WO2011071344A2 - Procédé pour commander l'opération de chargement de segments pour un véhicule électrique en ligne - Google Patents

Procédé pour commander l'opération de chargement de segments pour un véhicule électrique en ligne Download PDF

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Publication number
WO2011071344A2
WO2011071344A2 PCT/KR2010/008863 KR2010008863W WO2011071344A2 WO 2011071344 A2 WO2011071344 A2 WO 2011071344A2 KR 2010008863 W KR2010008863 W KR 2010008863W WO 2011071344 A2 WO2011071344 A2 WO 2011071344A2
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WO
WIPO (PCT)
Prior art keywords
segment
vehicle
charging
speed
electric vehicle
Prior art date
Application number
PCT/KR2010/008863
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English (en)
Korean (ko)
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WO2011071344A3 (fr
Inventor
조동호
정방철
장우혁
이종민
김진규
김영민
전현우
박미현
Original Assignee
한국과학기술원
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Priority claimed from KR1020090134956A external-priority patent/KR101204500B1/ko
Application filed by 한국과학기술원 filed Critical 한국과학기술원
Publication of WO2011071344A2 publication Critical patent/WO2011071344A2/fr
Publication of WO2011071344A3 publication Critical patent/WO2011071344A3/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
    • B60L5/42—Current collectors for power supply lines of electrically-propelled vehicles for collecting current from individual contact pieces connected to the power supply line
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
    • B60L5/005—Current collectors for power supply lines of electrically-propelled vehicles without mechanical contact between the collector and the power supply line
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
    • B60M1/00—Power supply lines for contact with collector on vehicle
    • B60M1/02—Details
    • B60M1/10—Arrangements for energising and de-energising power line sections using magnetic actuation by the passing vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
    • B60M1/00—Power supply lines for contact with collector on vehicle
    • B60M1/36—Single contact pieces along the line for power supply
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/40—Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
    • H02J7/00034—Charger exchanging data with an electronic device, i.e. telephone, whose internal battery is under charge

Definitions

  • the present invention relates to a segment charging control method for an electric vehicle, in particular, in a method of supplying power to an electric vehicle in a self-induced manner by a feeder composed of one or more segments buried under the road, considering the charging response time of the segment
  • the present invention relates to a segment charging control method for an on-line electric vehicle that reduces power consumption by controlling an inverter.
  • an on-line electric vehicle has been proposed to install a power feeding device under the road and charge the battery in a self-induction manner.
  • a self-induction electric vehicle has the advantage of being driven by the charging power of the mounted battery when the power supply is interrupted from the power supply device.
  • the power supply line was extended along the entire road, and the electric power was supplied to the entire feeding device, but recently, a method of implementing the power supply unit in a segment form, which is a predetermined unit module for feeding, has been proposed.
  • FIG. 1 is a diagram schematically illustrating an example of a power feeding method between a current collector of a conventional online electric vehicle and a segment power feeding device embedded in a road to supply electric power to an electric vehicle.
  • the current collector of the conventional on-line electric vehicle is located at the center lower end of the electric vehicle 100 and has a square shape of about 1/3 of the length of the vehicle as shown.
  • the power feeding device includes one or more power feeding segments 30 for generating a magnetic field as a unit module, and includes a vehicle detection sensor 32 for detecting a vehicle entering a road above the power feeding segment 30, and a power supply from a power source. And a switch 36 for transferring or interrupting the power to the feed segment 30.
  • the switch of the electric power feeding segment 32a is connected by the vehicle detection sensor 32a of the electric power feeding segment 36a which detects the electric vehicle 10 and the magnetic field ( 20) occurs and the electric vehicle 10 is powered.
  • the switch of each of the power feeding segments 36b through which the electric vehicle 10 passes is in an 'ON' state when the electric vehicle 10 enters the corresponding segment, thereby supplying power to the electric vehicle 10 and leaving it. When it is in 'OFF' state, it cuts off power supply.
  • a response delay time occurs according to hardware characteristics.
  • This response time delay is due to the internal circuit capacitor charge / discharge characteristics of the inverter to supply the power, the internal switch method, the vehicle detection sensor error, and the time required to transmit and receive the inverter ON / OFF control signal.
  • the internal switch of the inverter is an electronic switch, it takes several tens of us, but in the case of a mechanical switch, it takes several hundred ms. If the mechanical switch is applied, the time when the power supply segment is 100% at 'ON' operation is about 2 seconds, and when it is 'OFF' operation, it takes about 1 second to complete discharge.
  • inefficiency due to the charge / discharge response delay time occurs according to the power segment length and the vehicle moving speed. If the power supply segment is 'ON' after entering the vehicle, the efficiency can be reduced because the vehicle can pass through the power supply segment before the power supply voltage reaches 100%. There is a problem that the energy loss occurs.
  • the present invention has been made to solve the above-mentioned problems, and an object thereof is to overcome efficiency degradation and power waste caused by delayed response of charging and discharging segments of an on-line electric vehicle.
  • the segment charging control method of an on-line electric vehicle (a) receiving the speed and location information of the vehicle entering from the segment; And (b) controlling the charge / discharge timing of the segment into which the vehicle is currently advancing and the next segment to be entered in correspondence with the speed and the position information.
  • the step (b) may include the steps of: (b1) discharging the advancing segment prior to the full entry of the vehicle, according to the discharge response time of the segment; And (b2) charging the segment to be entered next before entering the vehicle, according to the charging response time of the segment.
  • the segment charging control method of a plurality of online electric vehicles (a) of the plurality of vehicles, N (N is a natural number of one or more) according to the entry of the front vehicle Starting to charge the segment; (b) receiving the speed and location information of the rear vehicle from the N-th segment; (c) receiving a discharge request according to advance of the front vehicle from the N-th segment; And (d) determining whether the N-th segment is discharged in response to the speed and position information of the front vehicle and the rear vehicle.
  • step (a) Prior to the step (a), receiving speed and position information of the front vehicle from an N + 1th segment; And charging the N-th segment in response to the speed and the position information.
  • the step (d) may include: (d1) maintaining the charged state of the N-th segment when it is determined that the rear vehicle enters before the N-th segment starts to discharge and is completely discharged; Or (d2) if it is determined that the rear vehicle enters after the time point at which the Nth segment starts to discharge and is completely discharged, the Nth third
  • step (d2) according to the charging response time of the N-th segment, further comprising the step of charging the segment to be entered next before entering the rear vehicle.
  • the segment charging control method of an on-line electric vehicle includes (a) defining a front vehicle, which is the first vehicle among the vehicles forming the cluster, as a header vehicle step; (b) initiating charging by the Nth segment (where N is a natural number of 1 or more) as the header vehicle enters; (c) receiving speed and position information of a next vehicle, which is the next vehicle of the header vehicle, among the vehicles in the cluster from an N-1 th segment; (d) receiving a discharge request according to advance of the header vehicle from the N-th segment; And (e) determining whether to discharge the N-th segment in response to the speed and position information of the header vehicle and the next vehicle.
  • the cluster may be a group of vehicles that are determined according to previously registered information between each vehicle, a vehicle ID, or a moving speed of each vehicle.
  • step (a) receiving speed and position information of the header vehicle from an N + 1th segment; And the N-th segment corresponding to the speed and location information.
  • the step (e) may include: (e1) maintaining the state of charge of the N-th segment when it is determined that the next vehicle is entered before the N-th segment starts to discharge and is fully discharged; Alternatively, (e2) if it is determined that the next vehicle enters after a time point at which the Nth segment starts to discharge and is completely discharged, the Nth segment is discharged.
  • the charging response time of the N-th segment characterized in that it further comprises the step of charging the segment to be entered next before entering the next vehicle.
  • FIG. 1 is a view schematically illustrating an example of a power feeding method between a current collector of a conventional online electric vehicle and a segment type power feeding device embedded in a road and supplying power to two electric vehicles.
  • FIG. 2 is a view for explaining a segment charging control method and apparatus for an electric vehicle according to a first embodiment of the present invention.
  • FIG 3 is a graph illustrating a relationship between magnitudes of voltages according to time for defining charge and discharge response time in the first embodiment of the present invention.
  • FIG. 4 is a view showing a segment filling method according to an embodiment of the present invention.
  • FIG. 5 is a view for explaining a segment charging control method and apparatus for an electric vehicle according to a second embodiment of the present invention.
  • FIG. 6 is a graph showing a relationship between magnitudes of voltages according to time for defining a continuous passage time in a second embodiment of the present invention.
  • FIG. 7 is a diagram illustrating a segment filling method according to a second embodiment of the present invention.
  • FIG. 8 is a view for explaining a segment charging control method and apparatus for an electric vehicle according to a third embodiment of the present invention.
  • mode 1 a case where one vehicle runs alone (mode 1), a plurality of vehicles run continuously (mode 2), and a plurality of vehicles form a cluster (mode 3). do.
  • FIG. 2 is a view for explaining a segment charging control method and apparatus for an electric vehicle according to a first embodiment of the present invention.
  • the current collector is generated when the switch 360 of the feed segment is connected. Power is supplied by the magnetic field 200.
  • the electric vehicle 100 includes an information transceiver 120 for transmitting and receiving the power supply segment and the power related information.
  • the information transmitted by the information transceiver 120 includes ID of a power feeding segment transmitted to the vehicle, 'ON / OFF' status information, vehicle ID received from the vehicle, vehicle speed information, and the like.
  • the power supply segment 300 receives the above-described information from the information transceiver 120 and provides the power supply segment to the inverter 400 that controls the power supply, and the inverter 400 responds to the provided information.
  • the charge / discharge response time of the segment as well as the aforementioned speed Vi of the vehicle is considered.
  • the charge / discharge response time described above is defined as the voltage 100% attainment time of the segment after the inverter 'ON' command and the voltage 0% fall time at the segment after the 'OFF' command.
  • Figure 3 is a graph of the relationship between the magnitude of the voltage over time defining the charge and discharge response time. Therefore, for the segment where the vehicle is expected to enter the next, the vehicle starts to charge the next segment in advance so that the voltage of the segment can achieve 100% immediately after the vehicle enters.
  • a segment ⁇ k (k is a natural number of 1 or more) ⁇ is a vehicle ID, a moving speed, and a segment from the electric vehicle 100. If the location information is provided (S310), the k-th segment provides the received information to the inverter 400 (S320). Thereafter, the inverter 400 controls to charge the N (N is a natural number of 1 or more) th segment (k + N) in response to the transmitted information (S330).
  • Mode 2 When a plurality of vehicles are running continuously
  • FIG. 5 is a view for explaining a segment charging control method and apparatus for an electric vehicle according to a second embodiment of the present invention.
  • the current collector may switch the feed segment. When connected, it is powered by the magnetic field generated by the feed segments 334 and 336.
  • the segment control should be performed in consideration of the vehicle speed and the response time before and after the segment charging and discharging, as well as the distance between the vehicles.
  • the power supply segment 334 which is in the 'ON' state according to the entry of the front vehicle 100i, enters the segment according to the continuous passage time since the rear vehicle 100j is continuously entered. It is efficient to remain 'ON' even after entry.
  • the above-described continuous passage time is defined as the time taken for the continuous rear vehicle to enter the segment after the 'OFF' command to the segment charging the front vehicle when the electric vehicle moves continuously.
  • 6 is a graph illustrating a relationship between the magnitudes of voltages according to time for defining the continuous passage time.
  • the discharge response time t d which is a time at which the front vehicle enters 2 and the power supply segment starts to be discharged and is completely discharged, and the charge response that the power supply segment starts charging after the rear vehicle enters after a predetermined time
  • the time t c and the continuous passage time ⁇ which is the time of full charge after discharge, are shown. That is, if the continuous passage time ( ⁇ ) is less than the charge / discharge response time (t c + t d ), it means that the rear vehicle enters before the full discharge of the segment. Therefore, the feeding segment is kept in the “ON” state.
  • the time ( ⁇ ) is greater than the charge / discharge response time (t c + t d ), it means that the rear vehicle enters after the full discharge of the corresponding segment. Therefore, the predetermined time ( ⁇ -t c ) after switching the feed segment to 'OFF' state It is efficient to switch it back to the ON state after the elapsed time.
  • the inverter determines 'ON / OFF' of each segment at time t + ⁇ based on the moving speed V i of the front vehicle passing through each segment at time t and the distance d ij between the front and rear vehicles. To control.
  • the moving speed of each vehicle is the constant speed, the following Equation 1 is satisfied.
  • the inverter is then when the ⁇ value is less than t c + t d values continue to 'ON' state of the segment and, when the ⁇ value greater than t c + t d values control the segment to 'OFF' state When the rear vehicle enters, control the segment to 'ON' again.
  • the inverter maintains the state of charge of the segment 334, or If it is determined that the rear vehicle enters after a time point at which the segment starts to discharge and is completely discharged, the segment 334 starts to discharge, and according to the charge response time of the segment, the segment into which the rear vehicle advances ( 336 begins to discharge and charges the next segment 335 to enter before entering.
  • FIG. 7 is a diagram illustrating a segment charging method according to a second embodiment of the present invention.
  • the front vehicle 100i enters the N-th segment (S610), and the N-th segment is the rear vehicle 100j.
  • the N-th segment reports the entry of the front vehicle (100i) to the inverter 400 (S630)
  • N-1 segment is the speed information (V j (t) is reported to the inverter 400 (S640).
  • the inverter 400 compares the value of ⁇ with the value of t c + t d (S660), ⁇ If the value is smaller than the value of t c + t d , the segment is 'ON' (S662). If the value of ⁇ is greater than the value of t c + t d , the segment is controlled to the 'OFF' state. When the vehicle enters again, the segment is controlled to the 'ON' state (S664).
  • Mode 3 When a large number of vehicles are driving in a cluster
  • FIG. 8 is a view for explaining a segment charging control method and apparatus for an electric vehicle according to a third embodiment of the present invention.
  • a plurality of cars 100i, 100j, 100k forming a cluster travel at a speed of V i , V j , and V k , each of which has a segment-type feeder embedded at intervals d ij and d jk , respectively. If so, each vehicle is powered by the magnetic field generated by the feed segments 434, 436, 438, similar to the embodiments described above.
  • the clusters formed by the plurality of vehicles may be formed according to pre-registered information between each vehicle, or may be determined as a cluster based on vehicle ID and moving speed information in the central control system connected to the inverter. Can be.
  • the head vehicle is set as the header of the cluster in the vehicle group, and the feed segment is controlled to be equally applied to all the vehicles based on the header vehicle and the next vehicle following the header vehicle. That is, according to the charge / discharge timing of the segment 434 into which the header vehicle enters and the segment 436 into which the next vehicle enters, the subsequent segments 438 are controlled in the same manner.
  • the inverter is then when the ⁇ value is less than t c + t d values continue to 'ON' state of the segment and, when the ⁇ value greater than t c + t d values control the segment to 'OFF' state According to the charging response time of the segment, the next segment to charge before entering the vehicle is charged.
  • the segment charging method according to the third embodiment corresponds to the charging method according to the above-described second embodiment except that the segment charging method is based on the speed of the header vehicle.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

La présente invention concerne un procédé pour commander l'opération de chargement de segments pour un véhicule électrique en ligne. Plus particulièrement, la présente invention concerne un procédé pour commander l'opération de chargement de segments pour un véhicule électrique en ligne, qui comprend la commande d'un onduleur en tenant compte du temps de réponse du chargement de segments de façon à réduire le gaspillage d'électricité dans un système qui alimente en électricité le véhicule électrique par induction magnétique en utilisant un dispositif d'alimentation électrique comprenant un ou plusieurs segments enfouis sous une surface de roulement. Selon un mode de réalisation préféré de la présente invention, le procédé pour commander l'opération de chargement de segments pour un véhicule électrique en ligne comprend les étapes suivantes : (a) réception, à partir des segments, d'informations sur la vitesse et la position du véhicule pénétrant le domaine du dispositif d'alimentation électrique; et (b) commande du temps de chargement/déchargement du segment actuel que le véhicule est en train de quitter et du segment suivant dans le domaine duquel va entrer le véhicule, en fonction des informations de vitesse et de position du véhicule. Le procédé de la présente invention comprend l'étape consistant à commander le temps de fonctionnement des segments du dispositif d'alimentation électrique en fonction de la vitesse de déplacement du véhicule électrique en ligne en tenant compte des caractéristiques de délai de réponse de chargement/déchargement des segments, améliorant ainsi le rendement et empêchant le gaspillage d'électricité.
PCT/KR2010/008863 2009-12-11 2010-12-10 Procédé pour commander l'opération de chargement de segments pour un véhicule électrique en ligne WO2011071344A2 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR20090123560 2009-12-11
KR10-2009-0123560 2009-12-11
KR10-2009-0134956 2009-12-30
KR1020090134956A KR101204500B1 (ko) 2009-12-11 2009-12-30 온라인 전기자동차용 세그먼트 충전 제어방법

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WO2011071344A3 WO2011071344A3 (fr) 2011-10-27

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Cited By (5)

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Publication number Priority date Publication date Assignee Title
GB2497826A (en) * 2011-12-21 2013-06-26 Ampium Ltd Electric roadway having safety element
RU2702485C1 (ru) * 2017-09-20 2019-10-08 Тойота Дзидося Кабусики Кайся Система бесконтактной подачи мощности и устройство приема мощности
JP2020188649A (ja) * 2019-05-17 2020-11-19 株式会社デンソー 走行中給電システム
WO2021089633A1 (fr) * 2019-11-08 2021-05-14 Alstom Transport Technologies Système, et procédé, d'alimentation par le sol pour des véhicules électriques non-guidés
WO2022209832A1 (fr) * 2021-03-31 2022-10-06 株式会社デンソー Dispositif de détection d'anomalie et procédé de détection d'anomalie pour système d'alimentation électrique sans contact

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JP2007135335A (ja) * 2005-11-11 2007-05-31 Toyota Motor Corp エネルギー供給装置、エネルギー供給方法

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JP2001163088A (ja) * 1999-10-25 2001-06-19 Alstom 地面を介して電気車両に電流を給電する静的システム、およびそのような給電システムによって給電されることを意図された電気車両
JP2001177916A (ja) * 1999-12-10 2001-06-29 Toyota Motor Corp エネルギー供給装置
KR20060064372A (ko) * 2004-12-08 2006-06-13 현대자동차주식회사 차량간 통신장치 및 그 방법
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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2497826A (en) * 2011-12-21 2013-06-26 Ampium Ltd Electric roadway having safety element
RU2702485C1 (ru) * 2017-09-20 2019-10-08 Тойота Дзидося Кабусики Кайся Система бесконтактной подачи мощности и устройство приема мощности
US11052781B2 (en) 2017-09-20 2021-07-06 Toyota Jidosha Kabushiki Kaisha Non-contact power supply system and power reception device
JP2020188649A (ja) * 2019-05-17 2020-11-19 株式会社デンソー 走行中給電システム
JP7081566B2 (ja) 2019-05-17 2022-06-07 株式会社デンソー 走行中給電システム
WO2021089633A1 (fr) * 2019-11-08 2021-05-14 Alstom Transport Technologies Système, et procédé, d'alimentation par le sol pour des véhicules électriques non-guidés
FR3102956A1 (fr) * 2019-11-08 2021-05-14 Alstom Transport Technologies Système, et procédé, d’alimentation par le sol pour des véhicules électriques non-guidés
WO2022209832A1 (fr) * 2021-03-31 2022-10-06 株式会社デンソー Dispositif de détection d'anomalie et procédé de détection d'anomalie pour système d'alimentation électrique sans contact
JP7459832B2 (ja) 2021-03-31 2024-04-02 株式会社デンソー 非接触給電システムの異常検知装置及び異常検知方法

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