JPWO2018150678A1 - Contactless power supply system - Google Patents

Abstract

Even if the power supply target is irregularly and freely displaced, stable and efficient non-contact power supply is performed. A non-contact power supply system 100 that supplies power from a power transmission device 110 to a power reception device 120 in a non-contact manner by magnetic resonance coupling, and includes a power transmission coil 112 provided in the power transmission device, a power reception coil 122 provided in the power reception device, and power transmission to the power reception coil. Based on the detection result by the power transmission coil position / angle adjustment mechanism 115 that adjusts the position and relative angle of the coil, the detection unit 125 that detects the distance of the power reception coil from the power transmission coil and the inclination angle with respect to the vertical direction, A control unit that adjusts the position and relative angle of the power transmission coil with respect to the power reception coil via the power transmission coil position / angle adjustment mechanism, and controls the transmission efficiency from the power transmission device to the power reception device to be a maximum value. It is characterized.

Description

  The present invention relates to a non-contact power supply system that supplies electric power from a power transmission device to a power reception device in a contactless manner by magnetic resonance coupling. This application claims priority on the basis of Japanese Patent Application No. 2017-027568 filed on Feb. 17, 2017 in Japan, and is incorporated herein by reference. Is done.

  In recent years, the practical application of a non-contact power feeding system (wireless power feeding system) that supplies power to a load such as an electronic device in a non-contact manner without using a power cable from a power feeding device has been studied. Technologies that enable non-contact power supply include "electromagnetic induction method" using electromagnetic induction, "electromagnetic resonance method" using electromagnetic resonance phenomenon, and power to electromagnetic waves such as microwaves and lasers. There is a "radio wave system" that converts and transmits and receives via an antenna.

  The electromagnetic induction method is the most practical technology in the industry and can transmit several kW of power, but the transmission distance is as short as several centimeters, and it is located between the transmitting coil and the receiving coil. When the deviation occurs, the coupling coefficient between the coils is lowered, and the transmission efficiency is significantly lowered. On the other hand, power supply using the radio wave system is still in the research and development stage, and transmission at several kW is expected. However, the transmission efficiency is low compared to other systems, and the directivity is extremely high. When the side moves slightly, or when an obstacle intervenes between the power transmission / reception devices, transmission becomes impossible.

  On the other hand, in the electromagnetic resonance method (magnetic resonance coupling method) in which the resonance frequency of the LC circuit on the power transmission side and the resonance frequency of the LC circuit on the power reception side coincide with the power supply frequency, the transmission efficiency is the coupling coefficient between the coils. It is determined by the product of the Q value that represents the sharpness of resonance of the resonance circuit, and the transmission distance can be in the order of meters, and even if the coupling coefficient decreases due to some coil deviation, transmission is possible if the Q value is high. There are advantages. For this reason, research on practical application of a contactless power supply system using a magnetic resonance coupling method has been promoted. For example, as described in Patent Documents 1 and 2, for power supply to an electric vehicle equipped with a receiving coil, etc. Has been applied.

JP2013-121261A JP, 2006-192856, A

  With respect to the magnetic field resonance coupling method, power can be transmitted when power can be supplied from a power transmission coil toward a power receiving coil that regularly moves in a predetermined direction, such as an electric vehicle. However, when the power supply target moves irregularly and freely, such as a medical device such as an artificial heart or a power assist suit worn by a person, or a mobile robot in a factory, it is between the power transmission coil and the power reception coil. When the relative angle of the coil approaches 90 degrees, the coupling coefficient between the two coils may be irregularly close to zero. For this reason, the transmission efficiency of the electric power transmitted between the power transmission device and the power receiving device is significantly reduced, and stable power transmission becomes difficult.

  The present invention has been made in view of the above problems, and is a new and improved non-contact power feeding capable of stably and highly efficient non-contact power feeding even when a power feeding target is irregularly and freely displaced. The purpose is to provide a system.

  One embodiment of the present invention is a contactless power feeding system that feeds power from a power transmission device to a power reception device in a contactless manner by magnetic resonance coupling, a power transmission coil provided in the power transmission device, a power reception coil provided in the power reception device, A power transmission coil position / angle adjustment mechanism that adjusts the position and relative angle of the power transmission coil with respect to the power reception coil, a detection unit that detects a distance from the power transmission coil and a tilt angle of the power reception coil with respect to a vertical direction, and the detection unit The power transmission efficiency from the power transmission device to the power reception device is adjusted by adjusting the position and the relative angle of the power transmission coil with respect to the power reception coil via the power transmission coil position / angle adjustment mechanism based on the detection result by the power transmission coil. And a control unit that controls the maximum value.

  According to one aspect of the present invention, even if the power receiving side is irregularly and freely displaced, the position of the power transmission coil and the relative angle with respect to the power receiving coil are immediately adjusted based on the detection result by the detection unit. Since the transmission efficiency from the device to the power receiving device is controlled so as to become the maximum value, stable and highly efficient non-contact power feeding becomes possible.

  At this time, in one aspect of the present invention, the control unit is configured to detect the distance from the power transmission coil of the power reception coil detected by the detection unit, the inclination angle of the power reception coil, and the inclination of the power transmission coil with respect to the vertical direction. Control may be performed so that the transmission efficiency calculated from the relational expression based on the angle becomes a maximum value.

  In this way, even if the power receiving side is irregularly and freely displaced, the position of the power transmission coil and the power receiving are immediately adjusted so that the transmission efficiency calculated by the relational expression based on the detection result by the detection means becomes the maximum value. By adjusting the relative angle with respect to the coil, the transmission efficiency from the power transmission device to the power reception device can be controlled to be the maximum value.

  In the aspect of the invention, the detection unit may be a sensor provided in the vicinity of the power receiving coil.

  In this way, the accuracy of detecting the position of the power receiving coil is improved, so even if the power receiving side is irregularly and freely displaced, the position of the power transmitting coil and the relative angle with respect to the power receiving coil are immediately determined based on the detection result by the sensor. By adjusting to, the transmission efficiency from the power transmission device to the power reception device can be controlled to be the maximum value.

  In one embodiment of the present invention, an imaging device capable of imaging at least one of the power reception coil and the power transmission coil may be provided as the detection unit.

  In this way, the positional relationship between the power reception coil and the power transmission coil can be detected by the imaging device. Therefore, even if the power reception side is irregularly and freely displaced, the position of the power transmission coil and the power reception are determined based on the detection result by the imaging device. By immediately adjusting the relative angle with respect to the coil, the transmission efficiency from the power transmission device to the power reception device can be controlled to be the maximum value.

  In one aspect of the present invention, a relay coil provided between the power transmission coil and the power reception coil, a relay coil angle adjustment mechanism that adjusts an inclination angle of the relay coil with respect to the vertical direction, and the relay coil. Relay coil moving means for moving the power receiving coil so as to follow the power receiving coil, and the detecting means detects a distance from the power receiving coil to the power transmitting coil and an inclination angle with respect to a vertical direction via the relay coil. The control unit adjusts the relative angle of the relay coil with respect to the power receiving coil via the relay coil angle adjustment mechanism based on the detection result by the detection means, and thereby the relay coil angle adjustment mechanism and the power transmission coil Adjusting the relative angle of the relay coil with respect to the power transmission coil via a position / angle adjustment mechanism, and the relay coil; By adjusting the distance from the power transmission coil to said relay coil via the motion means, transmission efficiency from the power transmitting device to the receiving device may be controlled to be a maximum value.

  In this way, even when the distance between the power transmission device and the power reception device is large, the position of the power transmission coil and the relative angle with respect to the power reception coil are immediately adjusted via the relay coil based on the detection result by the sensor. The transmission efficiency from the power transmission device to the power reception device can be controlled to be the maximum value.

  Moreover, in one aspect of the present invention, the control unit is configured such that the distance from the power transmission coil of the power reception coil detected by the detection unit, the inclination angle of the power reception coil, the inclination angle of the power transmission coil with respect to the vertical direction, Control may be performed so that the transmission efficiency calculated from the relational expression based on the inclination angle of the relay coil with respect to the vertical direction and the distance from the power transmission coil to the relay coil becomes a maximum value.

  In this way, even when the distance between the power transmitting device and the power receiving device is large, the transmission efficiency calculated by the relational expression based on the detection result by the detecting means is maximum when the power receiving side is irregularly and freely displaced. Thus, by immediately adjusting the position of the power transmission coil and the relative angle to the power reception coil, the transmission efficiency from the power transmission device to the power reception device can be controlled to the maximum value.

  In the aspect of the invention, the relay coil is provided in a plurality, and the control unit is configured to detect the distance from the power transmission coil of the power reception coil detected by the detection unit, the inclination angle of the power reception coil, and the power transmission. The transmission efficiency calculated from the relational expression based on the inclination angle of the coil with respect to the vertical direction, the inclination angle of the relay coil with respect to the vertical direction, the distance from the power transmission coil to the relay coil, and the number of the relay coils. It is good also as controlling so that it may become the maximum value.

  According to this configuration, even when the distance between the power transmission device and the power reception device is further increased, the position of the power transmission coil and the relative angle with respect to the power reception coil are determined via the plurality of relay coils based on the detection result by the detection unit. By adjusting immediately, the transmission efficiency from the power transmission device to the power reception device can be controlled to be the maximum value.

  In the aspect of the invention, the detection unit may be a sensor provided in the vicinity of at least one of the power reception coil and the relay coil.

  In this way, the accuracy of detecting the position of the power receiving coil is improved, so even if the power receiving side is irregularly and freely displaced, the position of the power transmitting coil and the relative angle with respect to the power receiving coil are immediately determined based on the detection result by the sensor. By adjusting to, the transmission efficiency from the power transmission device to the power reception device can be controlled to be the maximum value.

  In one embodiment of the present invention, an imaging device capable of imaging at least one of the power reception coil, the power transmission coil, and the relay coil may be provided as the detection unit.

  In this way, since the positional relationship among the power receiving coil, the power transmitting coil, and the relay coil can be detected by the imaging device, even if the power receiving side is irregularly and freely displaced, the power transmitting coil is based on the detection result by the imaging device. By immediately adjusting the position and the relative angle with respect to the power receiving coil, the transmission efficiency from the power transmitting device to the power receiving device can be controlled to the maximum value.

  As described above, according to the present invention, even if the power supply target is irregularly and freely displaced, by immediately adjusting the position of the power transmission coil and the relative angle with respect to the power reception coil, the power transmission device can receive power from the power reception device. Since the transmission efficiency is controlled to the maximum value, stable and highly efficient non-contact power feeding is realized.

It is explanatory drawing which shows schematic structure of the one aspect | mode of the non-contact electric power feeding system which concerns on one Embodiment of this invention. It is a block diagram which shows the outline of the circuit structure of the non-contact electric power feeding system which concerns on one Embodiment of this invention. It is a graph which shows the comparison result of the transmission efficiency in the case of the presence or absence of angle control of a power transmission coil. It is a flowchart which shows the outline of the operation control of the non-contact electric power feeding system which concerns on one Embodiment of this invention. It is explanatory drawing which shows the outline of operation control of the non-contact electric power feeding system which concerns on one Embodiment of this invention. It is a block diagram which shows the outline of the circuit structure of the modification of the non-contact electric power feeding system which concerns on one Embodiment of this invention. It is a block diagram which shows the outline of the circuit structure of the other modification of the non-contact electric power feeding system which concerns on one Embodiment of this invention. It is explanatory drawing which shows schematic structure of the other aspect of the non-contact electric power feeding system which concerns on one Embodiment of this invention. It is explanatory drawing which shows schematic structure of the one aspect | mode of the non-contact electric power feeding system which concerns on other embodiment of this invention. It is a block diagram which shows the outline of the circuit structure of the non-contact electric power feeding system which concerns on other embodiment of this invention. It is a flowchart which shows the outline of operation control of the non-contact electric power feeding system which concerns on other embodiment of this invention. It is explanatory drawing which shows the outline of operation control of the non-contact electric power feeding system which concerns on other embodiment of this invention. It is a block diagram which shows the outline of the circuit structure of the modification of the non-contact electric power feeding system which concerns on other embodiment of this invention. It is a block diagram which shows the outline of the circuit structure of the other modification of the non-contact electric power feeding system which concerns on other embodiment of this invention. It is a block diagram which shows the outline of the circuit structure of the other modification of the non-contact electric power feeding system which concerns on other embodiment of this invention. It is a block diagram which shows the outline of the circuit structure of the other modification of the non-contact electric power feeding system which concerns on other embodiment of this invention. It is explanatory drawing which shows schematic structure of the other aspect of the non-contact electric power feeding system which concerns on other embodiment of this invention. It is explanatory drawing which shows schematic structure of the other aspect of the non-contact electric power feeding system which concerns on other embodiment of this invention. It is explanatory drawing which shows schematic structure of the other aspect of the non-contact electric power feeding system which concerns on other embodiment of this invention. It is explanatory drawing which shows schematic structure of the other aspect of the non-contact electric power feeding system which concerns on other embodiment of this invention. It is explanatory drawing which shows schematic structure of the other aspect of the non-contact electric power feeding system which concerns on other embodiment of this invention.

  Hereinafter, preferred embodiments of the present invention will be described in detail. The present embodiment described below does not unduly limit the contents of the present invention described in the claims, and all the configurations described in the present embodiment are essential as means for solving the present invention. Not necessarily.

(First embodiment)
First, an outline of a non-contact power feeding system according to an embodiment of the present invention will be described using the drawings. FIG. 1 is an explanatory diagram showing a schematic configuration of one aspect of a non-contact power feeding system according to an embodiment of the present invention.

  The contactless power supply system 100 according to an embodiment of the present invention has a function of supplying power from a power transmission device 110 to a power reception device 120 that is a power supply target in a contactless manner by magnetic resonance coupling. In the non-contact power supply system 100 of the present embodiment, a power assist suit 121 in which a power receiving coil 122 is provided on the wearer's back side is a power transmission device 110 in which a power transmission coil 112 is attached to a power station 111 connected to a commercial power source. Is applied as the power receiving apparatus 120. The power transmission device 110 is not limited to the power supply station 111 connected to a commercial power source, and may be a power supply unit such as a battery provided with a power transmission coil 112 as long as it is a power source for the power reception device 120. Also good.

  The power transmission device 110 is provided with a power transmission coil 112 that supplies power to the power reception coil 122 provided in the power reception device 120 in a contactless manner by magnetic resonance coupling. The power transmission coil 112 is attached to the power supply station 111 via a gimbal mechanism 115 serving as a power transmission coil position / angle adjustment mechanism that adjusts the position and relative angle of the power transmission coil 112 with respect to the power reception coil 122.

  In the present embodiment, the power receiving device 120 to be fed is a power assist suit 121 to be worn by a person, and the power receiving suit 122 is provided on the back of the person as shown in FIG. The position and angle of the power receiving coil 122 with respect to the power transmitting coil 112 vary irregularly depending on the position and posture of the person wearing the 121. As described above, when the relative angle between the power transmission coil 112 and the power reception coil 122 is 90 degrees, the coupling coefficient between the two coils approaches zero and is transmitted between the power transmission device 120 and the power reception device 110. The power transmission efficiency η is significantly lowered, and stable power transmission becomes difficult.

  For this reason, in the present embodiment, the motor includes a motor of the gimbal mechanism 115 that supports the power transmission coil 112 while following the position and angle of the power reception coil 122 where the power transmission coil 112 is irregularly displaced via the gimbal mechanism 115. The drive unit 116 is driven to adjust the position and relative angle of the power transmission coil 112. That is, in this embodiment, in power transmission by magnetic field resonance coupling, high transmission efficiency can be maintained by controlling the angle of the power transmission coil 112 in accordance with the angle of the power reception coil 122. The details of the angle control operation of the power transmission coil 112 that matches the angle of the power reception coil 122 will be described later.

  In this embodiment, the gimbal mechanism 115 is applied as a power transmission coil position / angle adjustment mechanism that adjusts the position and relative angle of the power transmission coil 112 with respect to the power reception coil 122, but not only the gimbal mechanism 115 but also the power transmission coil 112. An elevating mechanism may be provided so that the height can be adjusted. Further, the power receiving device 120 can be applied to, for example, an in-vivo implantable artificial organ such as an artificial heart or a mobile robot in a factory other than the power assist suit 121 whose load to be supplied is a wearable device. .

  Next, the circuit configuration of the non-contact power feeding system according to one embodiment of the present invention will be described with reference to the drawings. FIG. 2 is a block diagram showing an outline of a circuit configuration of the non-contact power feeding system according to one embodiment of the present invention.

  As shown in FIG. 2, the contactless power supply system 100 according to the present embodiment includes a power transmission device 110, a drive unit 116, a power reception device 120, a sensor 125, and a control unit 140.

  As shown in FIG. 2, the power transmission device 110 includes a power transmission coil 112, a power transmission capacity 113, a power transmission side subcoil 114, a drive unit 116, a converter 117, an impedance matching circuit 118, and a power source 111. Prepare. On the other hand, as shown in FIG. 2, the power receiving device 120 includes a power receiving coil 122, a power receiving capacity 123, a power receiving side subcoil 124, a sensor 125, an AC-DC converter 127, and a load 121.

  In the power transmission device 110, a current from a commercial power source such as a high frequency power source or a battery (an AC current when the power source 111 is a commercial power source and a direct current when the power source 111 is a battery) is converted into an AC-AC converter, The converter 117 such as a DC-AC inverter converts the AC current to a desired frequency. Then, the alternating current converted to a desired frequency by the converter 117 converts the entire circuit of the power transmission device 110 into a desired impedance by an impedance matching circuit 118 such as a variable capacitor or a variable inductor, and the electromagnetic current is transmitted from the power transmission side subcoil 114. The power transmission coil 112 is coupled by induction. The power transmission coil 112 constitutes a power transmission capacity 113 and a power transmission resonance circuit, and supplies power to the power receiving device 120 by magnetic field resonance coupling.

  On the other hand, in the power receiving device 120, the power receiving coil 122 and the power receiving capacitor 123 constitute a power receiving resonance circuit, and the power receiving coil 122 is coupled to the power receiving side subcoil 124 by electromagnetic induction. The alternating current generated by the electromagnetic induction coupling with the power receiving side subcoil 124 is converted into a direct current by the AC-DC converter 127 and supplied to the load 121.

  By adopting such a circuit configuration of the contactless power feeding system 100 of the present embodiment, a current from the power source 111 is converted into an alternating current of a desired frequency by the converter 117, and power is transmitted via the power transmission side subcoil 114. The coil 112 and the power transmission capacitor 113 constitute a power transmission resonance circuit, and a magnetic resonance coupling state is generated. Then, when the frequency of the power transmission resonance circuit coincides with the frequency of the alternating current converted by the converter 117 and the frequency of the power reception resonance circuit configured by the power reception coil 122 and the power reception capacitance 123, power is generated by resonance. The alternating current is converted into direct current by the AC-DC converter 127 via the power receiving side subcoil 124, and power is supplied to the load 121.

  As described above, the drive unit 116 is a drive source including a motor or the like that is driven when the direction of the power transmission coil 112 supported by the gimbal mechanism 115 (see FIG. 1) that can change the direction of the power transmission coil 112 is changed. It is.

  The sensor 125 has a function as a detection unit that detects position information and angle information of the power receiving coil 122, and includes a GPS sensor, a gyro sensor (angular velocity sensor), an angle sensor, a gravity sensor, and an acceleration sensor. Is done. In the present embodiment, the sensor 125 detects the distance and direction of the power receiving coil 122 from the power transmission coil 112 as the position information of the power receiving coil 122, and the angle information of the power receiving coil 122 with respect to the vertical direction of the power receiving coil 122. It has a function of detecting tilt angle, that is, posture angle information.

  The position information and angle information of the power receiving coil 122 detected by the sensor 125 are transmitted to the control unit 140 as a radio signal and fed back to the operation of adjusting the position and angle of the power transmitting coil 112. In the present embodiment, when the position information and angle information of the power receiving coil 122 detected by the sensor 125 are transmitted by radio signals, the position information and angle information after reaching a certain fluctuation range in order to reduce power consumption. Is transmitted by the control unit 140. Further, in the present embodiment, the frequency band of the radio signal when transmitting the position information and the angle information of the power receiving coil 122 from the sensor 125 to the control unit 140 does not interfere with the frequency band of the wireless power supply when supplying power without contact. I have to. For example, when the frequency band of wireless power feeding is several MHz, the frequency band of the wireless signal is set to several hundred MHz.

  Furthermore, in the present embodiment, the sensor 125 is preferably provided in the vicinity of the power receiving coil 122 and is provided inside the power receiving coil 122 in order to improve the accuracy of position detection of the power receiving coil 122. In the present embodiment, the position and angle of the power receiving coil 122 are detected by the sensor 125, but a camera or a motion capture is used as a modification of the detection means for detecting the position information and angle information of the power receiving coil 122. The position information and angle information of the power receiving coil may be detected by image processing. Details of a modification of the detection means will be described later.

  The control unit 140 has a function of performing various controls of the non-contact power feeding system 100. The non-contact power feeding system 100 according to the present embodiment includes a power transmission coil 112 through operation control by the control unit 140 based on position information and angle information of the power reception coil 122 detected by a sensor 125 provided in the vicinity of the power reception coil 122. The operation of adjusting the position and angle of the is controlled.

  In the present embodiment, the control unit 140 includes a CPU 142 having a calculation unit 144 and a command unit 146, and a storage unit 148, as shown in FIG.

  The CPU 142 has a function of controlling the operation of each component included in the non-contact power feeding system 100 according to various programs stored in the storage unit 148 such as a ROM. Further, the CPU 142 has a function of appropriately storing necessary data or the like in a RAM (not shown) that temporarily stores data when executing these various processes.

The calculation unit 144 determines the position of the power transmission coil 112 such that the transmission efficiency η of power from the power transmission device 110 to the power reception device 120 becomes the maximum value based on the detection result of the position information and angle information of the power reception coil 122 by the sensor 125. And a function of calculating a relative angle with respect to the power receiving coil 122. In the present embodiment, the calculation unit 144 is based on the distance r2 from the power transmission coil 112 of the power reception coil 122 detected by the sensor 125, the inclination angle θ _{2 of} the power reception coil 122, and the inclination angle θ ₀ of the power transmission coil 112 with respect to the vertical direction. The preferred value of the position and angle of the power transmission coil 112 is calculated so that the transmission efficiency η calculated from the relational expression becomes the maximum value. Details of a method for calculating a suitable value of the position and angle of the power transmission coil 112 will be described later so that the transmission efficiency η calculated from the relational expression in the calculation unit 144 becomes the maximum value.

  The command unit 146 has a function of commanding the drive unit 116 to control the operation based on the calculation result by the calculation unit 144. In the present embodiment, the drive unit 116 that supports the power transmission coil 112 is driven by the gimbal mechanism 115 so that the transmission efficiency η calculated by the calculation unit 144 becomes a suitable value of the position and angle of the power transmission coil 112 that has the maximum value. Let

  In this way, in the present embodiment, the position and relative angle of the power transmission coil 112 with respect to the power reception coil 122 are immediately determined via the gimbal mechanism 115 serving as the power transmission coil position / angle adjustment mechanism based on the detection result of the sensor 125. It adjusts and it controls so that the transmission efficiency of the electric power from the power transmission apparatus 110 to the power receiving apparatus 120 becomes the maximum value. For this reason, even if the power supply target is irregularly and freely displaced, the transmission efficiency η from the power transmission device 110 to the power reception device 120 is adjusted by immediately adjusting the position of the power transmission coil 112 and the relative angle with respect to the power reception coil 122. Since the maximum value is controlled, stable and highly efficient non-contact power feeding is realized.

  That is, when the power transmission coil is fixed with respect to the displacing power reception coil as in the prior art, as shown in FIG. 3, as the relative angle between the power transmission coil and the power reception coil increases from 0 degrees, the transmission efficiency η As the relative angle reached 90 degrees, the transmission efficiency η approached zero. On the other hand, in the present embodiment, the position and angle of the power transmission coil 112 are moved so as to be suitable values with respect to the position information and angle information of the power receiving coil 122 that is displaced. Even if the relative angle between the coil 112 and the power receiving coil 122 increases from 0 degree, the transmission efficiency η can be increased without decreasing.

  In the present embodiment, the control unit 140 determines the distance from the power transmission coil 112 of the power reception coil 122 detected by the sensor 125, the inclination angle of the power reception coil 122, and the vertical direction of the power transmission coil 112 based on the detection result by the sensor 125. The position and the relative angle of the power transmission coil 112 with respect to the power receiving coil 122 are immediately adjusted and controlled so that the transmission efficiency η calculated from the relational expression based on the inclination angle with respect to the maximum value is obtained. You may adjust the position and relative angle of the power transmission coil 112 in which the transmission efficiency (eta) becomes the maximum value.

  For example, the control unit 140 obtains a ratio between the power transmitted from the power transmission coil 112 by the calculation unit 144 and the power transmitted to the power reception coil 122 based on the detection result by the sensor 125, and the transmission efficiency is calculated from these ratios. The position and relative angle of the power transmission coil 112 with respect to the power receiving coil 122 may be calculated so that η becomes the maximum value, and the command unit 146 may be instructed to adjust the position and relative angle.

  In addition, based on the detection result of the sensor 125, the control unit 140 causes the calculation unit 144 to calculate the power transmission coil 112 with respect to the power reception coil 122 so that the transmission efficiency η becomes the maximum value from the data table stored in the storage unit 148. A preferred value of the position and relative angle may be calculated and set to the preferred value by the command unit 146. That is, the position and relative position of the power transmission coil 112 with respect to the power reception coil 122 in the case of the data of the distance from the power transmission coil 112 of the power reception coil 122 to the storage unit 148, the inclination angle of the power reception coil 122, and the inclination angle of the power transmission coil 112 with respect to the vertical direction. A suitable angle data table may be stored, and based on the detection result of the sensor 125, the position of the power transmission coil 112 and the relative angle of the power receiving coil 122 may be set with reference to the data table.

  Furthermore, the aspect in which the control unit 140 controls the transmission efficiency η from the power transmission device 110 to the power reception device 120 to the maximum value is not limited to that based on the detection result by the sensor 125. For example, the power output from the power source of the power transmission device 110 and the power consumed by the power receiving device 120 are measured, and the transmission efficiency η is calculated based on the ratio between the two powers. The angle of the power transmission coil 112 may be determined based on the fluctuation result of the transmission efficiency η when moved. Specifically, when the transmission efficiency η is improved, the power transmission coil 112 is moved further to the moved side, and when the transmission efficiency η is lowered, the power transmission coil 112 is moved in a direction different from the moved direction. Adjust. At this time, the power information on the power receiving side is transmitted to the control unit 140 by wireless communication or the like.

  Next, operation control of the non-contact power feeding system according to an embodiment of the present invention will be described with reference to the drawings. FIG. 4 is a flowchart showing an outline of operation control of the non-contact power feeding system according to one embodiment of the present invention, and FIG. 5 shows an outline of operation control of the non-contact power feeding system according to one embodiment of the present invention. It is explanatory drawing shown.

  First, the sensor 125 detects the distance and direction from the power transmission coil 112 as position information of the power receiving coil 122, and detects the tilt angle with respect to the vertical direction as angle information of the power receiving coil 122 (step S11). For example, when the sensor 125 includes a GPS sensor and a gyro sensor, position information of the power receiving coil 122 is detected by the GPS sensor, and angle information of the power receiving coil 122 is detected by the gyro sensor.

  Next, based on the detection result of the position and angle of the power receiving coil 122 by the sensor 125, the power transmission efficiency η from the power transmission device 110 to the power reception device 120 is maximized by the calculation unit 144 of the control unit 140. The relative angle with respect to the position of the power transmission coil 112 and the power reception coil 122 is calculated (step S12). That is, in step S <b> 12, based on the position information and angle information of the power receiving coil 122 transmitted from the sensor 125 to the control unit 140 as a wireless signal, the calculation unit 144 of the control unit 140 transmits power from the power transmission device 110 to the power reception device 120. The position of the power transmission coil 112 that maximizes the transmission efficiency η and the relative angle with respect to the power reception coil 122 are calculated.

In the present embodiment, in step S12, the calculation unit 144 calculates the distance r2 from the center O1 of the power transmission coil 112 to the center O2 of the power reception coil 122 detected by the sensor 125 illustrated in FIG. Based on the inclination angle θ ₂ and the inclination angle θ ₀ of the power transmission coil 112 with respect to the vertical direction line L1, the position and angle of the power transmission coil 112 are set so that the transmission efficiency η calculated from the following relational expression becomes the maximum value. A suitable value is calculated.

An example of a specific relational expression of the transmission efficiency η used in the calculation in the calculation unit 144 in step S12 is shown below. In the following relational expressions, Q ₀ and Q ₂ represent the Q values of the power transmission coil 112 and the power reception coil 122, respectively.

Further, k in the above relational expression is a coupling coefficient between the power transmission coil 112 and the power receiving coil 122, and the coupling coefficient k is determined by the following expression. A in the following equation is a constant determined by the shape of the winding of the power transmission coil 112 and the power reception coil 122, and θ _r2 is a center O2 of the power reception coil 122 from the center O1 of the power transmission coil 112 with respect to the vertical direction line L1. Indicates the angle of the direction vector direction.

  When the preferred value of the position of the power transmission coil 112 and the relative angle with respect to the power reception coil 122 is calculated such that the transmission efficiency η of power from the power transmission device 110 to the power reception device 120 is the maximum value in step S12, the suitable value is obtained. Then, the position and inclination angle of the power transmission coil 112 are adjusted (step S13). In the present embodiment, the command unit 146 supports the power transmission coil 112 with the gimbal mechanism 115 so that the transmission efficiency η calculated by the calculation unit 144 becomes a maximum value of the position and angle of the power transmission coil 112 at which the maximum value is obtained. The unit 116 is commanded to drive the drive unit 116.

  As described above, in the present embodiment, the position and relative angle of the power transmission coil 112 with respect to the power receiving coil 122 are immediately adjusted based on the detection result of the sensor 125, and power is transmitted from the power transmission device 110 to the power receiving device 120. The efficiency is controlled to a maximum value. That is, the position information and angle information of the power receiving coil 122 detected by the sensor 125 are fed back to the control unit 140 and adjusted to a suitable position and relative angle of the power transmitting coil 112. For this reason, even if the power supply target is irregularly and freely displaced, such as a medical device such as an artificial heart or power assist suit worn by a person, or a mobile robot in a factory, the position of the power transmission coil 112 or the power reception coil By adjusting the relative angle with respect to 122 immediately and controlling the transmission efficiency η from the power transmitting apparatus 110 to the power receiving apparatus 120 to a maximum value, stable non-contact power feeding by magnetic resonance coupling with high efficiency is achieved. Realized.

  In the present embodiment, the sensor 125 is applied as the detecting means for detecting the position information and the angle information of the power receiving coil 122. However, as described above, the detection for detecting the position information and the angle information of the power receiving coil 122 is performed. The means may take other forms. For example, as shown in FIG. 6, a camera 119 serving as an imaging device is installed in the vicinity of the power transmission coil 112, and the position information and angle information of the power reception device 120 attached to the power supply target person or robot are obtained from image processing. May be.

  That is, in the non-contact power feeding system 101 that is a modification of the present embodiment, the camera 119 provided in the vicinity of the power transmission coil 112 images the power receiving device 120 that is a power feeding target, and the video information obtained by the camera 119 is obtained. Is digitally converted into position information and angle information of the power receiving coil 122 mounted on the power receiving device 120 by the image processing calculation unit 149, and then transmitted to the control unit 140 by a wireless signal, and the position information of the power receiving coil 122 by image processing And angle information may be detected. Note that since the image processing calculation unit 149 may be provided between the camera 119 and the control unit 140, the image processing calculation unit 149 may be installed inside either the camera 119 or the control unit 140.

  In this modification, the camera 119 is provided in the vicinity of the power transmission coil 112, but the installation location of the camera 119 is another location as long as at least one of the power transmission coil 112 and the power reception coil 122 can be imaged. It may be a place. That is, if it is a place where the relationship between the position and angle of the power receiving coil 122 with respect to the power transmitting coil 112 can be grasped, for example, the vicinity of the power receiving coil 122 or a monitoring camera that can simultaneously image both the power transmitting coil 112 and the power receiving coil 122. In this way, it may be installed at another position away from both the coils 112 and 122.

  Further, as shown in FIG. 7, a camera 119 may be installed in the vicinity of the power transmission coil 112 and a sensor 125 may be installed in the vicinity of the power receiving coil 122 as such detection means. That is, in the non-contact power feeding system 102 which is another modified example of the present embodiment, the power receiving device 120 to be fed is imaged by the camera 119 provided in the vicinity of the power transmission coil 112. The video information obtained by the camera 119 is digitally converted into position information and angle information of the power receiving coil 122 mounted on the power receiving device 120 by the image processing calculation unit 149, and then the position information and angle information are controlled. The position information and the angle information of the power receiving coil 122 are detected by image processing by being transmitted to the unit 140 as a wireless signal. In the non-contact power feeding system 102 of the other modified example, even when the power receiving device 120 to be powered is removed from the angle of view of the camera 119, the position information of the power receiving device 120 can be tracked by the sensor 125 such as GPS. I have to.

  Furthermore, the application object of the non-contact electric power feeding system 100 of this embodiment is applicable also to another aspect. For example, as shown in FIG. 8, a power receiving device 160 as a power supply target is a power receiving drone 166 in which a power receiving coil 162 is attached to a large camera 161 via a gimbal mechanism 165, and the power transmitting device 150 is transmitted via a gimbal mechanism 155. The non-contact power feeding system 103 may be configured as the power transmission device 150 in which the battery 151 to which the 152 is attached can be moved by the power transmission drone 158. In other words, the power transmission device 150 may have a function capable of following the power reception device 160 with respect to the power reception device 160 that is irregularly and freely displaced.

(Second Embodiment)
Next, an outline of a non-contact power feeding system according to another embodiment of the present invention will be described using the drawings. FIG. 9 is an explanatory diagram showing a schematic configuration of one aspect of the non-contact power feeding system according to another embodiment of the present invention.

  A non-contact power feeding system 200 according to another embodiment of the present invention has a function of feeding power from a power transmitting device 210 to a power receiving device 220 that is a power feeding target in a contactless manner by magnetic resonance coupling. In this embodiment, since the distance between the power transmission coil 212 and the power reception coil 222 is long, the transmission distance between power transmission and reception is increased by providing the repeater coil device 230 to which the relay coil 232 is attached. And At this time, when the distance between the coils is set to about 1 m, for example, the diameter of the power transmission coil 212 and the relay coil 232 is about 500 mm or more, and the diameter of the power reception coil 222 to be worn by a person is about 300 mm. It is desirable to be.

  The repeater coil device 230 is configured by being attached to an autonomous mobile robot 237 serving as a relay coil moving means via a gimbal mechanism 235 serving as a relay coil angle adjusting mechanism that adjusts an inclination angle of the relay coil 232 with respect to the vertical direction. Yes. That is, in this embodiment, the relay coil 232 is attached to the autonomous mobile robot 237 that moves so as to follow the power receiving coil 232 via the gimbal mechanism 235, and the gimbal mechanism 235 via the drive unit 236 such as a motor. Is supported to be drivable.

  Further, as in the first embodiment, the contactless power feeding system 200 of the present embodiment is equipped with a power receiving coil 222 as a power transmitting device 210 in which a power transmitting coil 212 is attached to a power station 211 connected to a commercial power source. A power assist suit 221 provided on the back side of the person is applied as the power receiving device 220. The power transmission device 210 is not limited to the power supply station 211 connected to the commercial power source, and may be a power supply unit such as a battery provided with a power transmission coil 212 as long as it is a power source for the power reception device 220. Also good.

  The power transmission device 210 is provided with a power transmission coil 212 that supplies electric power to the power reception coil 222 provided in the power reception device 220 in a non-contact manner by magnetic resonance coupling. The power transmission coil 212 is attached to the power station 211 via a gimbal mechanism 215 serving as a power transmission coil position / angle adjustment mechanism that adjusts the position and relative angle of the power transmission coil 212 with respect to the power reception coil 222.

  In the present embodiment, the power receiving device 220 to be fed is a power assist suit 221 to be worn by a person, and the power receiving coil 222 is provided on the back of the person as shown in FIG. The position and angle of the power receiving coil 222 with respect to the power transmitting coil 212 vary irregularly depending on the position and posture of the person wearing the 221. As described above, when the relative angle between the power transmission coil 212 and the power reception coil 222 reaches 90 degrees, the coupling coefficient between the two coils approaches zero and is transmitted between the power transmission device 220 and the power reception device 210. The power transmission efficiency η is significantly lowered, and stable power transmission becomes difficult. Further, in the present embodiment, the distance between the power transmission coil 210 and the power reception coil 220 is separated to such an extent that power feeding by magnetic field resonance coupling is difficult.

  Therefore, in the present embodiment, the power transmission device follows the position and angle of the power receiving coil 222 where the relay coil 232 is irregularly displaced via the autonomous mobile robot 237 and the gimbal mechanism 235 provided in the repeater coil device 230. The power transmitted from the power transmission coil 212 whose tilt angle is adjusted is relayed via the gimbal mechanism 215 included in 210. And the drive part 216 which consists of a motor etc. of the gimbal mechanism 215 which supports the power transmission coil 212 is driven, and the position and relative angle of the power transmission coil 212 are adjusted.

  That is, in the present embodiment, in power transmission by magnetic resonance coupling, the angle between the power transmission coil 212 and the power reception coil 222 is controlled by controlling the angle of the power transmission coil 212 via the relay coil 232 in accordance with the angle of the power reception coil 222. Even if the distance is long, high transmission efficiency can be maintained. The details of the angle control operation of the power transmission coil 212 in accordance with the angle of the power reception coil 222 will be described later.

  Next, the circuit configuration of the non-contact power feeding system according to one embodiment of the present invention will be described with reference to the drawings. FIG. 10 is a block diagram showing an outline of a circuit configuration of a non-contact power feeding system according to another embodiment of the present invention.

  As shown in FIG. 10, the non-contact power feeding system 200 of the present embodiment includes a power transmission device 210, a drive unit 216, a power reception device 220, a sensor 225, a repeater coil device 230, and a control unit 240. .

  As illustrated in FIG. 10, the power transmission device 210 includes a power transmission coil 212, a power transmission capacity 213, a power transmission side subcoil 214, a drive unit 216, a converter 217, an impedance matching circuit 218, and a power source 211. On the other hand, as shown in FIG. 10, the power receiving device 220 includes a power receiving coil 222, a power receiving capacity 223, a power receiving side subcoil 224, a sensor 225, an AC-DC converter 227, and a load 221. Further, the repeater coil device 230 includes a relay coil 232, a relay capacitor 233, a drive unit 236, and an autonomous moving unit 238, as shown in FIG.

  The drive unit 236 provided in the repeater coil device 230 is a drive composed of a motor or the like that is driven when the direction of the power transmission coil 232 supported by the gimbal mechanism 235 (see FIG. 9) that can change the direction of the relay coil 232 is changed. Is the source.

  The autonomous mobile unit 238 provided in the repeater coil device 230 is an autonomous mobile robot 237 that is driven when the position of the power transmission coil 232 supported by the gimbal mechanism 235 (see FIG. 9) that can change the direction of the relay coil 232 is changed. Drive source.

  In the power transmission apparatus 210, a current from a commercial power source 211 such as a high frequency power source or a battery (an AC current when the power source 211 is a commercial power source or a direct current when the power source 211 is a battery) is converted into an AC-AC converter, The converter 217 such as a DC-AC inverter converts the AC current to a desired frequency. Then, the alternating current converted to a desired frequency by the converter 217 converts the entire circuit of the power transmission device 210 into a desired impedance by the impedance matching circuit 218 such as a variable capacitor or a variable inductor, and the electromagnetic current is transmitted from the power transmission side subcoil 214 to the electromagnetic current. The power transmission coil 212 is coupled by induction. The power transmission coil 212 forms a power transmission capacity 213 and a power transmission resonance circuit, and supplies power toward the power receiving device 220 by magnetic field resonance coupling.

  On the other hand, in the power receiving device 220, the power receiving coil 222 and the power receiving capacitor 223 constitute a power receiving resonance circuit, and the power receiving coil 222 is coupled to the power receiving side subcoil 224 by electromagnetic induction. The alternating current generated by the electromagnetic induction coupling with the power receiving side subcoil 224 is converted into a direct current by the AC-DC converter 227 and supplied to the load 221.

  By adopting such a circuit configuration of the contactless power feeding system 200 of the present embodiment, the current from the power source 211 is converted into an alternating current of a desired frequency by the converter 217, and power is transmitted via the power transmission side subcoil 214. The coil 212 and the power transmission capacitor 213 constitute a power transmission resonance circuit, and a magnetic resonance coupling state is generated. When the frequency of the power transmission resonance circuit matches the frequency of the alternating current converted by the converter 117 and the frequency of the relay resonance circuit configured by the relay coil 232 and the relay capacitor 233, the power is resonated and the power is relayed. When the frequency of the relay resonance circuit coincides with the frequency of the power reception resonance circuit configured by the power reception coil 222 and the power reception capacitance 223, power is generated by resonation, and alternating current is generated by the AC-DC converter 227 via the power reception side subcoil 224. The power is supplied to the load 221 after being converted into direct current.

  As described above, the drive unit 216 provided in the power transmission device 210 is a motor that is driven when the direction of the power transmission coil 212 supported by the gimbal mechanism 215 (see FIG. 9) that can change the direction of the power transmission coil 212 is changed. It is a drive source consisting of the

  The sensor 225 has a function as a detecting unit that detects position information and angle information of the power receiving coil 222, and includes various sensors such as a GPS sensor, a gyro sensor (angular velocity sensor), an angle sensor, a gravity sensor, and an acceleration sensor. Is done. In the present embodiment, the sensor 225 detects the distance and direction of the power receiving coil 222 from the power transmission coil 212 via the relay coil 232 as position information of the power receiving coil 222, and uses the relay coil as angle information of the power receiving coil 222. The power receiving coil 122 has a function of detecting an inclination angle with respect to the vertical direction of the power receiving coil 122, that is, posture angle information.

  The position information and angle information of the power receiving coil 222 detected by the sensor 225 are transmitted to the control unit 240 as a radio signal and fed back to the operation of adjusting the position and angle of the power transmitting coil 212. In the present embodiment, when the position information and angle information of the power receiving coil 222 detected by the sensor 225 are transmitted by radio signals, the position information and angle information are reached after reaching a certain fluctuation range in order to reduce power consumption. Is transmitted by the control unit 240. In the present embodiment, the frequency band of the radio signal when transmitting the position information and the angle information of the power receiving coil 222 from the sensor 225 to the control unit 240 does not interfere with the frequency band of the wireless power feeding when power is supplied in a non-contact manner. I have to. For example, when the frequency band of wireless power feeding is several MHz, the frequency band of the wireless signal is set to several hundred MHz.

  Furthermore, in the present embodiment, the sensor 225 is preferably provided in the vicinity of the power receiving coil 222 and is provided inside the power receiving coil 222 in order to improve the accuracy of position detection of the power receiving coil 222. In the present embodiment, the position and angle of the power receiving coil 222 are detected by the sensor 225. However, a camera or a motion capture is used as a modification of the detection means for detecting the position information and angle information of the power receiving coil 222. The position information and angle information of the power receiving coil may be detected by image processing. Details of a modification of the detection means will be described later.

  The control unit 240 has a function of performing various controls of the non-contact power feeding system 200. The non-contact power feeding system 200 according to the present embodiment includes a power transmission coil 212 through operation control by the control unit 240 based on position information and angle information of the power reception coil 222 detected by a sensor 225 provided in the vicinity of the power reception coil 222. The operation of adjusting the position and angle of the relay coil 232 is controlled.

  In the present embodiment, the control unit 240 includes a CPU 242 having a calculation unit 244 and a command unit 246, and a storage unit 248, as shown in FIG.

  The CPU 242 has a function of controlling the operation of each component included in the non-contact power feeding system 200 according to various programs stored in the storage unit 248 such as a ROM. Further, the CPU 242 has a function of appropriately storing necessary data or the like in a RAM (not shown) that temporarily stores data when executing these various processes.

  The calculation unit 244 determines the position of the relay coil 232 such that the transmission efficiency η of power from the power transmission apparatus 210 to the power reception apparatus 220 becomes the maximum value based on the detection result of the position information and angle information of the power reception coil 222 by the sensor 225. And a function of calculating a tilt angle of the relay coil 232, a position of the power transmission coil 212, and a relative angle with respect to the power reception coil 222. In the present embodiment, the calculation unit 244 detects the distance from the power transmission coil 212 of the power reception coil 222 detected by the sensor 225, the inclination angle of the power reception coil 222, the inclination angle of the power transmission coil 212 with respect to the vertical direction, and the inclination of the relay coil 232 with respect to the vertical direction. Based on the angle and the distance from the power transmission coil 212 to the relay coil 232, the preferred values of the positions and angles of the power transmission coil 212 and the relay coil 232 are calculated so that the transmission efficiency η calculated from the relational expression becomes the maximum value. To do. The details of the calculation method of the suitable values of the positions and angles of the power transmission coil 212 and the relay coil 232 will be described later so that the transmission efficiency η calculated from the relational expression in the calculation unit 244 becomes the maximum value.

  The command unit 246 has a function of commanding operation control of the drive unit 216 of the power transmission device 210, the drive unit 236 of the repeater coil device 230, and the autonomous moving unit 238 based on the calculation result by the calculation unit 244. In the present embodiment, power is transmitted by the gimbal mechanism 215 so that each of the position and angle of the power transmission coil 212 and the position and angle of the relay coil 232 at which the transmission efficiency η calculated by the calculation unit 244 becomes the maximum value is a suitable value. The driving unit 216 that supports the coil 212 is driven, the driving unit 236 that supports the relay coil 232 is driven by the gimbal mechanism 235, and the autonomous moving unit 238 that is the driving source of the autonomous mobile robot 237 is driven.

  In this way, in the present embodiment, the position and relative angle of the power transmission coil 212 with respect to the power reception coil 222 are immediately determined via the gimbal mechanism 215 serving as a power transmission coil position / angle adjustment mechanism based on the detection result by the sensor 225. The power transmission efficiency η from the power transmitting apparatus 210 to the power receiving apparatus 220 is adjusted to be controlled so as to become the maximum value. For this reason, even if the power supply target is irregularly and freely displaced, the transmission efficiency η from the power transmission device 210 to the power reception device 220 is adjusted by immediately adjusting the position of the power transmission coil 212 and the relative angle with respect to the power reception coil 222. Since the maximum value is controlled, stable and highly efficient non-contact power feeding is realized.

  In the present embodiment, even when the distance between the power transmission device 210 and the power reception device 220 is large, the relay coil 232 mounted on the autonomous mobile robot 237 that tracks the power reception coil 222 based on the detection result by the sensor 235 is used. Thus, by adjusting the position of the power transmission coil 212 and the relative angle with respect to the power reception coil 222 in real time, the transmission efficiency η from the power transmission device 210 to the power reception device 220 can be controlled to a maximum value. For this reason, even if the power receiving device 220 that is the power supply target away from the power transmitting device 210 is irregularly and freely displaced, the autonomous mobile robot 237 equipped with the relay coil 232 via the gimbal mechanism 235 carries the power receiving coil 222. By immediately adjusting the relay coil 232 to a suitable position and angle while causing the power receiving device 220 to follow, long-distance and always highly efficient power feeding is realized.

  In the present embodiment, the control unit 240 determines the distance from the power transmission coil 212 of the power reception coil 222 detected by the sensor 225, the inclination angle of the power reception coil 222, and the vertical direction of the power transmission coil 212 based on the detection result by the sensor 225. Power transmission to the power receiving coil 222 immediately so that the transmission efficiency η calculated from the relational expression based on the tilt angle, the tilt angle of the relay coil 232 with respect to the vertical direction, and the distance from the power transmission coil 212 to the relay coil 232 becomes the maximum value. Although the control is performed by adjusting the position and relative angle of the coil 212, the position and relative angle of the power transmission coil 212 and the relay coil 232 at which the transmission efficiency η is maximized may be adjusted in another manner.

  For example, the control unit 240 obtains a ratio between the power transmitted from the power transmission coil 212 by the calculation unit 244 and the power transmitted to the power reception coil 222 based on the detection result by the sensor 225, and the transmission efficiency is calculated from these ratios. The position and the relative angle of the power transmission coil 212 with respect to the power receiving coil 222 may be calculated so that η becomes the maximum value, and the command unit 246 may be instructed to adjust the position and the relative angle.

  In addition, the control unit 240 determines, based on the detection result of the sensor 225, from the data table stored in the storage unit 248 that the calculation unit 244 sets the power transmission coil 212 to the power reception coil 222 so that the transmission efficiency η becomes the maximum value. A preferred value of the position and relative angle may be calculated and set to the preferred value by the command unit 246. That is, the distance from the power transmission coil 212 of the power reception coil 222 to the storage unit 248, the inclination angle of the power reception coil 222, the inclination angle of the power transmission coil 212 with respect to the vertical direction, the inclination angle of the relay coil 232 with respect to the vertical direction, A data table of suitable values of the positions and relative angles of the relay coil 232 and the power transmission coil 212 with respect to the power receiving coil 222 in the case of each data of distance up to 232 is stored, and the data table is referred to based on the detection result by the sensor 225 Then, a suitable value of the position and relative angle of the power transmission coil 212 with respect to the power reception coil 222 may be set.

  Furthermore, the mode of controlling the control unit 240 so that the transmission efficiency η from the power transmitting device 210 to the power receiving device 220 becomes the maximum value is not limited to that based on the detection result by the sensor 225. For example, the power output from the power source of the power transmission device 210 and the power consumed by the power receiving device 220 are measured, and the transmission efficiency η is calculated based on the ratio between the two powers. The angle of the power transmission coil 212 may be determined based on the fluctuation result of the transmission efficiency η when moved. Specifically, when the transmission efficiency η is improved, the power transmission coil 212 is moved further to the moved side, and when the transmission efficiency η is lowered, the power transmission coil 212 is moved in a direction different from the moved direction, whereby the angle of the power transmission coil 212 is increased. Adjust. At this time, the power information on the power receiving side is transmitted to the control unit 240 by wireless communication or the like.

  Next, operation control of the non-contact power feeding system according to an embodiment of the present invention will be described with reference to the drawings. FIG. 11 is a flowchart showing an outline of operation control of a contactless power feeding system according to another embodiment of the present invention, and FIG. 12 is a flowchart of operation control of the contactless power feeding system according to another embodiment of the present invention. It is explanatory drawing which shows an outline.

  First, the sensor 225 detects the distance and direction from the power transmission coil 212 as position information of the power reception coil 222, and detects the tilt angle with respect to the vertical direction as angle information of the power reception coil 222 (step S21). For example, when the sensor 225 includes a GPS sensor and a gyro sensor, the GPS sensor detects position information of the power receiving coil 222 and the gyro sensor detects angle information of the power receiving coil 222.

  Next, based on the detection result of the position and angle of the power receiving coil 222 by the sensor 225, the transmission efficiency η of power from the power transmitting device 210 to the power receiving device 220 is maximized by the calculation unit 244 of the control unit 240. The position and inclination angle of the relay coil 232, and the position of the power transmission coil 212 and the relative angle with respect to the power reception coil 222 are calculated (step S22). That is, in step S <b> 22, based on the position information and angle information of the power receiving coil 222 transmitted from the sensor 225 to the control unit 240 as a wireless signal, the calculation unit 244 of the control unit 240 supplies power from the power transmission device 210 to the power reception device 220. The position of the power transmission coil 212 that maximizes the transmission efficiency η and the relative angle with respect to the power reception coil 222 are calculated.

In the present embodiment, in step S22, the calculation unit 244 determines the distance r2 (see FIG. 12) from the center O1 of the power transmission coil 212 detected by the sensor 225 (see FIG. 10) to the center O2 of the power reception coil 222, and the vertical direction line. The inclination angle θ ₂ of the power receiving coil 222 with respect to L2 (see FIG. 12), the inclination angle θ ₀ of the power transmission coil 212 with respect to the vertical line L1 (see FIG. 12), and the inclination angle θ _{1 of the} relay coil 232 with respect to the vertical direction (see FIG. 12). ) And the distance r1 (see FIG. 12) from the center O1 of the power transmission coil 212 to the center O3 of the relay coil 232 so that the transmission efficiency η calculated from the following relational expression becomes the maximum value. The preferred values of the position and inclination angle of 232 and the position and inclination angle of the power transmission coil 212 are calculated.

Power transmission efficiency η of from the power transmission device 210 to the power receiving device 220 is a position r1 and the inclination angle theta ₁ of the relay coil 232 such that the maximum value in step S22, the preferred position r2 and the inclination angle theta ₂ of the power transmission coil 212 After calculating the value, so that the preferred value, for adjusting the position r1 and the inclination angle theta ₁ of the relay coil 232, the position r2 and the inclination angle theta ₂ of the power transmission coil 212 (step S23). In this embodiment, the position r1 and the inclination angle theta ₁ of the relay coil 232 calculating unit 244 transmission efficiency η calculated in becomes the maximum value, to be a suitable value of the position r2 and the inclination angle theta ₂ of the power transmission coil 212 In addition, the command unit 246 commands the drive unit 216 of the power transmission device 210, the drive unit 236 of the repeater coil device 230, and the autonomous movement unit 238 of the repeater coil device 230, and the drive units 216, 236 and autonomous movement. The unit 238 is driven.

  In this manner, in the present embodiment, the position and relative angle of the power transmission coil 212 with respect to the power reception coil 222 are immediately adjusted via the relay coil 232 based on the detection result of the sensor 225 to receive power from the power transmission device 210. Control is performed so that the transmission efficiency of power to the apparatus 220 becomes the maximum value. That is, the position information and angle information of the power receiving coil 222 detected by the sensor 225 are fed back to the control unit 240 and adjusted to a suitable position and relative angle of the power transmitting coil 212. For this reason, the position of the power transmission coil 212 and the power receiving coil even if the power supply target is irregularly and freely displaced, such as a medical device such as an artificial heart or a power assist suit worn by a person, or a mobile robot in a factory. By adjusting the relative angle with respect to 222 immediately and controlling so that the transmission efficiency η from the power transmission apparatus 210 to the power reception apparatus 220 becomes the maximum value, non-contact power feeding by magnetic resonance coupling with high efficiency is stably performed. Realized.

  In the present embodiment, even when the distance between the power transmission device 210 and the power reception device 220 is large, the relay coil 232 mounted on the autonomous mobile robot 237 that tracks the power reception coil 222 based on the detection result by the sensor 235 is used. Thus, the position of the power transmission coil 212 and the relative angle to the power reception coil 222 can be adjusted in real time. For this reason, since the transmission efficiency η from the power transmission device 210 to the power reception device 220 is controlled to be the maximum value, the power reception device 220 that is the power supply target away from the power transmission device 210 is irregularly and freely displaced. In addition, the autonomous mobile robot 237 equipped with the relay coil 232 follows the power receiving device 220 equipped with the power receiving coil 222 via the gimbal mechanism 235, and the relay coil 232 is immediately adjusted to a suitable position and angle. Thereby, long-distance and always highly efficient power feeding is realized while expanding the power feeding range of the power transmission device 210.

  In the present embodiment, a sensor 225 is installed in the vicinity of the power receiving coil 222 as a detecting means for detecting the position information and angle information of the power receiving coil 222. However, as shown in FIG. Alternatively, the sensor 231 may be installed. For example, a GPS sensor that obtains positional information of the power receiving coil 222 and a gyro sensor that obtains angle information of the power receiving coil 222 are provided as the sensor 225 in the vicinity of the power receiving coil 222, and the relay coil 232 is used as the sensor 231 in the vicinity of the relay coil 232. A GPS sensor that obtains the position information and a gyro sensor that obtains the angle information of the relay coil 232 may be provided. That is, in the non-contact power feeding system 201 which is a modified example of the present embodiment, the position information and angle information detected by these sensors 225 and 231 are fed back to the control unit 240 by radio signals and passed through the relay coil 232. The position of the power transmission coil 212 and the relative angle to the power reception coil 222 can be adjusted in real time. For this reason, the transmission efficiency η from the power transmission device 210 to the power reception device 220 is controlled to be the maximum value.

  Further, in the present embodiment, the sensor 225 is applied as a detection unit that detects the position information and the angle information of the power receiving coil 222. However, as described above, the detection is performed to detect the position information and the angle information of the power receiving coil 222. The means may take other forms. For example, as shown in FIG. 14, a camera 234 and a sensor 231 may be installed in the vicinity of the relay coil 232 as detection means for detecting position information and angle information of the power receiving coil 222.

  In other words, in the non-contact power feeding system 202 as another modification of the present embodiment, the power receiving device 220 to be fed is imaged by the camera 234 provided in the vicinity of the relay coil 232, and the image obtained by the camera 234 is captured. The information is digitally converted into position information and angle information of the power receiving coil 222 mounted on the power receiving device 220 by the image processing calculation unit 234a, and then transmitted to the control unit 240 by a wireless signal, and the position of the power receiving coil 222 by image processing. Detect information and angle information. Then, the position information and angle information of the relay coil 232 are detected by the sensor 231 and transmitted to the control unit 240 by a radio signal. Note that the image processing calculation unit 234a may be provided inside either the camera 234 or the control unit 240 as long as it is provided between the camera 234 and the control unit 240.

  As described above, in the non-contact power feeding system 202 which is another modified example of the present embodiment, the position information and the angle information detected by the camera 234 and the sensor 231 are fed back to the control unit 240 by wireless signals, and the relay coil 232 is installed. Thus, the position of the power transmission coil 212 and the relative angle with respect to the power reception coil 222 can be adjusted in real time. For this reason, the transmission efficiency η from the power transmission device 210 to the power reception device 220 is controlled to be the maximum value. In another modification of the present embodiment, the camera 234 is provided in the vicinity of the relay coil 232, but the camera 234 is installed at least one of the power transmission coil 212, the power reception coil 222, and the relay coil 232. Other locations may be used as long as they can be imaged. That is, if it is a place where the relationship between the position and angle of the power reception coil 222 with respect to the power transmission coil 212 can be grasped via the relay coil 232, for example, the vicinity of the power reception coil 222, the power transmission coil 212, the power reception coil 222, and the relay coil. Like the surveillance camera that can simultaneously image 232, it may be installed at another position away from any of the coils 212, 222, and 232.

  Further, as shown in FIG. 15, as a detecting means for detecting the position information and angle information of the power receiving coil 222, a camera 234 is installed in the vicinity of the relay coil 232 to detect the position information and angle information of the relay coil 232. As a detection means to perform, a camera 219 may be installed in the vicinity of the power transmission coil 212. That is, in the non-contact power feeding system 203 which is still another modified example of the present embodiment, the power receiving device 220 to be fed is imaged by the camera 234 provided in the vicinity of the relay coil 232 and obtained by the camera 234. The video information is digitally converted into position information and angle information of the power receiving coil 222 mounted on the power receiving device 220 by the image processing calculation unit 234a, and then transmitted to the control unit 240 by a radio signal, and the power receiving coil 222 by image processing is transmitted. Detect position information and angle information. The position information and angle information of the relay coil 232 are obtained by digitally converting the video information of the camera 219 installed in the vicinity of the power transmission coil 212 into the position information and angle information of the relay coil 232 by the image processing calculation unit 219a, and then controlling the information. The position information and angle information of the relay coil 232 detected by image processing are transmitted to the unit 240 as a wireless signal.

  As described above, in the non-contact power feeding system 203 which is another modified example of the present embodiment, the position information and the angle information detected via the cameras 219 and 234 and the image processing calculation units 219a and 234a are wireless signals and the control unit 240. The position of the power transmission coil 212 and the relative angle with respect to the power reception coil 222 can be adjusted in real time via the relay coil 232. For this reason, even if the distance between the power transmission apparatus 210 and the power reception apparatus 220 is long, the transmission efficiency η from the power transmission apparatus 210 to the power reception apparatus 220 is controlled to be the maximum value. The image processing calculation units 219a and 234a may be provided between the power transmission coil 212 and the control unit 240 and between the camera 234 and the control unit 240, respectively. It is good also as a structure installed in any one of the control parts 240.

  Also, as shown in FIG. 16, as detection means for detecting position information and angle information of the power receiving coil 222, a camera 234 installed in the vicinity of the relay coil 232 and a sensor 225 installed in the vicinity of the power receiving coil 222 are provided. As detection means for detecting position information and angle information of the relay coil 232, a camera 219 installed in the vicinity of the power transmission coil 212 and a sensor 231 installed in the vicinity of the relay coil 232 may be provided. That is, in the non-contact power feeding system 204 which is still another modified example of the present embodiment, the power receiving device 220 to be fed is imaged by the camera 234 provided in the vicinity of the relay coil 232 and obtained by the camera 234. The video information is digitally converted into position information and angle information of the power receiving coil 222 mounted on the power receiving device 220 by the image processing calculation unit 234a, and then transmitted to the control unit 240 by a radio signal, and the power receiving coil 222 by image processing is transmitted. Detect position information and angle information. Further, in the non-contact power feeding system 204 of the other modified example, even when the power receiving device 220 to be powered is removed from the angle of view of the camera 234, the position information of the power receiving device 220 is tracked by the sensor 225 such as GPS. I can do it.

  The position information and angle information of the relay coil 232 are obtained by digitally converting the video information of the camera 219 installed in the vicinity of the power transmission coil 212 into the position information and angle information of the relay coil 232 by the image processing calculation unit 219a, and then controlling the information. The position information and angle information of the relay coil 232 detected by image processing are transmitted to the unit 240 as a wireless signal. Further, in the non-contact power feeding system 204 of the other modified example, even if the relay coil 232 to be fed is removed from the angle of view of the camera 219, the position information of the relay coil 232 can be tracked by the sensor 231 such as GPS. I am doing so.

  As described above, in the non-contact power feeding system 204 which is still another modified example of the present embodiment, the position information and the angle information detected via the cameras 219 and 234 and the image processing calculation units 219a and 234a are controlled by a wireless signal. The position of the power transmission coil 212 and the relative angle with respect to the power reception coil 222 can be adjusted in real time via the relay coil 232 by feeding back to 240. For this reason, even if the distance between the power transmission apparatus 210 and the power reception apparatus 220 is long, the transmission efficiency η from the power transmission apparatus 210 to the power reception apparatus 220 is controlled to be the maximum value.

  In addition, the application object of the non-contact electric power feeding system 200 of this embodiment is applicable also to another aspect. For example, as shown in FIG. 17, a non-contact power feeding system 205 includes a power station 211a attached to a ceiling and a power transmission device 210a configured by supporting a power transmission coil 212a via a gimbal mechanism 215a and a drive unit 216a. The power receiving suit 220 as the power receiving device 220 is supplied with power via the repeater coil device 230a configured by supporting the relay coil 232a with the gimbal mechanism 235a and the driving unit 236a by the 237a. It is applicable also to the aspect which performs contact electric power feeding.

  As shown in FIG. 18, the non-contact power supply system 206 can also be applied to a case where the power receiving device that is a power supply target is a glass 220 b that covers eyes like VR goggles or a smart class. For example, the non-contact power supply system 202 includes a power transmission device 210b configured to support a power transmission coil 212b via an elevating / rotating / extending / contracting arm 217b, a gimbal mechanism 215a, and a driving unit 216a on a power station 211a attached to a ceiling. The present invention can also be applied to a mode in which power is supplied directly, or power is supplied in a non-contact manner through a repeater coil device 230 that includes a relay coil 232, a gimbal mechanism 235, and an autonomous mobile robot 237.

  Furthermore, as illustrated in FIG. 19, the non-contact power feeding system 207 can be applied to a case where the power receiving device to be fed is an electric wheelchair 220c. For example, the non-contact power supply system 203 uses the power station 211 connected to the commercial power source with the power transmission coil 212 as a power transmission device 210, and moves the relay coil 232 by the autonomous mobile robot 237, the gimbal mechanism 235, and the drive unit 236. The present invention can also be applied to a mode in which contactless power feeding is performed to the electric wheelchair 220c to be fed via the repeater coil device 230 that is supported.

  In addition, as illustrated in FIG. 20, when the distance between the power transmission device 310 and the power reception device 320 is greatly separated, a plurality of relay coils 332 a and 332 b may be provided. For example, the non-contact power supply system 300 attaches the power transmission coil 312 of the power station 311 installed on the ground via the power supply wire 318 and the gimbal mechanism 315, and freely moves the power transmission coil 312 three-dimensionally by the drone 317. The power transmission device 310 can be applied to a mode in which contactless power feeding is performed over a long distance to the high-voltage line inspection robot 320 on the electric power supply target via the plurality of repeater coil devices 330a and 330b. .

  At this time, the relay coils 332a and 332b are movable via the drones 337a and 337b and the gimbal mechanisms 335a and 335b, and the power transmission efficiency becomes the maximum value with respect to the high-voltage line inspection robot 320. It is preferable to control the movement so that they are aligned. As described above, even when the distance between the power transmission device 310 and the power reception device 320 is further increased, the position of the power transmission coil 312 or the like via the plurality of relay coils 332a and 332b based on the detection result by a sensor (not shown). By immediately adjusting the relative angle with respect to the power receiving coil (not shown), the transmission efficiency from the power transmitting apparatus 310 to the power receiving apparatus 320 can be controlled to the maximum value.

  Furthermore, as shown in FIG. 21, a long-distance transmission is performed via different repeater coil devices 430 a, 430 b, 430 c, and 430 d for power supply target robots 420 a and 420 b that are a plurality of power receiving devices from one power transmission device 410. The present invention can also be applied when performing non-contact power feeding. For example, the non-contact power supply system 400 contacts the power supply target robot 420a via the repeater coil device 430a that supports the relay coil 432a so that the relay coil 432a can be moved by the autonomous mobile robot 437 and the gimbal mechanism 437a from the power station 410 installed on the ground. At the same time as supplying power, non-contact power supply may be performed to another power supply target robot 420b via a plurality of repeater coil devices 430b, 430c, and 430d that can be moved three-dimensionally by a drone.

  In addition, when a plurality of repeater coil devices including relay coils are provided, the control unit determines the distance from the power transmission coil of the power reception coil detected by the sensor, the inclination angle of the power reception coil, the inclination angle of the power transmission coil with respect to the vertical direction, and the relay coil. It is preferable to control so that the transmission efficiency calculated from the relational expression based on the inclination angle with respect to the vertical direction, the distance from the power transmission coil to the relay coil, and the number of relay coils becomes the maximum value.

  As described above, according to each embodiment of the present invention, even if the power supply target is irregularly and freely displaced, the coil arrangement that always maintains the maximum efficiency in real time is calculated and adjusted to the coil arrangement. Therefore, the transmission efficiency from the power transmission apparatus to the power reception apparatus can be controlled immediately so as to become the maximum value. For this reason, stable and highly efficient non-contact power feeding by magnetic resonance coupling is reliably realized.

  In addition, according to each embodiment of the present invention, even if the power supply target is irregularly and freely displaced, power can be supplied in a non-contact manner by magnetic resonance coupling. The problem of infectious diseases caused by power supply is solved. Furthermore, when the power supply target is a wearable device such as a powered suit, it is not necessary to install a large battery, and the restriction of movement due to cable power supply is eliminated. In this way, the device can be widely spread by solving the restrictions on the power supply of the implantable / wearable device.

  In addition, multiple power transmission coils and repeater coil devices are distributed throughout the space and the ground, and are optimally arranged according to the movement of the power supply target. It is also possible to apply to non-contact power supply network systems that create a power supply state. In addition, even if the power supply target is irregularly and freely displaced, the power transmission device and the repeater coil device can be moved by a moving means such as a drone or an automobile so as to follow the power supply target. Since the power supply efficiency can be increased, for example, it can be applied to an electric vehicle as a power supply target, and thus has an extremely large industrial value.

  Although each embodiment of the present invention has been described in detail as described above, it is easily understood by those skilled in the art that many modifications can be made without departing from the novel matters and effects of the present invention. It will be possible. Therefore, all such modifications are included in the scope of the present invention.

  For example, a term described with a different term having a broader meaning or the same meaning at least once in the specification or the drawings can be replaced with the different term in any part of the specification or the drawings. Further, the configuration and operation of the non-contact power feeding system are not limited to those described in the embodiments of the present invention, and various modifications can be made.

100, 101, 102, 103, 200, 201, 202, 203, 204, 205, 206, 207, 300, 400 Contactless power supply system, 110, 150, 210, 210a, 210b, 310, 410 Power transmission device, 111, 151, 211, 211a, 211b, 311, 411 Power supply, 112, 152, 212, 212a, 212b, 312, 412 Power transmission coil, 133, 213 Power transmission capacity, 115, 155, 215, 215a, 215b, 315 Gimbal mechanism (power transmission Coil position / angle adjustment mechanism), 116, 156, 216, 216a, 216b Drive unit, 119, 219, 234 Camera (imaging device), 219a, 234a Image processing operation unit, 120, 160, 220, 220b, 320, 420a 420b Power receiving device 12 161, 221, 221c Load, 122, 162, 222, 222c Power receiving coil, 123, 223 Power receiving capacity, 125, 225, 231 Sensor (detection means), 140, 240 Control unit, 142, 242 CPU, 144, 244 Calculation Unit, 146, 246 Command unit, 148, 248 Storage unit, 230, 230a, 330a, 330b, 430a, 430b, 430c, 430d Repeater coil device, 232, 232a, 332a, 332b Relay coil, 235, 235a, 335a, 335b Gimbal mechanism (relay coil angle adjustment mechanism) 236, 236a Driving unit, 237, 237a, 337a, 337b Relay coil moving means, 238 Autonomous moving unit

Claims (9)

A non-contact power feeding system that feeds power from a power transmitting device to a power receiving device in a contactless manner by magnetic resonance coupling,
A power transmission coil provided in the power transmission device;
A power receiving coil provided in the power receiving device;
A power transmission coil position / angle adjustment mechanism for adjusting the position and relative angle of the power transmission coil with respect to the power reception coil;
Detecting means for detecting a distance of the power receiving coil from the power transmitting coil and a tilt angle with respect to a vertical direction;
Based on the detection result by the detection means, the position and the relative angle of the power transmission coil with respect to the power reception coil are adjusted via the power transmission coil position / angle adjustment mechanism, and the power from the power transmission device to the power reception device is adjusted. And a control unit that controls the transmission efficiency to be a maximum value.   The control unit is calculated from a relational expression based on the distance from the power transmission coil of the power reception coil detected by the detection unit, the tilt angle of the power reception coil, and the tilt angle of the power transmission coil with respect to the vertical direction. The contactless power feeding system according to claim 1, wherein the transmission efficiency is controlled to be a maximum value.   The non-contact power feeding system according to claim 1, wherein the detection unit is a sensor provided in the vicinity of the power receiving coil.   The non-contact power feeding system according to claim 1, wherein an imaging device capable of imaging at least one of the power receiving coil or the power transmitting coil is provided as the detection unit. A relay coil provided between the power transmission coil and the power reception coil;
A relay coil angle adjusting mechanism for adjusting an inclination angle of the relay coil with respect to the vertical direction;
A relay coil moving means for moving the relay coil so as to follow the power receiving coil;
The detecting means detects a distance from the power transmission coil and a tilt angle with respect to a vertical direction of the power receiving coil via the relay coil,
The control unit adjusts a relative angle of the relay coil with respect to the power receiving coil via the relay coil angle adjustment mechanism based on a detection result by the detection unit, so that the relay coil angle adjustment mechanism and the power transmission coil position are adjusted. Adjusting the relative angle of the relay coil with respect to the power transmission coil via an angle adjustment mechanism, and adjusting the distance from the power transmission coil to the relay coil via the relay coil moving means; The contactless power feeding system according to claim 1, wherein transmission efficiency from a device to the power receiving device is controlled so as to become a maximum value.   The control unit includes the distance of the power reception coil detected by the detection unit from the power transmission coil, the inclination angle of the power reception coil, the inclination angle of the power transmission coil with respect to the vertical direction, and the inclination of the relay coil with respect to the vertical direction. The contactless power feeding system according to claim 5, wherein the transmission efficiency calculated from a relational expression based on an angle and the distance from the power transmission coil to the relay coil is a maximum value. A plurality of the relay coils are provided,
The control unit includes the distance of the power reception coil detected by the detection unit from the power transmission coil, the inclination angle of the power reception coil, the inclination angle of the power transmission coil with respect to the vertical direction, and the inclination of the relay coil with respect to the vertical direction. The control is performed so that the transmission efficiency calculated from a relational expression based on an angle, the distance from the power transmission coil to the relay coil, and the number of the relay coils becomes a maximum value. Contactless power supply system.   The contactless power supply system according to claim 5, wherein the detection unit is a sensor provided in the vicinity of at least one of the power receiving coil and the relay coil.   The non-contact according to claim 5, wherein an imaging device capable of imaging at least one of the power reception coil, the power transmission coil, and the relay coil is provided as the detection unit. Power supply system.

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