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JP2014236539A - Power transmission device for non-contact charging and travelling control system of electric vehicle - Google Patents

Power transmission device for non-contact charging and travelling control system of electric vehicleDownload PDF

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Publication number
JP2014236539A
JP2014236539AJP2013114927AJP2013114927AJP2014236539AJP 2014236539 AJP2014236539 AJP 2014236539AJP 2013114927 AJP2013114927 AJP 2013114927AJP 2013114927 AJP2013114927 AJP 2013114927AJP 2014236539 AJP2014236539 AJP 2014236539A
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power transmission
coil
power
tile
transmission device
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堀　智
Satoshi Hori
智 堀
隆伸 田端
Takanobu Tabata
隆伸 田端
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Kojima Industries Corp
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Kojima Press Industry Co Ltd
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Abstract

PROBLEM TO BE SOLVED: To provide a power transmission device for non-contact charging which forms a flat floor surface with no step.SOLUTION: A power transmission device 20 includes: a power transmission coil 22 disposed on a track of an automatic guided vehicle (AGV) 11 equipped with a power reception coil 31; and an electric supply line 24 for supplying electric power to the power transmission coil 22. The power transmission device 20 is applied to a non-contact charging system 10 of the AGV 11. The power transmission device 20 includes a coil built-in tile 21 formed by the power transmission coil 22 and a tile material 23. In other words, the transmission coil 22 is buried in the tile provided at the track of the AGV 11.

Description

Translated fromJapanese

本発明は、非接触充電用送電装置及び電動車両の走行制御システムに関し、特に工場内等を走行する無人搬送車（以下、「ＡＧＶ」という）の充電に好適な非接触充電用送電装置に関する。  The present invention relates to a non-contact charging power transmission device and a travel control system for an electric vehicle, and more particularly to a non-contact charging power transmission device suitable for charging an automatic guided vehicle (hereinafter referred to as “AGV”) traveling in a factory or the like.

電気自動車やＡＧＶ等の電動車両の充電システムとして、非接触充電システムが知られている。例えば、特許文献１には、プリント基板の第１の層に設けられた一次コイルと、プリント基板の第２の層に設けられた共鳴コイルとを備えた、非接触充電システムに適用される送電装置が開示されている。  A contactless charging system is known as a charging system for electric vehicles such as electric vehicles and AGVs. For example, Patent Document 1 discloses a power transmission applied to a non-contact charging system including a primary coil provided in a first layer of a printed circuit board and a resonance coil provided in a second layer of the printed circuit board. An apparatus is disclosed.

特開２０１０−７３９７６号公報JP 2010-73976 A

ところで、従来の送電装置では、図６（給電線等は省略）に例示するように、ＡＧＶ等が走行するタイル２５上に送電コイル１０１が内蔵された送電ボックス１００を設置する必要がある。このため、例えば当該送電ボックス１００を工場内に設置すると、台車やリフト、作業者等の通行の妨げとなる。  By the way, in the conventional power transmission apparatus, it is necessary to install thepower transmission box 100 in which thepower transmission coil 101 is built on thetile 25 on which the AGV or the like travels as illustrated in FIG. For this reason, for example, if thepower transmission box 100 is installed in a factory, it will hinder the passage of carts, lifts, workers, and the like.

本発明に係る非接触充電用送電装置は、受電コイルを搭載した電動車両の走行路に配置される送電コイルと、前記送電コイルに電力を供給するための給電線とを備えた、前記電動車両の非接触充電システムに適用される送電装置であって、前記送電コイルは、前記走行路に設けられる床材に埋め込まれていることを特徴とする。また、当該送電装置において、前記給電線は、前記床材に埋め込まれていることが好適である。  A non-contact charging power transmission device according to the present invention includes a power transmission coil disposed on a traveling path of an electric vehicle equipped with a power receiving coil, and a power supply line for supplying power to the power transmission coil. It is a power transmission apparatus applied to the non-contact charging system, wherein the power transmission coil is embedded in a floor material provided in the travel path. In the power transmission device, it is preferable that the power supply line is embedded in the flooring.

本発明に係る電動車両の走行制御システムは、上記非接触充電用送電装置と、前記電動車両に搭載され、前記送電コイルの磁界を検出するセンサと、制御装置と、を備えた電動車両の走行制御システムであって、前記送電コイルが埋め込まれた前記床材は、前記走行路に沿って複数設けられ、前記制御装置は、前記センサにより検出された前記磁界に基づき前記電動車両を前記走行路に沿って自動走行させることを特徴とする。  A travel control system for an electric vehicle according to the present invention is the travel of an electric vehicle including the contactless power transmission device, a sensor that is mounted on the electric vehicle and detects a magnetic field of the power transmission coil, and a control device. In the control system, a plurality of the flooring in which the power transmission coil is embedded are provided along the travel path, and the control device moves the electric vehicle based on the magnetic field detected by the sensor. It is characterized by being automatically driven along.

本発明に係る非接触充電用送電装置によれば、送電コイルが床材に埋め込まれて一体化されているため、段差のない平坦な床面を形成することができる。これにより、送電装置が、台車やリフト、作業者等の通行の妨げとなることを防止できる。  According to the power transmission device for contactless charging according to the present invention, since the power transmission coil is embedded and integrated in the floor material, a flat floor surface without a step can be formed. Thereby, it can prevent that a power transmission apparatus obstructs traffic of a trolley | bogie, a lift, an operator, etc.

本発明の第１の実施形態である電動車両の非接触充電システムを模式的に示す図である。It is a figure showing typically the non-contact charge system of the electric vehicles which are the 1st embodiment of the present invention.図１のＡ−Ａ線断面図である。It is the sectional view on the AA line of FIG.第１の実施形態の変形例を示す図である。It is a figure which shows the modification of 1st Embodiment.本発明の第２の実施形態である電動車両の非接触充電システムを構成する送電装置を模式的に示す図である。It is a figure which shows typically the power transmission apparatus which comprises the non-contact charge system of the electric vehicle which is the 2nd Embodiment of this invention.第２の実施形態の変形例を示す図である。It is a figure which shows the modification of 2nd Embodiment.従来の非接触充電システムを構成する送電装置を模式的に示す図である。It is a figure which shows typically the power transmission apparatus which comprises the conventional non-contact charge system.

以下、図面を参照しながら、本発明の実施形態の一例について詳細に説明する。
なお、各図面（図２を除く）では、図面の明瞭化の観点から、実際には見えない送電コイル２２等を実線で図示している。Hereinafter, an example of an embodiment of the present invention will be described in detail with reference to the drawings.
In each drawing (excluding FIG. 2), thepower transmission coil 22 and the like that are not actually visible are shown by solid lines from the viewpoint of clarifying the drawing.

以下では、工場内を自動走行するＡＧＶの非接触充電システム１０を例に挙げて本発明の実施形態を説明するが、本発明の適用はこれに限定されない。本発明の送電装置は、例えば駐車場やサービスステーション等に設置され、電気自動車やハイブリッド車の非接触充電に適用することもできる。  Hereinafter, an embodiment of the present invention will be described by taking an AGVnon-contact charging system 10 that automatically runs in a factory as an example, but the application of the present invention is not limited thereto. The power transmission device of the present invention is installed in, for example, a parking lot or a service station, and can be applied to non-contact charging of an electric vehicle or a hybrid vehicle.

図１は、第１の実施形態である非接触充電システム１０の概略構成を示す。
図１に示すように、非接触充電システム１０は、送電装置２０と、ＡＧＶ１１に搭載される受電装置３０と、各装置を制御してＡＧＶ１１の非接触充電を実行する制御装置４０とを備える。ＡＧＶ１１の走行路には、例えば走行ライン１２が描かれており、ＡＧＶ１１は当該ラインに沿って自動走行する。本実施形態では、かかる自動走行も制御装置４０の機能により実行される。FIG. 1 shows a schematic configuration of acontactless charging system 10 according to the first embodiment.
As shown in FIG. 1, thenon-contact charging system 10 includes apower transmission device 20, apower receiving device 30 mounted on theAGV 11, and acontrol device 40 that controls each device to perform non-contact charging of theAGV 11. For example, atravel line 12 is drawn on the travel path of the AGV 11, and the AGV 11 automatically travels along the line. In the present embodiment, such automatic traveling is also executed by the function of thecontrol device 40.

非接触充電システム１０は、ＡＧＶ１１の走行路、即ち走行ライン１２に沿って送電装置２０を構成する複数の送電コイル２２を備え、ＡＧＶ１１の走行中における非接触充電を可能とする。例えば、送電コイル２２の上にＡＧＶ１１の受電装置３０が位置するときに、送電コイル２２から電力伝送用の電磁波が送電される。そして、受電装置３０の受電コイル３１により当該電磁波を受波し、これに基づく電力によってＡＧＶ１１に搭載されたバッテリ１３が充電される。  Thenon-contact charging system 10 includes a plurality ofpower transmission coils 22 constituting thepower transmission device 20 along the traveling path of the AGV 11, that is, thetraveling line 12, and enables non-contact charging while the AGV 11 is traveling. For example, when the power receivingdevice 30 of the AGV 11 is positioned on thepower transmission coil 22, an electromagnetic wave for power transmission is transmitted from thepower transmission coil 22. And the said electromagnetic waves are received with thereceiving coil 31 of thereceiving device 30, and thebattery 13 mounted in AGV11 with the electric power based on this is charged.

本実施形態では、ＡＧＶ１１が走行する工場の床に、床材として複数のタイル２５が配置されている。タイル２５は、工場の床材として使用される一般的なタイルである。そして、詳しくは後述するように、床材の一部にコイル内蔵タイル２１が用いられている。  In the present embodiment, a plurality oftiles 25 are arranged as floor materials on the floor of a factory where the AGV 11 travels. Thetile 25 is a general tile used as a factory flooring. As will be described in detail later, the coil built-intile 21 is used in a part of the flooring.

送電装置２０は、走行ライン１２に沿って配置された複数の送電コイル２２、各送電コイル２２と図示しない電源回路とを接続して各送電コイル２２に電力を供給するための給電線２４、及び図示しないキャパシタ等を備える。送電コイル２２は、電力伝送用の電磁波を送電する送電部としての機能を有する。送電コイル２２は、例えば平面状に周回する導線によって形成される。  Thepower transmission device 20 includes a plurality ofpower transmission coils 22 arranged along thetravel line 12, apower supply line 24 for connecting eachpower transmission coil 22 and a power supply circuit (not shown) to supply power to eachpower transmission coil 22, and A capacitor or the like (not shown) is provided. Thepower transmission coil 22 has a function as a power transmission unit that transmits electromagnetic waves for power transmission. Thepower transmission coil 22 is formed by, for example, a conductive wire that circulates in a planar shape.

受電装置３０は、電力伝送用の電磁波を受波する受波部としての機能を有する受電コイル３１、受電コイル３１とバッテリ１３との間に設けられる充電回路３２、及び図示しないキャパシタ等を備える。即ち、受電コイル３１は充電回路３２に接続され、充電回路３２にはバッテリ１３が接続されている。受電コイル３１は、例えば送電コイル２２と同様に、平面状に周回する導線（コイル線）によって形成される。  Thepower receiving device 30 includes apower receiving coil 31 having a function as a wave receiving unit that receives an electromagnetic wave for power transmission, acharging circuit 32 provided between thepower receiving coil 31 and thebattery 13, a capacitor (not shown), and the like. That is, thepower receiving coil 31 is connected to thecharging circuit 32, and thebattery 13 is connected to thecharging circuit 32. Thepower receiving coil 31 is formed by a conducting wire (coil wire) that circulates in a planar shape, for example, like thepower transmitting coil 22.

非接触充電（給電）の方式は、特に限定されず、例えば電磁誘導方式、共鳴方式のいずれであってもよい。共鳴方式の場合、送電コイル２２から受電コイル３１への電力伝送は、送電コイル２２側の回路と受電コイル３１側の回路との結合共振（共鳴）によって行われる。送電コイル２２は、例えばキャパシタと共に送電側の共振回路を形成し、受電コイル３１は、キャパシタと共に受電側の共振回路を形成する。送電側と受電側とで共振周波数を同一の周波数とし、送電側の共振回路と受電側の共振回路を該周波数で結合共振させる。これにより、送電コイル２２と受電コイル３１とを機械的に接触させることなく、送電装置２０からＡＧＶ１１に電力を供給することができる。  The method of non-contact charging (power feeding) is not particularly limited, and for example, either an electromagnetic induction method or a resonance method may be used. In the case of the resonance method, power transmission from thepower transmission coil 22 to thepower reception coil 31 is performed by coupling resonance (resonance) between the circuit on thepower transmission coil 22 side and the circuit on thepower reception coil 31 side. Thepower transmission coil 22 forms a power transmission side resonance circuit together with, for example, a capacitor, and thepower reception coil 31 forms a power reception side resonance circuit together with the capacitor. The resonance frequency is the same on the power transmission side and the power reception side, and the resonance circuit on the power transmission side and the resonance circuit on the power reception side are coupled and resonated at the frequency. Thereby, electric power can be supplied from thepower transmission device 20 to the AGV 11 without mechanically contacting thepower transmission coil 22 and thepower reception coil 31.

以下、図２をさらに参照して、送電装置２０の構成について詳説する。
図２は、図１のＡ−Ａ線断面、即ちコイル内蔵タイル２１を給電線２４の長手方向に対して直交する方向に切断した断面を模式的に示す図である。Hereinafter, the configuration of thepower transmission device 20 will be described in detail with reference to FIG.
FIG. 2 is a diagram schematically showing a cross section taken along the line AA of FIG.

図１，２に示すように、送電コイル２２は、ＡＧＶ１１の走行路に設けられる床材（タイル材２３）に埋め込まれている。即ち、ＡＧＶ１１の走行路には、コイル内蔵タイル２１が設けられている。コイル内蔵タイル２１は、ＡＧＶ１１の走行路に沿って複数設けられることが好適である。これにより、非接触充電システム１０は、ＡＧＶ１１の走行中における非接触充電を可能とする。  As shown in FIGS. 1 and 2, thepower transmission coil 22 is embedded in a floor material (tile material 23) provided on the traveling path of theAGV 11. That is, the coil built-intile 21 is provided on the traveling path of the AGV 11. It is preferable that a plurality oftiles 21 with a built-in coil are provided along the traveling path of the AGV 11. Thereby, thenon-contact charging system 10 enables non-contact charging while the AGV 11 is traveling.

１枚のコイル内蔵タイル２１は、例えば１つの送電コイル２２と、タイル材２３とで構成される。コイル内蔵タイル２１を構成するタイル材２３には、一般的なタイル２５と同じ材料、例えばセラミックス（陶磁器）、プラスチック、コンクリート等を用いることができる。即ち、コイル内蔵タイル２１は、送電コイル２２がタイル材２３で被覆され保護された構造である。  Onetile 21 with a built-in coil includes, for example, onepower transmission coil 22 and atile material 23. Thetile material 23 constituting the coil built-intile 21 can be made of the same material as thegeneral tile 25, such as ceramics (ceramics), plastic, concrete, and the like. That is, the coil built-intile 21 has a structure in which thepower transmission coil 22 is covered and protected by thetile material 23.

コイル内蔵タイル２１の形状は、特に限定されず、例えば４０ｃｍ角〜５０ｃｍ角程度の寸法を有する四角形状のパネルとすることができる。コイル内蔵タイル２１の寸法は、タイル２５と略同等であることが好ましい。また、コイル内蔵タイル２１に埋め込まれて一体化される送電コイル２２は、図１に示す丸型コイルに限定されず、図３（給電線２４を省略）に示す角型コイル等、その他の形状であってもよい。  The shape of the coil built-intile 21 is not particularly limited, and for example, a square panel having a size of about 40 cm square to 50 cm square can be used. The dimension of the coil built-intile 21 is preferably substantially the same as that of thetile 25. Further, thepower transmission coil 22 embedded and integrated in the coil built-intile 21 is not limited to the round coil shown in FIG. 1, and other shapes such as a square coil shown in FIG. 3 (thepower supply line 24 is omitted). It may be.

コイル内蔵タイル２１は、例えば２枚のタイル材２３を準備して送電コイル２２を挟み込んで製造されてもよいし、タイル材２３にプラスチック材料等を用いたインサート成形により製造されてもよい。  The tile with built-incoil 21 may be manufactured, for example, by preparing twotile members 23 and sandwiching thepower transmission coil 22, or may be manufactured by insert molding using a plastic material or the like for thetile member 23.

コイル内蔵タイル２１には、さらに給電線２４が埋め込まれていることが好適である。給電線２４は、各コイル内蔵タイル２１の送電コイル２２と、電源回路とを接続するケーブルである。給電線２４をタイルに埋め込むことで、例えば給電線２４の破損が抑制され、また給電線２４が通行の邪魔になることを防止できる。なお、各送電コイル２２への給電方法は、特に限定されないが、各送電コイル２２への給電をＯＮ／ＯＦＦするスイッチ等を設け、ＡＧＶ１１の走行に合わせて当該ＯＮ／ＯＦＦを実行できることが好ましい。  It is preferable that apower supply line 24 is further embedded in the coil built-intile 21. Thepower supply line 24 is a cable for connecting thepower transmission coil 22 of each tile with built-incoil 21 and the power supply circuit. By embedding thepower supply line 24 in the tile, for example, damage to thepower supply line 24 can be suppressed, and thepower supply line 24 can be prevented from obstructing passage. In addition, although the power feeding method to eachpower transmission coil 22 is not particularly limited, it is preferable that a switch or the like for turning on / off power feeding to eachpower transmission coil 22 is provided so that the ON / OFF can be executed in accordance with the traveling of the AGV 11.

コイル内蔵タイル２１には、ＡＧＶ１１の自動走行に使用するトレースセンサを埋め込むこともできる。トレースセンサとして磁気センサを用いる場合は、例えばコイル内蔵タイル２１に磁石や磁気テープを埋め込み、ＡＧＶ１１に当該磁石等の磁力を検出する検出器を搭載することができる。この場合、磁石等をタイルに埋め込むことで、例えば磁石等の破損が抑制され、また磁石等が通行の邪魔になることを防止できる。その他、コイル内蔵タイル２１の表面に描かれた走行ライン１２を赤外線センサ等で検出する方法も挙げられるが、本実施形態では後述の方法によりＡＧＶ１１の走行制御を実行するものとする。  A trace sensor used for automatic traveling of the AGV 11 can also be embedded in the coil built-intile 21. When a magnetic sensor is used as the trace sensor, for example, a magnet or a magnetic tape can be embedded in the coil built-intile 21 and a detector for detecting the magnetic force of the magnet or the like can be mounted on theAGV 11. In this case, by embedding a magnet or the like in the tile, for example, damage to the magnet or the like can be suppressed, and the magnet or the like can be prevented from obstructing passage. In addition, there is a method of detecting thetravel line 12 drawn on the surface of the coil built-intile 21 with an infrared sensor or the like. In this embodiment, the travel control of theAGV 11 is executed by a method described later.

非接触充電システム１０は、上記のように、制御装置４０を備える。制御装置４０は、送電装置２０及び受電装置３０を制御してＡＧＶ１１の非接触充電を実行する充電制御手段４１を有する。本実施形態では、制御装置４０がＡＧＶ１１の自動走行を制御する走行制御手段４２をさらに有する。  Thenon-contact charging system 10 includes thecontrol device 40 as described above. Thecontrol device 40 includes charge control means 41 that controls thepower transmission device 20 and thepower reception device 30 to perform contactless charging of theAGV 11. In the present embodiment, thecontrol device 40 further includes traveling control means 42 that controls automatic traveling of theAGV 11.

充電制御手段４１は、例えばＡＧＶ１１の走行に合わせて各コイル内蔵タイル２１に埋め込まれた送電コイル２２への給電をＯＮ／ＯＦＦする。即ち、コイル内蔵タイル２１が配置された走行路に沿って自動走行するＡＧＶ１１の直下に位置する送電コイル２２に対して選択的に給電することが好ましい。そして、上記のように、送電側と受電側とで共振周波数を同一の周波数とし、送電側の共振回路と受電側の共振回路を該周波数で結合共振させて送電装置２０からＡＧＶ１１に電力を供給する。  The charge control means 41 turns ON / OFF the power supply to thepower transmission coil 22 embedded in each coil built-intile 21 in accordance with the traveling of theAGV 11, for example. That is, it is preferable to selectively supply power to thepower transmission coil 22 positioned directly under theAGV 11 that automatically travels along the traveling path on which the coil-embeddedtile 21 is disposed. Then, as described above, the resonance frequency is the same on the power transmission side and the power reception side, and the power transmission side resonance circuit and the power reception side resonance circuit are coupled and resonated at the frequency to supply power from thepower transmission apparatus 20 to theAGV 11. To do.

走行制御手段４２は、ＡＧＶ１１の走行制御システムの一部を構成する。走行制御システムは、送電コイル２２の磁界を検出する磁気センサ１４を有する。磁気センサ１４は、ＡＧＶ１１に搭載されている。走行制御手段４２は、磁気センサ１４により検出された送電コイル２２の磁界に基づきＡＧＶ１１を走行路に沿って自動走行させる機能を有する。これにより、磁石や磁気テープ等をタイルに埋め込むことなく、送電コイル２２の磁界を利用してＡＧＶ１１の走行路に沿った自動走行を可能とする。  The traveling control means 42 constitutes a part of the traveling control system of theAGV 11. The travel control system includes amagnetic sensor 14 that detects the magnetic field of thepower transmission coil 22. Themagnetic sensor 14 is mounted on theAGV 11. The traveling control means 42 has a function of automatically traveling theAGV 11 along the traveling path based on the magnetic field of thepower transmission coil 22 detected by themagnetic sensor 14. This enables automatic traveling along the traveling path of theAGV 11 using the magnetic field of thepower transmission coil 22 without embedding a magnet, magnetic tape, or the like in the tile.

以上のように、受電装置３０を備える非接触充電システム１０によれば、送電コイル２２、給電線２４、必要によりトレースセンサがタイルに埋め込まれて一体化されているため、段差のない平坦な床面を形成することができる。これにより、送電装置２０が、台車やリフト、作業者等の通行の妨げとなることを防止できる。  As described above, according to thenon-contact charging system 10 including thepower receiving device 30, thepower transmission coil 22, thepower supply line 24, and, if necessary, the trace sensor are embedded in the tile and integrated, and thus a flat floor without a step. A surface can be formed. Thereby, it can prevent that thepower transmission apparatus 20 obstructs passage of a trolley | bogie, a lift, an operator, etc.

図４（給電線を省略）は、第２の実施形態である送電装置２０ｘを示す。
以下では、上記実施形態との相違点について詳説し、重複する説明は省略する。FIG. 4 (a power supply line is omitted) shows apower transmission device 20x according to the second embodiment.
Hereinafter, differences from the above-described embodiment will be described in detail, and redundant description will be omitted.

図４に示すように、送電装置２０ｘでは、複数のコイル線内蔵タイル２１ｘを組み合わせて１つの送電コイル２２ｘが構成される。送電コイル２２ｘは、例えば平面状に１０回程度巻かれた角型コイルであって、コイル線内蔵タイル２１ｘには、直線状のコイル線が内蔵されたタイルと、略Ｌ字状に曲がったコイル線が内蔵されたタイルとが含まれる。図４に示す例では、これら２種類のコイル線内蔵タイル２１ｘに埋め込まれたコイル線同士を接続して、合計８枚のコイル線内蔵タイル２１ｘを連結し、１つの送電コイル２２ｘを構成している。  As shown in FIG. 4, in thepower transmission device 20 x, onepower transmission coil 22 x is configured by combining a plurality of coil wire built-intiles 21 x. Thepower transmission coil 22x is, for example, a rectangular coil that is wound about 10 times in a planar shape, and the coil wire built-intile 21x includes a tile having a straight coil wire and a coil bent in a substantially L shape. And tiles with built-in lines. In the example shown in FIG. 4, these two types of coil wire embeddedtiles 21x are connected to each other, and a total of eight coil wire embeddedtiles 21x are connected to form onepower transmission coil 22x. Yes.

なお、図５に示すように、走行ライン１２ｘが湾曲している場合であっても、複数のコイル線内蔵タイル２１ｘを組み合わせて１つの送電コイル２２ｘを構成することができる。この場合、コイル線内蔵タイル２１ｘに埋め込まれたコイル線も走行ライン１２ｘに沿って湾曲している。  As shown in FIG. 5, even if thetravel line 12x is curved, a singlepower transmission coil 22x can be configured by combining a plurality of coil wire built-intiles 21x. In this case, the coil wire embedded in the coil wire built-intile 21x is also curved along the travelingline 12x.

送電装置２０ｘによれば、図１に示す例と比べて、走行路に沿った送電コイルの数が少なくなり、送電コイル同士の間隙の数も少なくなる。このため、ＡＧＶ１１の走行中における充電効率を向上させることができる。  According to thepower transmission device 20x, compared to the example illustrated in FIG. 1, the number of power transmission coils along the traveling path is reduced, and the number of gaps between the power transmission coils is also reduced. For this reason, the charging efficiency during traveling of theAGV 11 can be improved.

１０ 非接触充電システム、１１ ＡＧＶ、１２，１２ｘ 走行ライン、１３ バッテリ、１４ 磁気センサ、２０，２０ｘ 送電装置、２１ コイル内蔵タイル、２２，２２ｘ 送電コイル、２３ タイル材、２４ 給電線、２５ タイル、３０ 受電装置、３１ 受電コイル、３２ 充電回路、４０ 制御装置、４１ 充電制御手段、４２ 走行制御手段、１００ 送電ボックス、１０１ 送電コイル  10 contactless charging system, 11 AGV, 12, 12x travel line, 13 battery, 14 magnetic sensor, 20, 20x power transmission device, 21 coil built-in tile, 22, 22x power transmission coil, 23 tile material, 24 feed line, 25 tile, DESCRIPTION OFSYMBOLS 30 Power receiving device, 31 Power receiving coil, 32 Charging circuit, 40 Control apparatus, 41 Charging control means, 42 Travel control means, 100 Power transmission box, 101 Power transmission coil

Claims (3)

Translated fromJapanese
受電コイルを搭載した電動車両の走行路に配置される送電コイルと、
前記送電コイルに電力を供給するための給電線と、
を備えた、前記電動車両の非接触充電システムに適用される送電装置であって、
前記送電コイルは、前記走行路に設けられる床材に埋め込まれていることを特徴とする非接触充電用送電装置。A power transmission coil disposed on a traveling path of an electric vehicle equipped with a power reception coil;
A feed line for supplying power to the power transmission coil;
A power transmission device applied to the non-contact charging system for the electric vehicle,
The power transmission coil is embedded in a floor material provided on the travel path, and is a power transmission device for non-contact charging. 請求項１に記載の非接触充電用送電装置において、
前記給電線は、前記床材に埋め込まれていることを特徴とする非接触充電用送電装置。The power transmission device for contactless charging according to claim 1,
The power feeding device for contactless charging, wherein the power supply line is embedded in the flooring. 請求項１又は２に記載の非接触充電用送電装置と、
前記電動車両に搭載され、前記送電コイルの磁界を検出するセンサと、
制御装置と、
を備えた電動車両の走行制御システムであって、
前記送電コイルが埋め込まれた前記床材は、前記走行路に沿って複数設けられ、
前記制御装置は、前記センサにより検出された前記磁界に基づき前記電動車両を前記走行路に沿って自動走行させることを特徴とする電動車両の走行制御システム。A power transmission device for contactless charging according to claim 1 or 2,
A sensor mounted on the electric vehicle for detecting the magnetic field of the power transmission coil;
A control device;
An electric vehicle travel control system comprising:
A plurality of the flooring in which the power transmission coil is embedded are provided along the traveling path,
The control device causes the electric vehicle to automatically travel along the travel path based on the magnetic field detected by the sensor.
JP2013114927A2013-05-312013-05-31Power transmission device for non-contact charging and travelling control system of electric vehiclePendingJP2014236539A (en)

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CN104635733A (en)*2014-12-032015-05-20国家电网公司Automatic guided vehicle and control method thereof
CN105128686A (en)*2015-08-122015-12-09上海海事大学Automatic charging ground equipment for all-electric unmanned automatic navigation carrying cart in automated container terminal and charging method
CN105549596A (en)*2016-02-042016-05-04长沙长泰机器人有限公司Storehouse intelligent storage system and material transferring method
US10730404B2 (en)2016-04-222020-08-04Sew-Eurodrive Gmbh & Co. KgMethod for operating a production plant comprising a vehicle and at least one charging point, and production plant having a vehicle for carrying out the method
WO2017182130A1 (en)*2016-04-222017-10-26Sew-Eurodrive Gmbh & Co. KgMethod for operating a production plant comprising a vehicle and at least one charging point, and production plant having a vehicle for carrying out said method
ITUA20164413A1 (en)*2016-06-152017-12-15Simone Marini Multi-purpose container that can be opened, also with the function of building tile for lighting applications, home automation and audio amplification
CN109641668A (en)*2016-06-302019-04-16史蒂文·丹尼斯·约翰·科斯特洛 Improvements to aircraft taxiing
JP2019521903A (en)*2016-06-302019-08-08コステロ、 スティーヴン デニス ジョンＣＯＳＴＥＬＬＯ， Ｓｔｅｖｅｎ Ｄｅｎｎｉｓ Ｊｏｈｎ Improved aircraft taxiing
CN107068360A (en)*2017-01-062017-08-18南通华为电力设备有限公司Large-area Magnetic Field equilibrium array coil and regulating step and its wireless charging device
US10857893B2 (en)2017-02-282020-12-08Ihi CorporationGround-side power supply device
WO2018159540A1 (en)2017-02-282018-09-07株式会社IhiGround-side power supply device
CN107102370A (en)*2017-04-112017-08-29北京华力兴科技发展有限责任公司Control method, control device and the vehicle inspection system based on AGV
WO2019065317A1 (en)*2017-09-292019-04-04日本電産株式会社 Moving body
CN108923476A (en)*2018-05-312018-11-30许继电源有限公司A kind of electric car direct current wireless charging system
EP3699020A1 (en)*2019-02-222020-08-26Arrival LimitedWireless battery charging system for automatic guided vehicles
CN111605418A (en)*2019-02-222020-09-01来临机器人有限公司Wireless battery charging system for automated guided vehicles
US20220116079A1 (en)*2019-06-212022-04-14Huawei Technologies Co., Ltd.Magnetic induction communication-based vehicle control apparatus and method
EP3982227A4 (en)*2019-06-212022-06-29Huawei Technologies Co., Ltd.Magnetic induction communication-based vehicle control apparatus and method
JP2022537414A (en)*2019-06-212022-08-25ホアウェイ・テクノロジーズ・カンパニー・リミテッド Magnetic induction communication based vehicle control apparatus and method
JP7347748B2 (en)2019-06-212023-09-20ホアウェイ・テクノロジーズ・カンパニー・リミテッド Magnetic induction communication based vehicle control device and method
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