WO2018150678A1 - Système d'alimentation électrique sans contact - Google Patents

Système d'alimentation électrique sans contact Download PDF

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Publication number
WO2018150678A1
WO2018150678A1 PCT/JP2017/042525 JP2017042525W WO2018150678A1 WO 2018150678 A1 WO2018150678 A1 WO 2018150678A1 JP 2017042525 W JP2017042525 W JP 2017042525W WO 2018150678 A1 WO2018150678 A1 WO 2018150678A1
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WO
WIPO (PCT)
Prior art keywords
power
coil
power transmission
angle
relay
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PCT/JP2017/042525
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English (en)
Japanese (ja)
Inventor
亘 土方
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国立大学法人東京工業大学
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Application filed by 国立大学法人東京工業大学 filed Critical 国立大学法人東京工業大学
Priority to JP2018568000A priority Critical patent/JP7132620B2/ja
Publication of WO2018150678A1 publication Critical patent/WO2018150678A1/fr

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    • 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
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F38/00—Adaptations of transformers or inductances for specific applications or functions
    • H01F38/14—Inductive couplings
    • 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
    • H02J50/12—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type
    • 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
    • H02J50/50—Circuit arrangements or systems for wireless supply or distribution of electric power using additional energy repeaters 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
    • H02J50/80—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

Definitions

  • 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.
  • non-contact power supply system wireless power supply system
  • wireless power supply system wireless power supply system
  • 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.
  • electromagnetic waves such as microwaves and lasers.
  • radio wave system 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.
  • 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.
  • power can be transmitted when power can be supplied from a power transmission coil toward a power receiving coil that moves regularly in a predetermined direction, such as an electric vehicle.
  • a power transmission coil toward a power receiving coil that moves regularly in a predetermined direction, such as an electric vehicle.
  • 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.
  • 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.
  • a control unit that controls the maximum value.
  • 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.
  • 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.
  • 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.
  • the transmission efficiency from the power transmission device to the power reception device can be controlled to be the maximum value.
  • the detection means may be a sensor provided in the vicinity of the power receiving coil.
  • 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.
  • the transmission efficiency from the power transmission device to the power reception device can be controlled to be the maximum value.
  • 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.
  • 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.
  • 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 moving means, transmission efficiency from the power transmitting device to the receiving device may be controlled to be a maximum value.
  • 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.
  • 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.
  • 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.
  • the transmission efficiency from the power transmission device to the power reception device can be controlled to the maximum value.
  • the relay coil is provided in a plurality
  • 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.
  • 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.
  • the transmission efficiency from the power transmission device to the power reception device can be controlled to be the maximum value.
  • the detection unit may be a sensor provided in the vicinity of at least one of the power receiving coil and the relay coil.
  • 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.
  • the transmission efficiency from the power transmission device to the power reception device can be controlled to be the maximum value.
  • 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.
  • the power transmitting coil is based on the detection result by the imaging device.
  • the transmission efficiency from the power transmitting device to the power receiving device can be controlled to the maximum value.
  • 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.
  • 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 feeding system 100 has a function of feeding power from the power transmission device 110 to the power receiving device 120 to be fed in a contactless manner by magnetic resonance coupling.
  • 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.
  • 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.
  • 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 ⁇ is significantly lowered, and stable power transmission becomes difficult.
  • 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.
  • 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.
  • 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. .
  • 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.
  • the contactless power supply system 100 of this 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.
  • 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.
  • the power receiving apparatus 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, as shown in FIG.
  • a current from a commercial power source such as a high-frequency power source or 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the position information and angle information of the power receiving coil 122 detected by the sensor 125 are transmitted by radio signals
  • 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.
  • the senor 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.
  • 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 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.
  • 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 ⁇ 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.
  • 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 ⁇ 2 of the power reception coil 122, and the inclination angle ⁇ 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 ⁇ 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 ⁇ 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.
  • the drive unit 116 that supports the power transmission coil 112 is driven by the gimbal mechanism 115 so that the transmission efficiency ⁇ 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.
  • 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 ⁇ 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.
  • the transmission efficiency ⁇ As the relative angle between the power transmission coil and the power reception coil increases from 0 degrees, the transmission efficiency ⁇ As the relative angle reached 90 degrees, the transmission efficiency ⁇ approached zero.
  • 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 ⁇ can be increased without decreasing.
  • 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 ⁇ 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.
  • 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 ⁇ becomes the maximum value, and the command unit 146 may be instructed to adjust the position and relative angle.
  • 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 ⁇ 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.
  • the aspect of controlling the transmission efficiency ⁇ from the power transmission device 110 to the power reception device 120 by the control unit 140 to be the maximum value is not limited to that based on the detection result by the sensor 125.
  • 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 ⁇ 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 ⁇ when moved. Specifically, when the transmission efficiency ⁇ is improved, the power transmission coil 112 is moved further to the moved side, and when the transmission efficiency ⁇ 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.
  • 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
  • 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.
  • 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.
  • step S12 based on the detection result of the position and angle of the power receiving coil 122 by the sensor 125, the power transmission efficiency ⁇ 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 ⁇ and the relative angle with respect to the power reception coil 122 are calculated.
  • 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 ⁇ 2 and the inclination angle ⁇ 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 ⁇ calculated from the following relational expression becomes the maximum value. A suitable value is calculated.
  • 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 ⁇ 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.
  • the command unit 146 supports the power transmission coil 112 with the gimbal mechanism 115 so that the transmission efficiency ⁇ 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.
  • 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.
  • 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 ⁇ 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.
  • the senor 125 is applied as the detecting means for detecting the position information and the angle information of the power receiving coil 122.
  • 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.
  • 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.
  • 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.
  • 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.
  • the position information of the power receiving device 120 can be tracked by the sensor 125 such as GPS. I have to.
  • 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.
  • 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.
  • 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.
  • the contactless power supply system 200 has a function of supplying power from the power transmission device 210 to the power reception device 220 that is a power supply in a contactless manner by magnetic resonance coupling.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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 ⁇ is significantly lowered, and stable power transmission becomes difficult.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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. .
  • 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.
  • 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.
  • 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.
  • a current from a commercial power source such as a high-frequency power source or 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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, and the like.
  • 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 by radio signals and fed back to the operation of adjusting the position and angle of the power transmitting coil 212.
  • 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.
  • 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.
  • the senor 225 is preferably provided in the vicinity of the power receiving coil 222, and is preferably provided inside the power receiving coil 222 in order to improve the accuracy of position detection of the power receiving coil 222.
  • the position and angle of the power receiving coil 222 are detected by the sensor 225.
  • 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 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.
  • 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 ⁇ 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.
  • 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 ⁇ 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 ⁇ calculated from the relational expression in the calculation unit 244 becomes the maximum value.
  • the command unit 246 has a function of commanding 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.
  • 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 ⁇ 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.
  • 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 ⁇ 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 ⁇ 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.
  • 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.
  • the transmission efficiency ⁇ from the power transmission device 210 to the power reception device 220 can be controlled to a maximum value.
  • the autonomous mobile robot 237 equipped with the relay coil 232 via the gimbal mechanism 235 carries the power receiving coil 222.
  • 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 ⁇ 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.
  • 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 ⁇ is maximized may be adjusted in another manner.
  • 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 ⁇ becomes the maximum value, and the command unit 246 may be instructed to adjust the position and the relative angle.
  • 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 ⁇ 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.
  • the mode of control so that the transmission efficiency ⁇ from the power transmission device 210 to the power reception device 220 by the control unit 240 becomes the maximum value is not limited to that based on the detection result by the sensor 225.
  • 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 ⁇ 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 ⁇ when moved.
  • the power transmission coil 212 is moved further to the moved side, and when the transmission efficiency ⁇ 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.
  • 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
  • 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.
  • 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 inclination angle with respect to the vertical direction as angle information of the power reception coil 222 (step S21).
  • the sensor 225 includes a GPS sensor and a gyro sensor
  • the GPS sensor detects position information of the power receiving coil 222
  • the gyro sensor detects angle information of the power receiving coil 222.
  • step S22 based on the detection result of the position and angle of the power receiving coil 222 by the sensor 225, the calculation efficiency ⁇ of the power from the power transmission device 210 to the power reception 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 relative angle with respect to the position of the power transmission coil 212 and the power reception coil 222 are calculated (step S22). That is, in step S ⁇ b> 22, based on the position information and the 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 ⁇ and the relative angle with respect to the power reception coil 222 are calculated.
  • 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 distance r1 see FIG.
  • Power transmission efficiency ⁇ 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
  • step S23 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).
  • the position r1 and the inclination angle theta 1 of the relay coil 232 calculating unit 244 transmission efficiency ⁇ 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
  • 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.
  • 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.
  • a medical device such as an artificial heart or a power assist suit worn by a person, or a mobile robot in a factory.
  • 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.
  • 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 ⁇ 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.
  • 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.
  • 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.
  • the sensor 231 may be installed.
  • 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.
  • 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 ⁇ from the power transmission device 210 to the power reception device 220 is controlled to be the maximum value.
  • the senor 225 is applied as a detection unit that detects the position information and the angle information of the power receiving coil 222.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 ⁇ from the power transmission device 210 to the power reception device 220 is controlled to be the maximum value.
  • 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.
  • 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.
  • 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.
  • 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 ⁇ 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.
  • 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.
  • 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.
  • 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 wireless signals.
  • 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 ⁇ from the power transmission apparatus 210 to the power reception apparatus 220 is controlled to be the maximum value.
  • the application object of the non-contact electric power feeding system 200 of this embodiment is applicable also to another aspect.
  • a power transmission station 210a mounted on a ceiling supports 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.
  • the non-contact power supply system 206 can be applied to a case where the power receiving device to be supplied is a glass 220b that covers the eyes like VR goggles or smart class.
  • 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 / retracting 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 the repeater coil device 230 configured by the relay coil 232, the gimbal mechanism 235, and the autonomous mobile robot 237.
  • 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.
  • 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 through the repeater coil device 230 that is supported.
  • a plurality of relay coils 332a and 332b may be provided.
  • the power transmission coil 312 of the power station 311 installed on the ground is attached via the power supply wire 318 and the gimbal mechanism 315, and the power transmission coil 312 is freely moved 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. .
  • 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), it is possible to control the transmission efficiency from the power transmitting apparatus 310 to the power receiving apparatus 320 to be the maximum value.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 device to the power reception device 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.
  • 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.
  • 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.
  • 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 can also be applied 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.
  • Non-contact power feeding 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 121, 161, 221, 221c Load, 122, 162, 222, 222c

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

La présente invention réalise de manière stable une alimentation électrique sans contact hautement efficace même lorsqu'un objet d'alimentation électrique est librement déplacé d'une manière irrégulière. Un système d'alimentation électrique sans contact 100 qui fournit de l'énergie sur un mode sans contact à partir d'un dispositif de transmission d'énergie 110 à un dispositif de réception d'énergie 120 par l'intermédiaire d'un couplage par résonance magnétique, le système d'alimentation électrique sans contact 100 étant caractérisé en ce qu'il comprend : une bobine de transmission de puissance 112 disposée sur le dispositif de transmission d'énergie ; une bobine de réception d'énergie fournie au dispositif de réception d'énergie ; un mécanisme de réglage de position/angle de bobine de transmission de puissance 115 qui règle la position et l'angle relatif de la bobine de transmission d'énergie par rapport à la bobine de réception d'énergie ; un moyen de détection 125 qui détecte la distance entre la bobine de transmission d'énergie et la bobine de réception d'énergie et l'angle d'inclinaison par rapport à une direction verticale ; et une unité de commande qui, sur la base des résultats de détection par le moyen de détection, règle la position et l'angle relatif de la bobine de transmission de puissance par rapport à la bobine de réception d'énergie au moyen du mécanisme de réglage de position/angle de bobine de transmission de puissance, et effectue un contrôle de telle sorte que l'efficacité de transmission du dispositif de transmission d'énergie au dispositif de réception d'énergie atteint une valeur maximale.
PCT/JP2017/042525 2017-02-17 2017-11-28 Système d'alimentation électrique sans contact WO2018150678A1 (fr)

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JP2020137324A (ja) * 2019-02-22 2020-08-31 三菱ロジスネクスト株式会社 無人飛行体用給電システム
JP2020141492A (ja) * 2019-02-28 2020-09-03 三菱ロジスネクスト株式会社 無人飛行体用給電システムおよび無人給電車両
WO2021075498A1 (fr) * 2019-10-17 2021-04-22 株式会社アドヴィックス Dispositif d'alimentation électrique sans fil
JPWO2021166109A1 (fr) * 2020-02-19 2021-08-26
JP2021129409A (ja) * 2020-02-13 2021-09-02 Tdk株式会社 無線送電装置、及び無線電力伝送システム
CN113644758A (zh) * 2021-08-13 2021-11-12 重庆理工大学 一种水文缆道测量机器人的无线充电系统及方法
DE102021202891A1 (de) 2021-03-24 2022-09-15 Zf Friedrichshafen Ag Energieerzeugungssystem zur Anordnung innerhalb einer Dachfinne eines Fahrzeugs

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JP7018981B2 (ja) * 2020-02-28 2022-02-14 ソフトバンク株式会社 システム、管理装置、及びプログラム

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JP2020137324A (ja) * 2019-02-22 2020-08-31 三菱ロジスネクスト株式会社 無人飛行体用給電システム
JP2020141492A (ja) * 2019-02-28 2020-09-03 三菱ロジスネクスト株式会社 無人飛行体用給電システムおよび無人給電車両
WO2021075498A1 (fr) * 2019-10-17 2021-04-22 株式会社アドヴィックス Dispositif d'alimentation électrique sans fil
JP2021129409A (ja) * 2020-02-13 2021-09-02 Tdk株式会社 無線送電装置、及び無線電力伝送システム
JP7351234B2 (ja) 2020-02-13 2023-09-27 Tdk株式会社 無線送電装置、及び無線電力伝送システム
JPWO2021166109A1 (fr) * 2020-02-19 2021-08-26
WO2021166109A1 (fr) * 2020-02-19 2021-08-26 株式会社Ｆｕｊｉ Système d'alimentation électrique sans contact
JP7395707B2 (ja) 2020-02-19 2023-12-11 株式会社Fuji 非接触給電システム
DE102021202891A1 (de) 2021-03-24 2022-09-15 Zf Friedrichshafen Ag Energieerzeugungssystem zur Anordnung innerhalb einer Dachfinne eines Fahrzeugs
CN113644758A (zh) * 2021-08-13 2021-11-12 重庆理工大学 一种水文缆道测量机器人的无线充电系统及方法

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