 using electromagnetic waves. For example, the power supply unit 1 may wirelessly supply power to the device 20 using directional electromagnetic waves. Specifically, for example, the power supply unit 1 may wirelessly supply power to the device 20 using light. That is, for example, the electromagnetic waves may include light or electromagnetic waves from infrared to ultraviolet light. The power supply unit 1 is, for example, a device that converts electrical energy into light, and may be configured with a light source such as a laser light source that outputs a laser beam. For example, the power supply unit 1 may wirelessly supply power by irradiating a photoelectric conversion element such as a solar cell, which is the power receiving unit 21 of the device 20, with a laser beam or the like. However, the present invention is not limited to such an example, and the power supply section 1 may use other electromagnetic waves or energy beams to supply power as long as it is possible to supply power to the device 20.

The imaging unit 2 captures a plurality of images having different imaging ranges. Here, "the imaging ranges are different" may include both cases where the imaging positions are different and cases where the angle of view is different. "When the imaging positions are different" may include a case where a predetermined location is imaged and then another location different from the imaged predetermined location is imaged. For example, after the imaging unit 2 captures an image in the front direction, images around the imaging unit 2 may be captured by capturing images in the right direction, back direction, and left direction. Furthermore, "when the angle of view is different" may include a case where the range to be photographed is different, that is, a case where the range to be photographed is changed by zooming in or zooming out. For example, one may zoom in to obtain a detailed image of a certain area, and may zoom out to obtain an image of a wider imaging area. Further, the imaging range may be arbitrarily set according to the number, size, shape, or relative distance to the devices 20 that the imaging unit 2 images.

The imaging unit 2 may capture images of a plurality of devices 20 multiple times while changing the imaging range. Here, as a method for the imaging unit 2 to change the imaging range, the imaging unit 2 may perform imaging multiple times while changing the imaging position, or may perform imaging multiple times while changing the angle of view. Alternatively, the imaging unit 2 may perform imaging by arbitrarily combining imaging by changing the imaging position and imaging by changing the angle of view. The specific imaging procedure of the imaging unit 2 will be described later. A camera may be used as the imaging unit 2.

The detection unit 3 detects a device included in the image among the plurality of devices 20 as a power supply target by image recognition. By using image recognition, the power supply device 10 can accurately grasp the position of the device to which power is to be supplied. For example, even if devices overlap each other, the position of each device can be accurately determined. Therefore, even in the case of pinpoint power supply to a device, such as optical wireless power supply or microwave power supply, power can be supplied accurately. Furthermore, the detection unit 3 may use the class probability obtained by image recognition of the captured image of the device 20 as an index for determining whether the device is a power supply target.

In addition, by performing image recognition, even if a captured image contains images of multiple devices, it is possible to accurately determine whether each device is the device to which power is being supplied. .

Furthermore, image recognition makes it possible to accurately determine the location of a device even when the device itself is unable to transmit signals, making it possible to supply power even to standalone devices. Therefore, for example, even if the storage battery of the device runs out of charge, the device can be charged and restarted.

The position detection unit 4 acquires position information of a plurality of devices. For the position detection unit 4, a sensor such as LiDAR (Light Detection and Ranging) may be used. By using LiDAR, the position of the device 20, the distance from the power supply device 10 to the device 20, and the angle of the device 20 with respect to the power supply device 10 can be accurately detected.

The communication unit 5 receives attribute information including identification information from the plurality of devices 20. The attribute information may include information regarding at least one of the power reception level and the remaining charge. The identification information may include the registration number, serial number, etc. of the device 20. The information regarding the power reception level may include information representing the amount of power that the power reception unit 21 of the device 20 can receive from the power supply device 10. The information regarding the remaining charge amount may include information representing the remaining amount of power stored in the power storage unit 22 of the device 20.

The registration unit 6 registers attribute information received from the device 20 in association with position information. The registration unit 6 may be, for example, a storage device such as a semiconductor memory. The registration unit 6 can store a program for operating the power supply device 10.

Next, a processing flow from identifying a power supply target to starting power supply in a power supply system according to an embodiment of the present disclosure will be described. Here, in one embodiment, the power supply device 10 may authenticate the device 20 using any method, and specify the device 20 to be supplied with power based on the authentication result. In the following, a case will be described in which authentication of the device 20 is performed using public key cryptography, but the authentication method is not particularly limited as long as it is a method that allows the power supply device 10 to identify the device 20 to which power is to be supplied. In one embodiment, the power supply device 10 and the device 20 may each have a unique public key and a private key. FIG. 3 shows a sequence diagram of a power supply system according to an embodiment of the present disclosure.

First, in step S101, the power supply device 10 dynamically detects a device. Next, in step S102, the detection unit 3 performs image recognition using the captured image and identifies the plurality of devices 20 as power supply targets.

Next, in step S103, the communication unit 5 performs test irradiation on the device 20. The power supply device 10 may request the device 20 to transmit predetermined information by performing test irradiation. In other words, test irradiation may mean that the power supply device 10 requests the device 20 to transmit predetermined information. The communication unit 5 may irradiate light onto the device 20 as test irradiation. The test irradiation light (also referred to as test irradiation light) may include any hashed character string as information. That is, for example, the power supply device 10 may transmit a hashed arbitrary character string along with a request to transmit predetermined information to the device 20 by test irradiation. Note that the predetermined information may be, for example, attribute information of the device 20 to which power is supplied. Furthermore, radio waves such as millimeter waves may be used for the test irradiation.

Next, in step S104, the device 20 may transmit predetermined information to the power supply device 10 using radio waves based on the transmission request from the power supply device 10. For example, the device 20 may transmit attribute information of the device 20 to the power supply device 10. The device 20 may transmit predetermined information together with any hashed character string received from the power supply device 10. Specifically, for example, the device 20 may transmit an arbitrary hashed character string and attribute information of the device 20 to the power supply device 10 based on a transmission request from the power supply device 10. The communication unit 5 can receive radio waves containing attribute information transmitted from the device 20.

In step S105, the communication unit 5 transmits an arbitrary character string encrypted with the public key of the device 20 to the device 20 via radio waves. Note that the power supply device 10 and the device 20 may obtain the public key of the other party in advance. The power supply device 10 and the device 20 can acquire the public key of the other party via the Internet or a management server, or the user can directly input the public key of the other party to the power supply device 10 or device 20. There are ways to embed it. However, the present invention is not limited to these examples, and the power supply device 10 and the device 20 may acquire the public key of the other party using any method.

Next, in step S106, the communication unit 23 of the device 20 receives the character string, and the control unit 24 decrypts the received character string using the private key of the device 20 to be powered.

Next, in step S107, the control unit 24 encrypts the decrypted character string using the public key of the power supply device 10, and the communication unit 23 transmits the encrypted character string to the power supply device 10.

Next, in step S108, the communication unit 5 of the power supply device 10 receives the encrypted character string, decrypts the received character string, and completes the authentication. That is, the power supply device 10 may complete authentication when the character string decoded from the encrypted character string received from the device 20 matches the character string transmitted to the device 20. In this case, the power supply device 10 may specify the device 20 for which authentication has been completed as a power supply target. In addition, if authentication is not completed due to communication interruption due to communication failure, etc., the power supply device 10 or device 20 executes retransmission processing such as retransmission of the character string to the other party. good.

Next, in step S109, the acquired device attribute information and previously acquired attribute information are inquired. The attribute information includes identification information. Therefore, by comparing the acquired device identification information with previously acquired identification information, it is possible to determine whether the device for which attribute information has been acquired is a newly detected device that is different from previously detected devices. Alternatively, it can be determined whether the device has been detected in the past.

Next, in step S110, if the identification information included in the acquired attribute information is already registered identification information, the registration unit 6 updates the attribute information and location information, and uses unregistered identification information. If so, register a new one.

If there are multiple devices, steps S101 to S110 are repeated as many times as there are devices.

As described above, the power supply device 10 can manage the device 20 as a power supply target, and can perform power supply to the device specified as a power supply target. In the above description, the power supply device 10 and the device 20 transmit and receive various information using radio waves, but the present invention is not limited to this. For example, the power supply device 10 and the device 20 may transmit and receive various information using light. .

Next, an operation procedure of the power supply device 10 according to an embodiment of the present disclosure will be described. FIG. 4 shows a flowchart for explaining the operation procedure of the power supply device according to an embodiment of the present disclosure.

First, in step S201, the imaging unit 2 captures a plurality of images with different imaging ranges. For example, the imaging unit 2 may dynamically capture images of multiple devices multiple times while changing the imaging range. FIG. 5 shows a diagram for explaining a procedure in which the power supply device 10 detects the first device 201 in the power supply system 100 according to an embodiment of the present disclosure. FIG. 5(a) is a plan view showing an example of the arrangement of the power supply device 10 and a plurality of devices (201 to 204) in the predetermined area 300, and FIG. This is an example in which the position P1 of 201 is mapped on two-dimensional coordinates. As shown in FIG. 5A, the imaging unit 2 images the first imaging range R1 and images the device 201. As shown in FIG.

Next, in step S202, the detection unit 3 detects the device 201 as a power supply target through image recognition based on the image captured by the imaging unit 2.

Next, in step S203, the position detection unit 4 acquires the position information of the device 201. The position detection unit 4 may calculate the position coordinates from the distance and angle to the device 201. For example, if the coordinates of the position P1 of the device 201 are (x1, y1), mapping can be performed as shown in FIG. 5(b).

The steps S201 to S203 described above are executed on the second device 202. FIG. 6 shows a diagram for explaining a procedure in which the power supply device 10 detects the second device 202 in the power supply system 100 according to an embodiment of the present disclosure. FIG. 6(a) is a plan view showing an example of the arrangement of the power supply device 10 and a plurality of devices (201 to 204) in the predetermined area 300, and FIG. 6(b) is a plan view of the second device detected by the power supply device 10. 202 is a diagram showing an example of mapping the position P2 of 202 on two-dimensional coordinates. FIG.

As shown in FIG. 6A, the imaging unit 2 performs imaging for the second imaging range R2, and images the device 202.

Next, in step S202, the detection unit 3 uses image recognition to detect the device 202 as a power supply target based on the image captured by the imaging unit 2.

Next, in step S203, the position detection unit 4 acquires position information of the device 202. The position detection unit 4 may calculate the position coordinates from the distance and angle to the device 202. For example, if the coordinates of the position P2 of the device 202 are (x2, y2), mapping can be performed as shown in FIG. 6(b).

The above steps S201 to S203 are executed for the devices 203 and 204. FIG. 7 is a diagram for explaining a procedure in which the power supply device 10 detects the third device 203 in the power supply system 100 according to an embodiment of the present disclosure. FIG. 7(a) is a plan view showing an example of the arrangement of the power supply device 10 and a plurality of devices (201 to 204) in the predetermined area 300, and FIG. 203 is a diagram showing an example in which the position P3 of 203 is mapped on two-dimensional coordinates. FIG. Further, FIG. 8 is a diagram for explaining a procedure in which the power supply device detects the fourth device 204 in the power supply system according to an embodiment of the present disclosure. FIG. 8(a) is a plan view showing an example of the arrangement of the power supply device 10 and a plurality of devices (201 to 204) in the predetermined area 300, and FIG. 8(b) is a plan view of the fourth device detected by the power supply device 10. 204 is a diagram showing an example of mapping the position P4 of No. 204 on two-dimensional coordinates. FIG.

In this way, the imaging unit 2 images multiple devices multiple times while changing the imaging range to R1, R2, R3, and R4, so that all devices can be included in the imaging range in one imaging. It is possible to image multiple devices even if it is not possible.

Next, in step S204, the communication unit 5 transmits a signal requesting attribute information including identification information to the plurality of devices (201 to 204), and receives attribute information from the plurality of devices (201 to 204). do.

Next, in step S205, the registration unit 6 registers the received attribute information in association with the position information ((x1, y1), (x2, y2), (x3, y3), (x4, y4)). FIG. 9 shows an example of attribute information and position information of a plurality of devices (201 to 204) detected by the power supply device 10 in the power supply system 100 according to an embodiment of the present disclosure. The attribute information may include information regarding identification information, power reception level, and remaining charge amount. For example, if the identification information of the device 201 is "D001", the location coordinates (x1, y1), the power reception level is 80, and the remaining charge is 30%, these pieces of information are registered in the registration unit 6. do. Thereafter, information regarding the identification information, location information, power reception level, and remaining charge of other devices (202 to 204) is similarly registered in the registration unit 6.

Next, in step S206, it is determined whether the identification information of the newly detected device is the same as the registered identification information. In FIG. 10, in the power supply system according to an embodiment of the present disclosure, when the position coordinates and identification information of a newly detected device 205 are different from the registered position coordinates and identification information, a position P5 of the detected device is shown. An example is shown in which the coordinates (x5, y5) of are mapped onto two-dimensional coordinates. Further, as shown in FIG. 9, it is assumed that the identification information of the newly detected device 205 is "D005". In this case, the identification information D005 of the newly detected device 205 is different from any of the identification information (D001 to D004) of the registered devices (201 to 204).

Therefore, in this case, the determination in step S206 is "No", and in step S208, the attribute information of the newly detected device 205 is newly registered.

On the other hand, unlike the above example, a case will be described in which the attribute information of a newly detected device is the same as one of the registered attribute information detected in the past. In FIG. 11, in the power supply system according to an embodiment of the present disclosure, the location coordinates of a newly detected device are different from the registered location coordinates, and the identification information is the same as one of the registered identification information. An example is shown in which the detected position of the device is mapped on two-dimensional coordinates. If the attribute information of the newly detected device 206 is “D001” as shown in FIG. 9, it is determined that the device detected as the device 206 is the same as the device 201. In this case, in step S207, the registered attribute information is updated with the attribute information of the newly detected device. Specifically, information regarding the registered device 201 is updated to information about the newly detected device 206.

Next, in step S209, wireless power supply is performed to the plurality of registered devices.

As described above, according to the power supply system according to an embodiment of the present disclosure, it is possible to determine whether a newly detected device is a newly added device or whether it is the same device as a previously detected device. It is possible to accurately supply power to multiple devices.

Note that the device may further include a location comparison unit 7 that compares location information of a newly detected device with registered location information of a previously detected device. For example, if the location comparison unit 7 detects a new device 207 as shown in FIG. 9, the identification information is "D002", and the location information is (x2, y2), the device 202 does not move. It can be seen that it was detected in its original position. In this case, it is preferable to update the attribute information because the power reception level and remaining charge may have changed.

In the above explanation, an example has been described in which the image capturing unit 2 is rotated 360 degrees to capture images of multiple imaging ranges without moving the power supply device 10. However, this is the method for dynamically capturing images of multiple devices. It is not limited to examples. The power supply device 10 may further include a route setting unit 8 that sets a route to travel to search for a plurality of power supply targets, and a movable unit 9 that moves along the route. FIGS. 12(a) to 12(d) show examples of movement paths of the power feeding device when the power feeding device detects a plurality of devices while dynamically moving in the power feeding system according to an embodiment of the present disclosure.

For example, as shown in FIG. 12A, the route setting unit 8 may set a route so that the power supply device 10 moves around the outer periphery of a predetermined area 300. The power supply device 10 first starts capturing images of the plurality of devices (201 to 204) while moving in the direction of the arrow A1 from the upper left corner C1 toward the lower left corner C2. Thereafter, images of a plurality of devices (201 to 204) are taken while moving in the direction of arrow A2 from the lower left corner C2 to the lower right corner C3. Thereafter, similarly, images may be taken while moving around the predetermined area 300, as shown by arrows A3 and A4, going around corner C4 and returning to C1. Such a movement method may be employed, for example, when indoors and it is possible to lay movement rails around the room.

Further, as shown in FIG. 12(b), the route setting unit 8 may set a route so that the power supply device 10 moves comprehensively within the imaging range. For example, start imaging from the lower left corner C, and image multiple devices (201 to 204) while moving in a zigzag manner within a predetermined area 300 as shown by arrows B1, B2, B3, ..., B6. good. Such a moving method may be employed, for example, in a case where a passage is provided between manufacturing apparatuses, such as on an apparatus manufacturing line, and a transport vehicle moves along the passage. Alternatively, in a farm having a plurality of fields, a path between the fields may be used as a path for the power supply device 10 to move.

Further, the route setting unit 8 may optimize a route for detecting other power supply targets based on position information of a plurality of power supply targets detected in the past. For example, if device information has been acquired in the past and the device's location information has been registered, the device's location is known in advance, so if the power supply device 10 moves along what route, the device information will be updated. You can decide what you can get. The route of the power supply device 10 may be optimized based on information acquired in the past in this way.

In addition, as shown in FIG. 12(c), as a result of detecting multiple devices (201 to 204) by moving along routes D1, D2, and D3, based on the distribution of devices obtained from the position information of these devices, , the device may be moved to an area where the probability of the presence of other devices is high. By optimizing the travel route in this way, the time required for power supply can be shortened.

Further, as shown in FIG. 12(d), a route for the power supply device 10 may be set in advance, and the power supply device 10 may be moved along the route. By doing so, the power supply device 10 can reduce the time required to calculate the route, and the power supply time can be shortened.

As explained above, according to the power supply system according to an embodiment of the present disclosure, the attribute information of the device is registered in association with the location information, so even if the device to be supplied with power moves, power supply can be performed. can be executed. For example, when IoT devices for management are placed in a large-scale farm, depending on the state of the field, the IoT devices to which power is supplied may be moved on a daily basis. Even in such a case, since the power supply device maps the position of the power supply target, power can be easily supplied.

Further, in the above description, an example in which one power supply device is provided for a plurality of power supply targets has been described, but the present invention is not limited to such an example, and a plurality of power supply devices may be provided. Further, the plurality of power supply devices may share attribute information and position information regarding a plurality of power supply target devices, and may share power supply to the power supply target devices. For example, in the example shown in FIG. 1A, the power supply device 10 may supply power to devices 201 and 202, and another power supply device may supply power to devices 203 and 204. .

Furthermore, in the description of the above embodiment, the case where the device to be supplied with power is basically stationary was explained as an example, but the device is not limited to such an example, and the device may be constantly moving. . For example, equipment is equipped with a system for grasping position information such as IMU (Inertial Measurement Unit)/GNSS (Global Navigation Satellite System) and linked with the above power supply system. By doing so, it is possible to manage even when the device to be powered is moved.

1 Power supply section 2 Imaging section 3 Detection section 4 Position detection section 5 Communication section 6 Registration section 7 Position comparison section 8 Route setting section 9 Movable section 10 Power supply device 11 Bus 20 Device 21 Power reception section 22 Power storage section 23 Communication section 24 Control section 25 Storage unit 26 Bus 100 Power supply system

Claims (18)

A power supply system including a plurality of devices and a power supply device that wirelessly supplies power to the plurality of devices,
Each of the plurality of devices includes:
a power receiving unit that receives power from the power supply device;
A power storage unit that stores received power;
a communication unit that transmits attribute information including identification information in response to a request from the power supply device,
The power supply device includes:
a power supply unit that wirelessly supplies power to the plurality of devices;
an imaging unit that captures multiple images with different imaging ranges;
A detection unit that detects a device included in the image among the plurality of devices as a power supply target by image recognition;
a position detection unit that acquires position information of the plurality of devices;
a communication unit that receives the attribute information from the plurality of devices;
a registration unit that registers the received attribute information in association with the location information;
a route setting unit that sets a route to travel in order to search for multiple power supply targets;
a movable part that moves along the route;
has
The power supply unit executes power supply based on the registered attribute information and location information.
A power supply system characterized by: If the identification information of the newly detected device is the same as one of the registered identification information, the registration unit updates the registered attribute information with the attribute information of the newly detected device. The power supply system according to item 1. 3. The registration unit newly registers attribute information of the newly detected device when the identification information of the newly detected device is different from any of the registered identification information. The power supply system described in . The power supply system according to any one of claims 1 to 3, further comprising a position comparison unit that compares position information of a newly detected device with registered position information of a previously detected device. The power supply system according to any one of claims 1 to 4, wherein the attribute information further includes information regarding at least one of a power reception level and a remaining charge. The power supply system according to any one of claims 1 to 5, wherein the imaging unit captures the image while changing an imaging range. The power feeding system according to any one of claims 1 to 6, wherein the imaging unit is fixed to the power feeding device and images the surroundings of the power feeding device. The power supply system according to claim 1 , wherein the route setting unit sets the route so that the power supply device moves around the outer periphery of the imaging range. The power supply system according to claim 1 , wherein the route setting unit sets the route so that the power supply device moves comprehensively within the imaging range. The power supply system according to claim 1 , wherein the route setting unit optimizes a route for detecting other power supply targets based on position information of the plurality of power supply targets detected in the past. The power feeding system according to claim 1 , wherein the route setting unit sets a route to move to an area where there is a high probability of existence of other devices based on a distribution of devices obtained from position information of the plurality of devices. . The power supply system according to claim 1 , wherein the route setting unit presets a route along which the power supply device moves. A power supply unit that wirelessly supplies power to multiple devices;
an imaging unit that captures multiple images with different imaging ranges;
A detection unit that detects a device included in the image among the plurality of devices as a power supply target by image recognition;
a position detection unit that acquires position information of the plurality of devices;
a communication unit that transmits a signal requesting attribute information including identification information to the plurality of devices and receives the attribute information from the plurality of devices;
a registration unit that registers the received attribute information in association with the location information;
a route setting unit that sets a route to travel in order to search for multiple power supply targets;
a movable part that moves along the route;
has
The power supply unit executes power supply based on the registered attribute information and location information.
A power supply device characterized by: If the identification information of the newly detected device is the same as one of the registered identification information, the registration unit updates the registered attribute information with the attribute information of the newly detected device. The power supply device according to item 13 . 15. The registration unit newly registers attribute information of the newly detected device when identification information of the newly detected device is different from any of the registered identification information. The power supply device described in . Capture multiple images with different imaging ranges,
Detecting the device included in the image among the plurality of devices as a power supply target by image recognition ,
obtaining location information of the plurality of devices;
transmitting a signal requesting attribute information including identification information to the plurality of devices, receiving the attribute information from the plurality of devices;
registering the received attribute information in association with the location information;
Set the route to travel to search for multiple power supply targets,
moving according to the route;
Executing wireless power supply to the plurality of devices based on the registered attribute information and location information using directional light or electromagnetic waves;
A power supply method characterized by: 17. If the identification information of the newly detected device is the same as one of the registered identification information, the registered attribute information is updated with the attribute information of the newly detected device. Power supply method. 18. The power feeding method according to claim 17 , wherein when the identification information of the newly detected device is different from any of the registered identification information, attribute information of the newly detected device is newly registered.

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