JPH0767270A - Displacement detector in noncontact power supply for mobile body - Google Patents
Displacement detector in noncontact power supply for mobile bodyInfo
- Publication number
- JPH0767270A JPH0767270A JP5211617A JP21161793A JPH0767270A JP H0767270 A JPH0767270 A JP H0767270A JP 5211617 A JP5211617 A JP 5211617A JP 21161793 A JP21161793 A JP 21161793A JP H0767270 A JPH0767270 A JP H0767270A
- Authority
- JP
- Japan
- Prior art keywords
- moving body
- primary coil
- traveling vehicle
- displacement
- secondary coils
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Current-Collector Devices For Electrically Propelled Vehicles (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】この発明は、移動体に接触せず
に、この移動体への給電を行う移動体の非接触給電装置
に関し、特に移動体の経路に対する移動体の変位を検出
する変位検出装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a non-contact power feeding apparatus for a moving body which supplies electric power to the moving body without contacting the moving body, and more particularly to a displacement detecting a displacement of the moving body with respect to a path of the moving body. Regarding a detection device.
【０００２】[0002]
【従来の技術】この種の装置は、地上に敷設された１次
コイルと、走行車両（移動体）の底部に配設された２次
コイルとを備え、地上の１次コイルに交流電流を流し
て、走行車両の２次コイルに誘導電流を発生させ、この
誘導電流に基づく電力を走行車両に供給する。走行車両
は、この電力によって動力源のモータを作動させたり、
この電力を蓄電池に蓄える。2. Description of the Related Art An apparatus of this type comprises a primary coil laid on the ground and a secondary coil arranged at the bottom of a traveling vehicle (moving body), and an alternating current is supplied to the primary coil on the ground. It flows to generate an induced current in the secondary coil of the traveling vehicle, and power based on this induced current is supplied to the traveling vehicle. The traveling vehicle operates the motor of the power source with this electric power,
This electric power is stored in the storage battery.
【０００３】ところで、地上の１次コイルと走行車両の
２次コイルの結合が強い程、１次コイルから２次コイル
への電力の伝達効率が高くなる。したがって、両者のコ
イルが相互に接近していた方が好ましく、走行車両を１
次コイルに正確に沿わせて走行させる必要がある。By the way, the stronger the coupling between the primary coil on the ground and the secondary coil of the traveling vehicle, the higher the efficiency of power transmission from the primary coil to the secondary coil. Therefore, it is preferable that both coils are close to each other, and
It is necessary to drive along the next coil exactly.
【０００４】このため、例えば漏洩同軸ケーブルを１次
コイルに沿って敷設し、この漏洩同軸ケーブルの磁界を
感知して、１次コイルに対する走行車両の変位を検出す
る装置が提案されている。この走行車両の変位は、例え
ば表示されて、運転者に知らされ、走行車両の位置の補
正に利用される。For this reason, there has been proposed a device in which, for example, a leaky coaxial cable is laid along the primary coil and the magnetic field of the leaky coaxial cable is sensed to detect the displacement of the traveling vehicle with respect to the primary coil. The displacement of the traveling vehicle is displayed, for example, to inform the driver, and is used to correct the position of the traveling vehicle.
【０００５】[0005]
【発明が解決しようとする課題】しかしながら、上記従
来の装置では、漏洩同軸ケーブルと１次コイルを並設す
るので、両者から発生されるそれぞれの磁界が相互に干
渉して、走行車両の変位検出に支障を来すという問題が
あった。また、漏洩同軸ケーブルを増設せねばならない
ので、コストが高くなるという不都合を生じた。However, in the above-mentioned conventional apparatus, since the leaky coaxial cable and the primary coil are arranged in parallel, the respective magnetic fields generated from the two interfere with each other to detect the displacement of the traveling vehicle. There was a problem that it interfered with. Further, since the leaky coaxial cable has to be additionally installed, there is an inconvenience that the cost becomes high.
【０００６】そこで、この発明の課題は、１次コイルの
磁界を感知して、１次コイルに対する走行車両の変位を
検出する移動体の非接触給電装置における変位検出装置
を提供することにある。Therefore, an object of the present invention is to provide a displacement detecting device in a non-contact power feeding device for a moving body which senses a magnetic field of a primary coil and detects displacement of a traveling vehicle with respect to the primary coil.
【０００７】[0007]
【課題を解決するための手段】上記課題を解決するため
に、この発明は、移動体の経路に沿って敷設された１次
コイルと、移動体に搭載された２次コイルとを備え、移
動体の経路の１次コイルに交流電流を流し、移動体の２
次コイルに誘導電流を発生させ、この誘導電流を移動体
の電動機に供給される電力として利用する移動体の非接
触給電装置において、複数の２次コイルを移動体の経路
と直交する方向に並設するとともに、変位検出手段を設
け、この変位検出手段は、これらの２次コイルの誘導電
流に基づいて、移動体の経路に対する移動体の変位を検
出している。In order to solve the above-mentioned problems, the present invention comprises a primary coil laid along the path of a moving body and a secondary coil mounted on the moving body. AC current is passed through the primary coil of the body path,
In a non-contact power feeding apparatus for a moving body, which generates an induced current in a secondary coil and uses the induced current as electric power supplied to an electric motor of the moving body, a plurality of secondary coils are arranged in a direction orthogonal to a path of the moving body. In addition to the above, the displacement detecting means is provided, and the displacement detecting means detects the displacement of the moving body with respect to the path of the moving body based on the induced currents of these secondary coils.
【０００８】[0008]
【作用】この発明によれば、移動体には、例えば２つの
２次コイルが移動体の経路と直交する方向に並設され
る。この移動体が経路から離れると、これらの２次コイ
ルのうちの一方の誘導電流が増加し、他方の誘導電流が
減少する。変位検出手段は、これらの２次コイルの誘導
電流の差に基づいて、移動体の経路に対する移動体の変
位を検出する。According to the present invention, for example, two secondary coils are arranged side by side in the moving body in a direction orthogonal to the path of the moving body. When the moving body moves away from the path, the induced current in one of these secondary coils increases and the induced current in the other decreases. The displacement detection means detects the displacement of the moving body with respect to the path of the moving body based on the difference between the induced currents of these secondary coils.
【０００９】[0009]
【実施例】以下、この発明の実施例を添付図面を参照し
て説明する。Embodiments of the present invention will be described below with reference to the accompanying drawings.
【００１０】図１には、この発明に係わる変位検出装置
の一実施例が示されており、図２には、この実施例の情
報伝達装置を適用した移動体の非接触給電装置が示され
ている。FIG. 1 shows an embodiment of a displacement detecting device according to the present invention, and FIG. 2 shows a non-contact power feeding device for a mobile body to which the information transmitting device of this embodiment is applied. ing.
【００１１】まず、図２に示すように各走行車両１の経
路には、各１次コイル２が連続的に配置されている。給
電装置３は、電力線４から電力を与えられ、交流電流を
１次コイル２に供給している。これにより、１次コイル
２の周囲に交番磁界が発生する。First, as shown in FIG. 2, each primary coil 2 is continuously arranged in the route of each traveling vehicle 1. The power feeding device 3 is supplied with power from the power line 4 and supplies an alternating current to the primary coil 2. As a result, an alternating magnetic field is generated around the primary coil 2.
【００１２】一方、図１に示すように、走行車両１の底
には、一対の２次コイル５，６が横方向に並設されてい
る。ここでは、１次コイル２が走行車両１の経路に沿っ
て延在するので、これらの２次コイル５，６が走行車両
１の経路と直交する方向に並設されることとなる。On the other hand, as shown in FIG. 1, on the bottom of the traveling vehicle 1, a pair of secondary coils 5 and 6 are arranged side by side in the lateral direction. Here, since the primary coil 2 extends along the route of the traveling vehicle 1, these secondary coils 5 and 6 are arranged side by side in the direction orthogonal to the route of the traveling vehicle 1.
【００１３】これらの２次コイル５，６は、１次コイル
２の交番磁界中を通過して、誘導電流を発生する。これ
らの２次コイル５，６で発生した誘導電流は、それぞれ
の電力変換部７，８に加えられる。これらの電力変換部
７，８は、各２次コイル５，６の誘導電流を直流電圧に
変換し、それぞれの直流電圧をバッテリー９に加えて、
このバッテリー９を蓄電する。このバッテリー９は、電
力を動力源のモータ（図示せず）に供給し、このモータ
を作動させる。These secondary coils 5 and 6 pass through the alternating magnetic field of the primary coil 2 and generate an induced current. The induced currents generated in these secondary coils 5 and 6 are applied to the respective power converters 7 and 8. These power converters 7 and 8 convert the induced current of each secondary coil 5 and 6 into a DC voltage, apply each DC voltage to the battery 9,
The battery 9 is charged. The battery 9 supplies electric power to a power source motor (not shown) to operate the motor.
【００１４】また、電力変換部７から出力された直流電
圧は、差動アンプ１１の反転入力端子に印加され、電力
変換部８から出力された直流電圧は、差動アンプ１１の
非反転入力端子に印加される。差動アンプ１１は、これ
らの直流電圧の差を求め、この差の電圧を出力する。The DC voltage output from the power converter 7 is applied to the inverting input terminal of the differential amplifier 11, and the DC voltage output from the power converter 8 is the non-inverting input terminal of the differential amplifier 11. Applied to. The differential amplifier 11 finds the difference between these DC voltages and outputs the voltage of this difference.
【００１５】ここで、走行車両１の各２次コイル５，６
を横方向に並設しているので、走行車両１が経路に対し
て左右に変位すると、一方の２次コイルが１次コイル２
に近づき、他方の２次コイルが１次コイル２から離れ
る。これにより、前者の２次コイルの誘導電流が増加
し、後者の２次コイルの誘導電流が減少する。Here, each secondary coil 5, 6 of the traveling vehicle 1
Are arranged side by side in a lateral direction, so that when the traveling vehicle 1 is displaced laterally with respect to the route, one of the secondary coils is replaced by the primary coil
And the other secondary coil moves away from the primary coil 2. As a result, the induced current in the former secondary coil increases and the induced current in the latter secondary coil decreases.
【００１６】例えば、走行車両１が経路に対して右方向
に変位すると、左側の２次コイル５の誘導電流が増加
し、右側の２次コイル６の誘導電流が減少する。これに
伴い、電力変換部７の出力電圧が上昇して、電力変換部
８の出力電圧が下降し、差動アンプ１１は、これらの出
力電圧の差を求めて、負（−）の電圧を出力する。した
がって、走行車両１が右方向に変位した場合は、差動ア
ンプ１１から負の電圧が出力される。For example, when the traveling vehicle 1 is displaced rightward with respect to the route, the induced current in the left secondary coil 5 increases and the induced current in the right secondary coil 6 decreases. Along with this, the output voltage of the power conversion unit 7 rises and the output voltage of the power conversion unit 8 falls, and the differential amplifier 11 obtains the difference between these output voltages and outputs a negative (-) voltage. Output. Therefore, when the traveling vehicle 1 is displaced to the right, the differential amplifier 11 outputs a negative voltage.
【００１７】同様に、走行車両１が経路に対して左方向
に変位すると、電力変換部７の出力電圧が下降して、電
力変換部８の出力電圧が上昇し、差動アンプ１１は、こ
れらの出力電圧の差を求めて、正（＋）の電圧を出力す
る。したがって、走行車両１が左方向に変位した場合
は、差動アンプ１１から正の電圧が出力される。Similarly, when the traveling vehicle 1 is displaced to the left with respect to the route, the output voltage of the power conversion unit 7 decreases, the output voltage of the power conversion unit 8 increases, and the differential amplifier 11 operates as follows. Then, the difference between the output voltages of is calculated and the positive (+) voltage is output. Therefore, when the traveling vehicle 1 is displaced leftward, the differential amplifier 11 outputs a positive voltage.
【００１８】また、走行車両１が経路から離れる程、各
２次コイル５，６の誘導電流の差が大きくなって、差動
アンプ１１の出力電圧の絶対値が大きくなる。Further, as the traveling vehicle 1 moves away from the route, the difference between the induced currents of the secondary coils 5 and 6 increases, and the absolute value of the output voltage of the differential amplifier 11 increases.
【００１９】すなわち、差動アンプ１１の出力電圧が負
であるか、正であるかにより、走行車両１が経路に対し
て右方向に変位したか、左方向に変位したかを識別でき
る。また、差動アンプ１１の出力電圧の絶対値に基づい
て、走行車両１が経路から離れている距離を識別でき
る。That is, whether the traveling vehicle 1 is displaced rightward or leftward with respect to the route can be identified by whether the output voltage of the differential amplifier 11 is negative or positive. Further, the distance that the traveling vehicle 1 is away from the route can be identified based on the absolute value of the output voltage of the differential amplifier 11.
【００２０】なお、走行車両１が経路から離れている距
離を正確に求めるために、差動アンプ１１の出力電圧を
Ａ／Ｄ変換してマイクロコンピュータに入力し、出力電
圧に対応する距離を演算処理で求めることが好ましい。In order to accurately obtain the distance that the traveling vehicle 1 is away from the route, the output voltage of the differential amplifier 11 is A / D converted and input to a microcomputer to calculate the distance corresponding to the output voltage. It is preferable to obtain by processing.
【００２１】こうして求められた走行車両１の変位は、
例えば図３に示すように走行車両１のフロントガラスに
投光表示される。ここでは、走行車両１の中心を示す車
両中心ライン１２と、左右方向を示す２つの方向表示マ
ーク１３，１４と、走行車両１の経路を示す走行ライン
１５とがフロントガラスに投光表示されている。例え
ば、走行車両１が経路に対して右方向に変位した場合
は、差動アンプ１１の負の出力に応答して、右方向を示
す方向表示マーク１４を点滅させるとともに、走行ライ
ン１５を差動アンプ１１の出力電圧の絶対値に応じた距
離だけ車両中心ライン１２から左方向に移動させる。The displacement of the traveling vehicle 1 thus obtained is
For example, as shown in FIG. 3, light is projected and displayed on the windshield of the traveling vehicle 1. Here, a vehicle center line 12 indicating the center of the traveling vehicle 1, two direction display marks 13 and 14 indicating the left-right direction, and a traveling line 15 indicating the route of the traveling vehicle 1 are illuminated and displayed on the windshield. There is. For example, when the traveling vehicle 1 is displaced rightward with respect to the route, in response to the negative output of the differential amplifier 11, the direction indicator mark 14 indicating the rightward direction is blinked and the traveling line 15 is differentiated. The vehicle is moved leftward from the vehicle center line 12 by a distance corresponding to the absolute value of the output voltage of the amplifier 11.
【００２２】このような表示に従って運転を行えば、走
行車両１を経路に沿って走行させて、走行車両１の各２
次コイル５，６を地上の１次コイル２に常に接近させる
ことができる。これにより、１次コイルから２次コイル
への電力の伝達効率が低下することを防止できる。When the vehicle is driven in accordance with such a display, the traveling vehicle 1 is caused to travel along the route, and each of the traveling vehicles 1 is driven.
The secondary coils 5 and 6 can always approach the primary coil 2 on the ground. This can prevent the efficiency of power transmission from the primary coil to the secondary coil from decreasing.
【００２３】なお、この実施例では、走行車両の変位を
表示しているが、これに限らず、走行車両が無人誘導の
ものであれば、差動アンプ１１の出力を操舵制御に利用
しても構わない。In this embodiment, the displacement of the traveling vehicle is displayed, but the present invention is not limited to this, and if the traveling vehicle is of an unmanned induction type, the output of the differential amplifier 11 is used for steering control. I don't mind.
【００２４】また、ここでは、２つの２次コイルを用い
ているが、３つ以上の２次コイルを横方向に並設して、
これらの２次コイルの誘導電流の差に基づいて、走行車
両の変位を検出しても良い。Although two secondary coils are used here, three or more secondary coils are arranged side by side in the lateral direction,
The displacement of the traveling vehicle may be detected based on the difference between the induced currents of these secondary coils.
【００２５】[0025]
【効果】以上説明したように、この発明によれば、１次
コイルの交番磁界中を通過する各２次コイルの誘導電流
に基づいて、移動体の経路に対する移動体の変位を検出
している。したがって、従来の装置のように漏洩同軸ケ
ーブルを増設する必要がなく、また漏洩同軸ケーブルと
１次コイルの磁界が相互に干渉して、走行車両の変位検
出に支障を来すこともない。As described above, according to the present invention, the displacement of the moving body with respect to the path of the moving body is detected based on the induced current of each secondary coil passing through the alternating magnetic field of the primary coil. . Therefore, it is not necessary to additionally install a leaky coaxial cable as in the conventional device, and the magnetic field of the leaky coaxial cable and the magnetic field of the primary coil do not interfere with each other, which does not hinder the displacement detection of the traveling vehicle.
【図１】この発明に係わる変位検出装置の一実施例を示
すブロック図FIG. 1 is a block diagram showing an embodiment of a displacement detecting device according to the present invention.
【図２】移動体の非接触給電装置を示す図FIG. 2 is a diagram showing a non-contact power supply device for a moving body.
【図３】この実施例における走行車両の変位の表示態様
を例示する図FIG. 3 is a diagram illustrating a display mode of displacement of a traveling vehicle in this embodiment.
１ 走行車両 ２ １次コイル ３ 給電装置 ４ 電力線 ５，６ ２次コイル ７，８ 電力変換部 ９ バッテリー １１ 差動アンプ 1 traveling vehicle 2 primary coil 3 power supply device 4 power line 5,6 secondary coil 7,8 power converter 9 battery 11 differential amplifier
Claims (1)
イルと、移動体に搭載された２次コイルとを備え、移動
体の経路の１次コイルに交流電流を流し、移動体の２次
コイルに誘導電流を発生させ、この誘導電流を移動体の
電動機に供給される電力として利用する移動体の非接触
給電装置において、 複数の２次コイルを移動体の経路と直交する方向に並設
し、 これらの２次コイルの誘導電流に基づいて、移動体の経
路に対する移動体の変位を検出する変位検出手段を設け
た移動体の非接触給電装置における変位検出装置。1. A primary coil laid along the path of a moving body, and a secondary coil mounted on the moving body, wherein an alternating current is passed through the primary coil of the path of the moving body, In a non-contact power feeding device for a mobile body, which generates an induced current in a secondary coil and uses this induced current as electric power supplied to an electric motor of the mobile body, a plurality of secondary coils are arranged in a direction orthogonal to a path of the mobile body. A displacement detecting device in a non-contact power supply device for a moving body, which is provided in parallel and provided with a displacement detecting means for detecting the displacement of the moving body with respect to the path of the moving body based on the induced currents of these secondary coils.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5211617A JPH0767270A (en) | 1993-08-26 | 1993-08-26 | Displacement detector in noncontact power supply for mobile body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5211617A JPH0767270A (en) | 1993-08-26 | 1993-08-26 | Displacement detector in noncontact power supply for mobile body |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0767270A true JPH0767270A (en) | 1995-03-10 |
Family
ID=16608731
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5211617A Pending JPH0767270A (en) | 1993-08-26 | 1993-08-26 | Displacement detector in noncontact power supply for mobile body |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0767270A (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1999022385A1 (en) * | 1997-10-24 | 1999-05-06 | Daimlerchrysler Ag | Electric power transmission device |
| DE19816762A1 (en) * | 1998-04-16 | 1999-10-28 | Goetting Jun | Process for energy supply as well as positioning and / or management of an object |
| JP2007010534A (en) * | 2005-07-01 | 2007-01-18 | Murata Mach Ltd | Movable body system |
| US7243752B2 (en) | 2002-04-12 | 2007-07-17 | Wampfler Aktiengesellschaft | Device for inductively supplying power and guiding a mobile object |
| JP2010130729A (en) * | 2008-11-25 | 2010-06-10 | Canon Inc | Charging equipment, transmission equipment, and noncontact charging system |
| JP2010183813A (en) * | 2009-02-09 | 2010-08-19 | Toyota Industries Corp | Resonance type non-contact charging system |
| JP2011160515A (en) * | 2010-01-29 | 2011-08-18 | Autonetworks Technologies Ltd | Radio charging apparatus for vehicle |
| JP2011167031A (en) * | 2010-02-15 | 2011-08-25 | Toyota Central R&D Labs Inc | Power supplying device for moving body |
| WO2012014038A2 (en) | 2010-07-28 | 2012-02-02 | Toyota Jidosha Kabushiki Kaisha | Coil unit, non-contact power transmitting apparatus, non-contact power receiving apparatus, vehicle, and non-contact power supply system |
| WO2012067184A1 (en) | 2010-11-18 | 2012-05-24 | トヨタ自動車株式会社 | Coil unit, non-contact electric power transmission apparatus, vehicle and non-contact power supply system |
| JP2013051744A (en) * | 2011-08-30 | 2013-03-14 | Mitsubishi Motors Corp | Wireless power supply system |
| JP2016541223A (en) * | 2013-09-27 | 2016-12-28 | クアルコム，インコーポレイテッド | Device alignment in inductive power transfer systems |
| JP2018148704A (en) * | 2017-03-06 | 2018-09-20 | 株式会社東芝 | Positional deviation direction estimating device, positional deviation direction estimating method and program |
| WO2019202693A1 (en) * | 2018-04-19 | 2019-10-24 | 三菱電機株式会社 | In-vehicle device, information processing method, and information processing program |
| JP2020171158A (en) * | 2019-04-04 | 2020-10-15 | 東洋電機製造株式会社 | Guided traveling vehicle |
| CN112683151A (en) * | 2020-11-30 | 2021-04-20 | 中车长江车辆有限公司 | Power supply system, mobile device and method for positioning by using power supply network |
-
1993
- 1993-08-26 JP JP5211617A patent/JPH0767270A/en active Pending
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1999022385A1 (en) * | 1997-10-24 | 1999-05-06 | Daimlerchrysler Ag | Electric power transmission device |
| DE19746919A1 (en) * | 1997-10-24 | 1999-05-06 | Daimler Chrysler Ag | Electrical transmission device |
| US6407470B1 (en) | 1997-10-24 | 2002-06-18 | Daimlerchrysler Ag | Electric power transmission device |
| DE19816762A1 (en) * | 1998-04-16 | 1999-10-28 | Goetting Jun | Process for energy supply as well as positioning and / or management of an object |
| US7243752B2 (en) | 2002-04-12 | 2007-07-17 | Wampfler Aktiengesellschaft | Device for inductively supplying power and guiding a mobile object |
| JP2007010534A (en) * | 2005-07-01 | 2007-01-18 | Murata Mach Ltd | Movable body system |
| JP4591694B2 (en) * | 2005-07-01 | 2010-12-01 | 村田機械株式会社 | Mobile system |
| JP2010130729A (en) * | 2008-11-25 | 2010-06-10 | Canon Inc | Charging equipment, transmission equipment, and noncontact charging system |
| JP2010183813A (en) * | 2009-02-09 | 2010-08-19 | Toyota Industries Corp | Resonance type non-contact charging system |
| JP2011160515A (en) * | 2010-01-29 | 2011-08-18 | Autonetworks Technologies Ltd | Radio charging apparatus for vehicle |
| JP2011167031A (en) * | 2010-02-15 | 2011-08-25 | Toyota Central R&D Labs Inc | Power supplying device for moving body |
| WO2012014038A2 (en) | 2010-07-28 | 2012-02-02 | Toyota Jidosha Kabushiki Kaisha | Coil unit, non-contact power transmitting apparatus, non-contact power receiving apparatus, vehicle, and non-contact power supply system |
| US9142986B2 (en) | 2010-07-28 | 2015-09-22 | Toyota Jidosha Kabushiki Kaisha | Coil unit, non-contact power transmitting apparatus, non-contact power receiving apparatus, vehicle, and non-contact power supply system |
| WO2012067184A1 (en) | 2010-11-18 | 2012-05-24 | トヨタ自動車株式会社 | Coil unit, non-contact electric power transmission apparatus, vehicle and non-contact power supply system |
| US9225204B2 (en) | 2010-11-18 | 2015-12-29 | Toyota Jidosha Kabushiki Kaisha | Coil unit, contactless power transfer apparatus, vehicle, and contactless power feeding system |
| JP2013051744A (en) * | 2011-08-30 | 2013-03-14 | Mitsubishi Motors Corp | Wireless power supply system |
| JP2016541223A (en) * | 2013-09-27 | 2016-12-28 | クアルコム，インコーポレイテッド | Device alignment in inductive power transfer systems |
| JP2018148704A (en) * | 2017-03-06 | 2018-09-20 | 株式会社東芝 | Positional deviation direction estimating device, positional deviation direction estimating method and program |
| WO2019202693A1 (en) * | 2018-04-19 | 2019-10-24 | 三菱電機株式会社 | In-vehicle device, information processing method, and information processing program |
| JP2020171158A (en) * | 2019-04-04 | 2020-10-15 | 東洋電機製造株式会社 | Guided traveling vehicle |
| CN112683151A (en) * | 2020-11-30 | 2021-04-20 | 中车长江车辆有限公司 | Power supply system, mobile device and method for positioning by using power supply network |
| WO2022110905A1 (en) * | 2020-11-30 | 2022-06-02 | 中车长江车辆有限公司 | Power supply system, mobile device and method for positioning using power supply network |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JPH0767270A (en) | Displacement detector in noncontact power supply for mobile body | |
| JP5509883B2 (en) | Wireless charging device for vehicle | |
| US10562396B2 (en) | Parking assistance apparatus and system | |
| EP2680398B1 (en) | Contactless power transfer device for moving part | |
| RU2554103C1 (en) | Non-contact power supply device | |
| CN112400267A (en) | Non-contact power supply device and non-contact power supply system | |
| JP2010288394A (en) | Vehicle charging system and vehicle | |
| US10583745B2 (en) | Non-contact power transmission system | |
| US20180019623A1 (en) | Parking assistance device and parking assistance method | |
| JPH0767271A (en) | Displacement detector in noncontact power supply for mobile body | |
| JPH0833112A (en) | Non-contact current collector for vehicle | |
| JP2012016106A (en) | Alignment system of noncontact power supply device | |
| CN114379387B (en) | Navigation server, navigation program, and navigation system | |
| JP2013169109A (en) | Mobile vehicle and non contact power transmission apparatus | |
| Koishi et al. | Estimation and positioning control of lateral displacement using coil current in dynamic wireless power transfer with rectangular coil on dynamic bench | |
| JP7314918B2 (en) | Control device, contactless power supply diagnostic program, and contactless power supply system | |
| CN109484217A (en) | The unmanned navigation system of three-in-one electronic highway and method | |
| JPH0454804A (en) | Moving robot | |
| JPH0761350A (en) | Information transmitting device for non-contact feeding device for moving body | |
| JPS61224009A (en) | Automatic steering device of unmanned car | |
| JP7225491B2 (en) | Induction vehicle | |
| WO2020017146A1 (en) | Non-contact power feeding device and non-contact power feeding system | |
| JP2678763B2 (en) | Self-propelled vehicle detection device | |
| JPH0749522Y2 (en) | Guidance signal detector for unmanned vehicles | |
| JPH10312215A (en) | Traveling control method and unmanned vehicle |