Control method and program

Abstract

The purpose of this disclosure is to improve user-friendliness. A control method includes position detection processing and motion control processing. The motion control processing includes performing control on a motion system (M1) to move at least one of a first power transmission coil (81A) or a second power transmission coil (81B) according to the position of a power receiving coil detected by the position detection processing. The motion control processing includes: a first processing which includes moving a first Y-axis track (6A) along an X-axis track (4); a second processing which includes moving a first power transmitter (8A) along the first Y-axis track (6A); a third processing which includes moving a second Y-axis track (6B) along the X-axis track (4) independently of the movement of the first Y-axis track (6A); and a fourth processing which includes moving the second power transmitter (8B) along the second Y-axis track (6B).

Description

Technical Field

[0001] This disclosure generally relates to a control method and procedure, and more specifically to a control method and procedure for a mobile power transmission coil. Background Technology

[0002] Patent Document 1 discloses a contactless charger comprising a table, a primary coil, a movable platform, and a moving mechanism. The table is configured to hold a target device to be charged using electricity on its upper surface. The primary coil charges the target device using electricity through electromagnetic induction. The primary coil is fixed to the upper surface of the movable platform. The moving mechanism includes two countersunk screws extending parallel to each other along the y-direction. One end of each of the two countersunk screws is connected to an actuator configured to rotate the countersunk screw about its longitudinal axis. As the two actuators rotate synchronously with each other, the movable platform reciprocates in the y-direction according to its rotation direction.

[0003] Reference List Patent documents Patent Document 1: JP 2009-189087 A Summary of the Invention

[0004] The purpose of this disclosure is to provide both control methods and procedures that help improve user-friendliness.

[0005] According to one aspect of this disclosure, a control method is a method for controlling a mobile system. The mobile system moves a first power transmitter including a first power transmission coil and a second power transmitter including a second power transmission coil. The first power transmission coil transmits electrical energy to a power receiving coil included in a power receiving terminal. The second power transmission coil transmits electrical energy to the power receiving coil. The control method includes a position detection process and a movement control process. The position detection process includes detecting the position of the power receiving coil. The movement control process includes performing control on the mobile system to move at least one of the first power transmission coil or the second power transmission coil based on the position of the power receiving coil detected by the position detection process. The movement control process includes moving the first power transmission coil or the second power transmission coil to a position facing the single power receiving coil when the position of a single power receiving coil has been detected by the position detection process. The first power transmitter is movably coupled to a first Y-axis track extending in the Y-axis direction. The second power transmitter is movably coupled to a second Y-axis track extending in the Y-axis direction. The first Y-axis track and the second Y-axis track are movably coupled to an X-axis track extending in an X-axis direction intersecting the Y-axis direction. The movement control process includes: a first process, which includes moving the first Y-axis track along the X-axis track; a second process, which includes moving the first power transmitter along the first Y-axis track; a third process, which includes moving the second Y-axis track along the X-axis track independently of the movement of the first Y-axis track; and a fourth process, which includes moving the second power transmitter along the second Y-axis track.

[0006] According to another aspect of this disclosure, the program is a program that can be used in a computer system. The program is designed to cause one or more processors of the computer system to perform the control method described above. Attached Figure Description

[0007] [ Figure 1 ] Figure 1 This is a plan view of the main parts of the wireless power transmission system according to the first embodiment; [ Figure 2 ] Figure 2 This is a front view of the main part of the wireless power transmission system; [ Figure 3 ] Figure 3 This is a side view of the main part of the wireless power transmission system; [ Figure 4 ] Figure 4 This is an exploded perspective view of a wireless power transmission system; [ Figure 5 ] Figure 5 This is a perspective view of a wireless power transmission system; [ Figure 6 ] Figure 6 This is a block diagram of a wireless power transmission system and a power receiving terminal; [ Figure 7 ] Figure 7 This is a flowchart illustrating the basic operation process of a wireless power transmission system; [ Figure 8 ] Figure 8 This is a plan view illustrating an exemplary state of a wireless power transmission system that has been powered on; [ Figure 9 ] Figure 9 This is a plan view illustrating another exemplary state of a wireless power transmission system that has been powered on; [ Figure 10 ] Figure 10 This is a plan view illustrating yet another exemplary state of a wireless power transmission system that has been powered on. [ Figure 11 ] Figure 11 It is a flowchart illustrating the detailed operation of a wireless power transmission system; [ Figure 12 ] Figure 12 This is a plan view of a wireless power transmission system; [ Figure 13 ] Figure 13 This is a front sectional view of the main part of the wireless power transmission system; [ Figure 14 ] Figure 14 This is a schematic representation of the main components of a wireless power transmission system according to the second embodiment; [ Figure 15 ] Figure 15 It is a schematic representation of the main components of a wireless power transmission system; [ Figure 16 ] Figure 16 This is a flowchart illustrating the operation of a wireless power transmission system; [ Figure 17 ] Figure 17 This is a perspective view of the main parts of a wireless power transmission system according to a third embodiment; [ Figure 18 ] Figure 18 This is a perspective view of the main parts of a modified wireless power transmission system according to the third embodiment; [ Figure 19 ] Figure 19 This is a perspective view of the main parts of the wireless power transmission system according to the fourth embodiment; [ Figure 20 ] Figure 20 This is a perspective view of the main parts of the wireless power transmission system according to the fifth embodiment; [ Figure 21 ] Figure 21 This is a cross-sectional view of the main components of a wireless power transmission system; [ Figure 22 ] Figure 22 This is a perspective view of the main parts of a wireless power transmission system according to a first variant of the fifth embodiment; [ Figure 23 ] Figure 23 This is a cross-sectional view of the main components of a wireless power transmission system; [ Figure 24 ] Figure 24 This is a perspective view of the main parts of a wireless power transmission system according to a second variant of the fifth embodiment; [ Figure 25 ] Figure 25 This is a front view of the main part of the wireless power transmission system; [ Figure 26 ] Figure 26 This is a schematic plan view of the main parts of the wireless power transmission system according to the sixth embodiment; [ Figure 27 ] Figure 27 This is a schematic plan view of the main parts of the wireless power transmission system according to the seventh embodiment; [ Figure 28 ] Figure 28 This is a schematic plan view of the main parts of the wireless power transmission system according to the eighth embodiment; and [ Figure 29 ] Figure 29 This is a schematic plan view of the main parts of a wireless power transmission system according to the ninth embodiment. Detailed Implementation

[0008] In the following description of embodiments, a wireless power transmission system 1 and a method for controlling a mobile system M1 according to the present disclosure will be described with reference to the accompanying drawings. Note that the embodiments described below are merely exemplary embodiments of various embodiments of the present disclosure and should not be construed as limiting. Rather, depending on design choices or any other factors, the exemplary embodiments can be readily modified in various ways without departing from the scope of the present disclosure. Optionally, the embodiments and variations thereof described below can be appropriately combined.

[0009] The accompanying drawings, which will be mentioned in the following description of the embodiments, are schematic representations. Therefore, the ratios of the dimensions (including thickness) of the various components illustrated in the drawings do not always reflect their actual size ratios.

[0010] Similarly, the arrows indicating forward and backward, right and left, and up and down directions in the accompanying drawings are shown for illustrative purposes only and are not substantial. In the same manner, the arrows indicating the X and Y axes in the accompanying drawings are shown for illustrative purposes only and are not substantial.

[0011] Furthermore, the forward / backward, right / left, and up / down directions mentioned in the following description of the embodiments are merely examples and should not be construed as limiting the directions in which the wireless power transmission system 1 should be used.

[0012] Furthermore, the X-axis and Y-axis directions intersect each other. In the following description of the embodiments, the X-axis and Y-axis directions intersect at right angles, the X-axis direction is aligned with the right / left direction, and the Y-axis direction is aligned with the forward / backward direction. However, this is merely an example and should not be construed as a limitation. The X-axis and Y-axis directions do not necessarily intersect each other at right angles.

[0013] Furthermore, in the various attached figures (such as...) Figure 7 The flowchart shown in the document merely illustrates an exemplary process of using the wireless power transmission system 1 (i.e., the control method) according to this disclosure and should not be construed as limiting. Alternatively, in Figure 7 The processing steps shown in the other accompanying figures may be performed in a different order than those illustrated. Some of the processing steps shown may be omitted as appropriate, and / or additional processing steps may be performed as needed.

[0014] (First embodiment) (Overview) exist Figures 1-5 The diagram shows a wireless power transmission system 1 according to a first embodiment. When the power receiving terminal 9 (reference) Figure 5 The power-transmitting area 210 (reference) is placed on the surface of the wireless power transmission system 1. Figure 5 When the power is received, the wireless power transmission system 1 transmits electrical energy to the power receiving terminal 9. The power receiving terminal 9 includes, for example, circuitry that operates together with the electrical energy already received by the power receiving terminal 9 from the wireless power transmission system 1. In addition, the power receiving terminal 9 also includes a battery, for example, to charge the battery using the electrical energy already received by the power receiving terminal 9 from the wireless power transmission system 1.

[0015] As in Figure 1 As shown, the wireless power transmission system 1 according to this embodiment includes a power transmitter 8 and a location detector 3 (see reference). Figure 4The system includes a mobile system M1 and a housing 2. The power transmitter 8 includes a power transmission coil 81. The power transmission coil 81 transmits electrical energy to a power receiving coil 91 included in a power receiving terminal 9 (see reference). Figure 5 Position detector 3 detects the position of power receiving coil 91. Based on the position of power receiving coil 91 detected by position detector 3, moving system M1 moves power transmission coil 81 to a position facing power receiving coil 91. Housing 2 houses power transmitter 8, moving system M1, and position detector 3. Moving system M1 includes: X-axis track 4 extending in the X-axis direction; Y-axis track 6 extending in the Y-axis direction intersecting the X-axis direction; X-axis driver 5 for moving Y-axis track 6 along X-axis track 4; and Y-axis driver 7 for moving power transmitter 8 along Y-axis track 6. Power transmitter 8 is movably coupled to Y-axis track 6. Y-axis track 6 is movably coupled to X-axis track 4. X-axis driver 5 is held by Y-axis track 6. Y-axis driver 7 is held by power transmitter 8.

[0016] If the X-axis drive 5 is held by the X-axis track 4 so that the Y-axis track 6 moves along the X-axis track 4 by driving the X-axis drive 5, then the longer the X-axis track 4, the higher the output power of the X-axis drive 5 should be. For example, if the X-axis drive 5 includes a motor for driving the X-axis track 4, then the output of the motor used to move the Y-axis track 6 along the X-axis track 4 increases with the length of the X-axis track 4, and the Y-axis track 6 needs to travel a longer distance. As the motor output increases, the size of the motor also increases accordingly. For example, in order for the Y-axis track 6 to move smoothly a distance of 10 cm, the motor should have a height of approximately 10 cm. However, in order for the Y-axis track 6 to move smoothly a distance of 40 cm, the motor may need to have a height of approximately 40 cm.

[0017] Conversely, according to the configuration of this embodiment, the X-axis driver 5 is held by the Y-axis track 6, and therefore, the X-axis driver 5 needs to have an output power suitable for the length of the Y-axis track 6. This advantageously reduces the increase in the output power that the X-axis driver 5 should have even when the X-axis track 4 is relatively long. Therefore, this helps to advantageously reduce the thickness of the wireless power transmission system.

[0018] Furthermore, the output power of the X-axis driver 5 should be constant, regardless of the length of the X-axis track 4. This achieves the advantage of allowing a wireless power transmission system 1 in which the X-axis track 4 is designed to be relatively long to use a Y-axis track 6, an X-axis driver 5, and a Y-axis driver 7, each having the same configuration as their counterparts in wireless power transmission systems 1 in which the X-axis track 4 is designed to be relatively short.

[0019] Furthermore, the output power of the X-axis drive 5 should be constant, regardless of the number of Y-axis tracks 6 coupled to the X-axis track 4. This allows for advantageous increases and decreases in the number of Y-axis tracks 6 even without altering the design of the X-axis drive 5, such as by reselecting a suitable X-axis drive 5.

[0020] As in Figure 1 As shown, the wireless power transmission system 1 according to this embodiment includes two power transmitters 8, two Y-axis tracks 6, two X-axis drivers 5, and two Y-axis drivers 7.

[0021] In the following description, the two power transmitters 8 will be referred to as "first power transmitter 8A" and "second power transmitter 8B" respectively. Similarly, the power transmission coil 81 included in the first power transmitter 8A will be referred to as "first power transmission coil 81A" and the power transmission coil 81 included in the second power transmitter 8B will be referred to as "second power transmission coil 81B".

[0022] Similarly, the two Y-axis tracks 6 will be referred to as "first Y-axis track 6A" and "second Y-axis track 6B" in the following text. The two X-axis drives 5 will be referred to as "first X-axis drive 5A" and "second X-axis drive 5B" in the following text. The two Y-axis drives 7 will be referred to as "first Y-axis drive 7A" and "second Y-axis drive 7B" in the following text.

[0023] The second power transmission coil 81B of the second power transmitter 8B transmits electrical energy to the power receiving coil 91 included in the power receiving terminal 9.

[0024] The second Y-axis track 6B is movably coupled to the X-axis track 4. The second Y-axis track 6B extends in the Y-axis direction.

[0025] The second X-axis driver 5B causes the second Y-axis track 6B to move along the X-axis track 4 independently of the movement of the first Y-axis track 6A. The second X-axis driver 5B is held by the second Y-axis track 6B.

[0026] The second Y-axis driver 7B causes the second power transmitter 8B to move along the second Y-axis track 6B. The second power transmitter 8B is movably coupled to the second Y-axis track 6B. The second Y-axis driver 7B is held by the second power transmitter 8B.

[0027] As can be seen from the preceding description, the first Y-axis track 6A and the second Y-axis track 6B are movably coupled together to the same X-axis track 4. This helps to advantageously reduce the size of the motion system M1 by reducing the number of X-axis tracks 4 provided.

[0028] The mobile system M1 of the wireless power transmission system 1 is controlled by a control method. This control method is executed, for example, by a computer system. The movement of the mobile system M1 includes a first power transmitter 8A comprising a first power transmission coil 81A and a second power transmitter 8B comprising a second power transmission coil 81B. The first power transmission coil 81A transmits electrical power to a power receiving coil 91 included in a power receiving terminal 9. The second power transmission coil 81B transmits electrical power to the power receiving coil 91. The control method includes a position detection process and a movement control process. The position detection process includes detecting the position of the power receiving coil 91. The movement control process includes performing control on the mobile system M1 to move at least one of the first power transmission coil 81A or the second power receiving coil 81B based on the position of the power receiving coil 91 detected by the position detection process. If the position of a single power receiving coil 91 has been detected by the position detection process, the movement control process includes moving the first power transmission coil 81A or the second power receiving coil 81B to a position where the first power transmission coil 81A or the second power receiving coil 81B faces the single power receiving coil 91. A first power transmitter 8A is movably coupled to a first Y-axis track 6A extending in the Y-axis direction. A second power transmitter 8B is movably coupled to a second Y-axis track 6B extending in the Y-axis direction. The first Y-axis track 6A and the second Y-axis track 6B are movably coupled to an X-axis track 4 extending in the X-axis direction intersecting the Y-axis direction. The movement control process includes: a first process, which includes moving the first Y-axis track 6A along the X-axis track 4; a second process, which includes moving the first power transmitter 8A along the first Y-axis track 6A; a third process, which includes moving the second Y-axis track 6B along the X-axis track 4 independently of the movement of the first Y-axis track 6A; and a fourth process, which includes moving the second power transmitter 8B along the second Y-axis track 6B.

[0029] This configuration allows the first power transmitter 8A and the second power transmitter 8B to move in the X-axis and Y-axis directions through the first to fourth processes when the first Y-axis track 6A and the second Y-axis track 6B are movably coupled to the same X-axis track 4. This advantageously increases user-friendliness compared to the case where only the first power transmitter 8A moves. Furthermore, the first Y-axis track 6A is movably coupled to the first X-axis track, but the second Y-axis track 6B is non-movably coupled to the first X-axis track. This helps to advantageously reduce the size of the motion system M1 by reducing the number of X-axis tracks 4 provided compared to the case where the second Y-axis track 6B is movably coupled to the second X-axis track.

[0030] Note that the first through fourth processes can be executed in any order without restriction. For example, the first through fourth processes can be executed in the order of first, second, third, and fourth. Alternatively, the first through fourth processes can be executed in the order of second, fourth, third, and first.

[0031] Optionally, the control method described above can be implemented as a computer system-readable program. The program according to this embodiment is designed to cause one or more processors of a computer system to execute the control method described above. The program can be pre-stored in a computer system-readable non-transitory storage medium.

[0032] (detail) (1) Overall configuration The wireless power transmission system 1 according to this embodiment will be described in further detail.

[0033] As in Figure 1 and Figure 4 As shown, the wireless power transmission system 1 includes a first power transmitter 8A, a second power transmitter 8B, a position detector 3, a mobility system M1, a housing 2, and a controller 14. The mobility system M1 includes two X-axis rails 4 (4A and 4B), two X-axis drivers 5, two Y-axis rails 6, two Y-axis drivers 7, two cables 12, and two driven components 13. (As shown in...) Figure 1 As shown, the mobile system M1 preferably also includes two first support bases 11A and two second support bases 11B. Providing these support bases 11A, 11B for the mobile system M1 allows for advantageous adjustment of the height of the X-axis track 4. This allows for advantageous cost reduction by using the same mobile system M1 for multiple wireless power transmission systems having mutually different power transmittable areas 210 and / or multiple wireless power transmission systems with mutually different housings 2.

[0034] The wireless power transmission system 1 includes two Y-axis track units U1 (reference) Figure 1 Two Y-axis track units U1 are movably coupled to two X-axis tracks 4, respectively. The two Y-axis track units U1 include a power transmitter 8, an X-axis driver 5, a Y-axis track 6, a Y-axis driver 7, a cable 12, and a driven component 13.

[0035] exist Figure 1 In the illustrated example, the number of Y-axis track units U1 provided is two, but it could also be one, or even three or more. Multiple Y-axis track units U1 provided for a single wireless power transmission system 1 can have the same structure. This allows for an advantageous reduction in the manufacturing cost of various Y-axis track units U1.

[0036] Additionally, this also allows the same Y-axis track unit U1 to be used advantageously together in a wireless power transmission system 1 in which the X-axis track 4 is designed to be relatively long and another wireless power transmission system 1 in which the X-axis track 4 is designed to be relatively short.

[0037] As in Figure 6 As shown, the wireless power transmission system 1 includes multiple (e.g., in) Figure 6 The example shown in the diagram includes two circuits: a power transmission circuit 83 and a communication circuit 84. Note that in... Figure 6 In this context, a two-wire power indicator line is used to connect one component to another, and a single-wire communication indicator line is used to connect one component to another.

[0038] (2) Shell As in Figure 4 and Figure 5 As shown, the housing 2 includes a cover 21 and a base 22.

[0039] The cover 21 has a cuboid shape. The cover 21 has an opening provided through its lower surface. The cover 21 includes a display device 211. The display device 211 performs a predetermined display operation as described below. The display device 211 includes, for example, a monitor screen. The area in which the display device 211 is disposed covers at least a portion of the power-transferable area 210. When the power receiving terminal 9 is placed in the power-transferable area 210, one of the two power-transfer coils 81 is moved to a position where the power-transfer coil 81 faces the power receiving coil 91 to transfer electrical energy to the power receiving coil 91.

[0040] The base 22 has a cuboid shape. The base 22 has an opening 220 provided through its upper surface. The opening 220 of the base 22 faces an opening provided through the lower surface of the cover 21. The cover 21 is attached to the base 22 to close the opening 220 of the base 22. Two power transmitters 8, a position detector 3, and a movement system M1 are housed in the space between the cover 21 and the base 22. More specifically, as in... Figure 4 As shown, the two power transmitters 8 and the mobile system M1 are arranged below the position detector 3.

[0041] (3) Controller, power transmission circuit and communication circuit Controller 14 includes a computer system comprising one or more processors and memory. At least some functions of controller 14 are performed by causing the processors of the computer system to execute programs stored in the memory of the computer system. The programs may be pre-stored in the memory. Alternatively, the programs may be downloaded via a telecommunications line such as the Internet, or distributed after being stored on a non-transitory storage medium (such as a memory card) readable by the computer system.

[0042] As in Figure 1 As shown, controller 14 includes an identifier 141 and a motion controller 142. Note that identifier 141 and motion controller 142 only represent functions to be performed by controller 14 and do not necessarily have a substantial physical configuration.

[0043] The marker 141 determines the position of the power receiving coil 91 based on the detection results obtained by the position detector 3. The motion controller 142 controls the movement of the two power transmitters 8 by controlling the operation of the two X-axis drivers 5 and the two Y-axis drivers 7.

[0044] Controller 14 can be housed inside housing 2, such as in Figure 1 As shown in the diagram. Alternatively, the controller 14 may be located outside the housing 2. The controller 14 may be a component provided separately from the wireless power transmission system 1.

[0045] Two power transmission circuits 83 are configured one-to-one for the two power transmission coils 81. Each power transmission circuit in the power transmission circuit 83 supplies electrical energy to a corresponding power transmission coil in the power transmission coil 81.

[0046] Each power transfer circuit in power transfer circuit 83 includes, for example, a full-bridge inverter or a Class D or Class E oscillator circuit. For example, power transfer circuit 83 can be connected to a DC power supply and convert the DC power supplied from the DC power supply into AC power to output AC power. The AC power is supplied to power transfer coil 81 via cable 12 and is transmitted into space through power transfer coil 81.

[0047] Communication circuit 84 wirelessly communicates with communication circuit 94 of power receiving terminal 9 to receive information about the power receiving terminal 9 required when electrical energy is transferred from power transmission coil 81 to power receiving coil 91. This information is transmitted to controller 14 for controlling the transmission frequency, amplitude, and other parameters of the electrical energy transmitted by power transmission coil 81.

[0048] The controller 14, the two power transmission circuits 83 and the communication circuit 84 can be grouped together in a single package or distributed in appropriate multiple packages.

[0049] (4) Position detector As in Figure 4 As shown, the position detector 3 includes a first detection unit 31 and a second detection unit 32. The first detection unit 31 includes a plurality of first search coils 310. The second detection unit 32 includes a plurality of second search coils 320.

[0050] Each of the first detection unit 31 and the second detection unit 32 has a flat plate shape. The first detection unit 31 is laid on top of the second detection unit 32 in an upward / downward direction.

[0051] The position detector 3 includes, for example, a printed circuit board. The printed circuit board may be, for example, a double-sided or multi-layer board. The printed circuit board includes a first layer (e.g., a layer disposed on an upper surface) and a second layer (e.g., a layer disposed on a lower surface or a layer interposed between the upper and lower surfaces) laid on top of the first layer in an upward / downward direction. A plurality of first search coils 310 are arranged in the first layer of the printed circuit board, and a plurality of second search coils 320 are arranged in the second layer of the printed circuit board.

[0052] Each of the plurality of first search coils 310 has a rectangular shape. The longitudinal axis of each of the plurality of first search coils 310 is aligned with the forward / backward direction. The plurality of first search coils 310 are arranged side by side in the right / left direction.

[0053] Each of the plurality of second search coils 320 has a rectangular shape. The longitudinal axis of each of the plurality of second search coils 320 is aligned with the right / left direction. The plurality of second search coils 320 are arranged side by side in the forward / backward direction.

[0054] In addition, the identifier 141 of the controller 14 supplies pulse signals to a plurality of first search coils 310 and a plurality of second search coils 320.

[0055] When the power receiving terminal 9 is placed on the upper surface of the cover 21, the power receiving coil 91 of the power receiving terminal 9 is excited by the pulse signal to output an echo signal to the first search coil 310, which belongs to the plurality of first search coils 310 and faces the power receiving coil 91. The first search coil 310 receives the echo signal and outputs the echo signal to the identifier 141. The identifier 141 determines the X coordinate of the power receiving coil 91 based on the corresponding position information of the plurality of first search coils 310 and the level of the echo signal. For example, the identifier 141 determines the X coordinate of the first search coil 310 belonging to the plurality of first search coils 310, wherein the echo signal level of the first search coil 310 is equal to or greater than a threshold and is at most the X coordinate of the power receiving coil 91.

[0056] Similarly, when the power receiving terminal 9 is placed on the upper surface of the cover 21, the power receiving coil 91 of the power receiving terminal 9 is excited by a pulse signal to output an echo signal to the second search coils 320, which belong to the plurality of second search coils 320 and face the power receiving coil 91. The second search coils 320 receive the echo signal and output the echo signal to the identifier 141. The identifier 141 determines the Y coordinate of the power receiving coil 91 based on the corresponding position information of the plurality of second search coils 320 and the level of the echo signal. For example, the identifier 141 determines the Y coordinate of the second search coils 320, which belong to the plurality of second search coils 320, whose echo signal level is equal to or greater than a threshold and is at most the Y coordinate of the power receiving coil 91.

[0057] In this way, the marker 141 determines the position of the power receiving coil 91 on the upper surface of the cover 21. The position detector 3 detects the position of the power receiving coil 91 to generate a signal (echo signal) to be used by the marker 141 to determine the position of the power receiving coil 91 on the upper surface of the cover 21.

[0058] Even though multiple power receiving terminals 9 (i.e. multiple power receiving coils 91) are arranged on the upper surface of the cover 21, the marker 141 also determines the corresponding positions of the multiple power receiving coils 91 on the upper surface of the cover 21 in the same manner.

[0059] (5) Power receiving terminal As in Figure 5 As shown, the power receiving terminal 9 includes a power receiving coil 91. For example, the power receiving coil 91 may have a circular shape. However, the shape of the power receiving coil 91 does not have to be circular, but may also be rectangular. Note that as used herein, "rectangular" refers to a parallelogram having four right angles, which may be a square or a rectangle.

[0060] As in Figure 6 As shown, the power receiving terminal 9 includes not only the power receiving coil 91, but also the load 92, the power receiving circuit 93, the communication circuit 94, and the controller 95.

[0061] The load 92 includes a battery and circuitry that operates using power supplied from the battery. Note that the power receiving terminal 9 does not necessarily include a battery. Alternatively, a battery may be attached to the power receiving terminal 9.

[0062] The power receiving terminal 9 charges the battery using the electrical energy already received by the power receiving coil 91. Examples of power receiving terminals 9 include cellular phones such as smartphones, tablet computers, digital cameras, recording players, and chargers.

[0063] The power receiving circuit 93 may include various types of circuitry, such as rectifier circuitry, frequency converter circuitry, constant voltage control circuitry, constant current control circuitry, and modulator / demodulator circuitry for communication purposes. The power receiving circuit 93 converts the radio frequency AC power received by the power receiving coil 91 into DC power or low-frequency AC power that can be used by the load 92. Optionally, the power receiving circuit 93 may include various types of sensors for measuring the voltage, current, or any other physical quantity supplied from the power receiving coil 91.

[0064] The communication circuit 94 communicates wirelessly with the communication circuit 84 of the power transmitter 8 to send information, for example, about the power receiving terminal 9 required when electrical energy is transferred from the power transmission coil 81 to the power receiving coil 91.

[0065] The controller 95 controls the operation of the load 92, the power receiving circuit 93, and the communication circuit 94.

[0066] (6) Power transmitter Next, two power transmitters 8 (i.e., the first power transmitter 8A and the second power transmitter 8B) will be described.

[0067] As in Figure 1 As shown, each of the two power transmitters 8 includes a power transmission coil 81 and a base 82.

[0068] As described above, the power transmission coil 81 included in the first power transmitter 8A will be referred to as "first power transmission coil 81A" below, and the power transmission coil 81 included in the second power transmitter 8B will be referred to as "second power transmission coil 81B" below.

[0069] Furthermore, the base 82 included in the first power transmitter 8A will be referred to as "first base 82A" below, and the base 82 included in the second power transmitter 8B will be referred to as "second base 82B" below.

[0070] These two power transmitters 8 have the same configuration, and therefore, one of the two power transmitters 8 will be described.

[0071] The power transmission coil 81 may have, for example, a circular shape. However, the shape of the power transmission coil 81 does not have to be circular, but may also be, for example, rectangular. The axial direction defined relative to the power transmission coil 81 is aligned with the upward / downward direction.

[0072] The power transmission coil 81 is held by the base 82. More specifically, the power transmission coil 81 is disposed on the upper surface of the base 82. The power transmission coil 81 is movably coupled to the Y-axis track 6 via the base 82.

[0073] The base 82 has a flat plate shape. The thickness direction defined relative to the base 82 is aligned with the upward / downward direction. In a top view, the base 82 may have, for example, a rectangular shape. However, the shape of the base 82 in the top view does not have to be rectangular, but may also be, for example, circular.

[0074] The base 82 of each power transmitter 8 may include ferrite on its upper surface in contact with the power transmission coil 81. The ferrite disposed below the power transmission coil 81 in this way can reduce electromagnetic coupling between the power transmission coil 81 and the base 82, the Y-axis rail 6 and other components arranged below the power transmission coil 81, thereby allowing the power transmission coil 81 to advantageously and efficiently transmit AC power.

[0075] Two cables 12 correspond one-to-one with two power transmission coils 81. Each cable 12 is electrically connected to its corresponding power transmission coil 81. Each cable 12 supplies power to its corresponding power transmission coil 81.

[0076] Each cable 12 includes: a power line connecting one of the power transmission circuits 83 to the power transmission coil 81; and a control line extending from the controller 14.

[0077] One end 121 of each cable 12 is connected to the power transmitter 8, and its fixing portion 122 is fixed at a point in the X-axis direction facing the Y-axis track 6. Figure 1 In the example shown in the figure, the fixed portion 122 of each cable 12 passes through the through hole 221 provided through the base 22 and is fixed inside the through hole 221.

[0078] Similarly, the fixing portion 122 is positioned on the left side of the Y-axis track 6. This allows the cable 12 to stretch in the X-axis direction (i.e., along the longitudinal axis of the movable range of the power transmission coil 81). This allows the cable 12 to move a shorter distance in the Y-axis direction, thereby advantageously reducing wear on the cable 12 due to its movement in the Y-axis direction.

[0079] The power transmission coil 81 transmits electrical energy non-contactly to the power receiving coil 91 facing the power transmission coil 81. The power transmission coil 81 transmits electrical energy to the power receiving coil 91 by, for example, electromagnetic coupling (electromagnetic induction) or magnetic resonance.

[0080] (7) Mobile system Next, the corresponding components of the mobile system M1 will be described one by one.

[0081] (7.1) X-axis track and support base As in Figure 1 As shown, each of the two X-axis tracks 4 (4A and 4B) extends in the X-axis direction. That is, the longitudinal axis of each of the two X-axis tracks 4 is aligned with the X-axis direction. The two X-axis tracks 4 face each other in the Y-axis direction.

[0082] As in Figure 2 As shown, X-axis track 4B has multiple teeth arranged side-by-side in the X-axis direction on its upper surface. Similarly, X-axis track 4A also has multiple teeth arranged side-by-side in the X-axis direction on its upper surface.

[0083] The first end of the longitudinal axis of the X-axis track 4A is supported by one of the two support bases 11A. The second end of the longitudinal axis of the X-axis track 4A is supported by the other support base 11A.

[0084] The first end of the longitudinal axis of the X-axis track 4B is supported by one of the two support bases 11B. The second end of the longitudinal axis of the X-axis track 4B is supported by the other support base 11B.

[0085] X-axis track 4 remains stationary, while Y-axis track 6 moves. The shorter the Y-axis track 6, the better, as a shorter Y-axis track 6 allows for movement with less force. Therefore, as in... Figure 1 As shown, the length of the X-axis track 4, measured in the X-axis direction, is preferably greater than the length of the Y-axis track 6, measured in the Y-axis direction.

[0086] (7.2) Y-axis track As in Figure 1As shown, each of the two Y-axis tracks 6 (i.e., the first Y-axis track 6A and the second Y-axis track 6B) extends in the Y-axis direction. That is, the longitudinal axis of each of the two Y-axis tracks 6 is aligned with the Y-axis direction. The two Y-axis tracks 6 face each other in the X-axis direction.

[0087] Each Y-axis track 6 includes a toothed portion 61 and a slider 62. Each of the toothed portion 61 and the slider 62 extends in the Y-axis direction. The toothed portion 61 and the slider 62 are arranged side by side in a direction perpendicular to the Y-axis direction.

[0088] As in Figure 3 As shown, the toothed portion 61 has a plurality of teeth arranged side by side in the Y-axis direction on its upper surface.

[0089] The slider 62 allows the Y-axis driver 7 and the power transmitter 8 to slide on its upper surface.

[0090] In addition, the X-axis drive 5 is held at the first end of the Y-axis track 6, and the driven part 13 is held at the second end of the Y-axis track 6.

[0091] Y-axis track 6 has an upper surface 603 facing the power transmission coil 81, X-axis driver 5, and Y-axis driver 7 (reference). Figure 3 In other words, the power transmission coil 81, the X-axis driver 5, and the Y-axis driver 7 are arranged on the Y-axis track 6. Compared to a case where some of the power transmission coil 81, X-axis driver 5, and Y-axis driver 7 are positioned above the Y-axis track 6, this advantageously reduces the thickness of the Y-axis track unit U1, and the other items of the power transmission coil 81, X-axis driver 5, and Y-axis driver 7 are arranged below the Y-axis track 6.

[0092] The upper surface 603 also faces the base 82 and the driven component 13.

[0093] (7.3) X-axis driver Two X-axis drives 5 are configured one-to-one with two Y-axis tracks 6. Each X-axis drive 5 is held by its corresponding Y-axis track 6.

[0094] As in Figure 1 and Figure 2 As shown, each of the two X-axis drives 5 includes a motor 51 and a gear 52 (spur gear).

[0095] Motor 51 is held by Y-axis rail 6. Motor 51 has an output shaft 510. Output shaft 510 extends from Y-axis rail 6 in the Y-axis direction. Gear 52 is fixed to output shaft 510. Motor 51 causes gear 52 to rotate together with output shaft 510.

[0096] Gear 52 meshes with X-axis track 4B. Rotating gear 52 causes it to receive a reaction force from X-axis track 4B. Y-axis track unit U1, including X-axis driver 5, Y-axis track 6, Y-axis driver 7, power transmitter 8, and driven component 13, moves in the X-axis direction as gear 52 rotates.

[0097] (7.4) Driven component Two driven components 13 are configured one-to-one for two Y-axis tracks 6. Each driven component 13 is held by its corresponding Y-axis track 6.

[0098] As in Figure 1 and Figure 2 As shown, each of the two driven parts 13 includes a support portion 131 and a gear 132 (spur gear).

[0099] The support portion 131 is held by the Y-axis rail 6. The support portion 131 includes an output shaft 1310. The output shaft 1310 extends from the Y-axis rail 6 in the Y-axis direction. The output shaft 1310 is rotatably held. A gear 132 is fixed to the output shaft 1310. The gear 132 can rotate together with the output shaft 1310.

[0100] Gear 132 meshes with X-axis track 4A.

[0101] When the Y-axis track unit U1 moves in the X-axis direction by rotating the gear 52 of the X-axis driver 5, the gear 132 also rotates accordingly.

[0102] Therefore, as the gear 52 of the X-axis driver 5 rotates, the Y-axis track unit U1 moves in the X-axis direction, wherein the gear 52 of the X-axis driver 5 meshes with the X-axis track 4B, and wherein the gear 132 of the driven member 13 meshes with the X-axis track 4A.

[0103] The output shaft 1310 is rotatably held at the support portion 131, thereby allowing the gear 52 to rotate efficiently with reduced friction. This reduces the load applied to the motor 51 of the X-axis drive 5, thereby allowing for the selection of a smaller motor 51. Therefore, this advantageously contributes to reducing the thickness of the wireless power transmission system 1.

[0104] (7.5) Y-axis driver Two Y-axis drivers 7 (i.e., a first Y-axis driver 7A and a second Y-axis driver 7B) are configured one-to-one for two power transmitters 8. Each Y-axis driver 7 is held by its corresponding power transmitter 8.

[0105] In addition, two Y-axis drivers 7 are configured one-to-one for the two Y-axis tracks 6.

[0106] The moving unit U2 includes the corresponding Y-axis driver 7 and power transmitter 8 (see reference). Figure 1 The first moving unit U2, which includes a first Y-axis driver 7A and a first power transmitter 8A, can slide relative to the first Y-axis track 6A, while the second moving unit U2, which includes a second Y-axis driver 7B and a second power transmitter 8B, can slide relative to the second Y-axis track 6B.

[0107] As in Figure 1 and Figure 3 As shown, each of the two Y-axis drives 7 includes a motor 71 and a gear 72 (spur gear).

[0108] Motor 71 is held by power transmitter 8. Motor 71 has output shaft 710. Output shaft 710 extends in the X-axis direction. Gear 72 is fixed to output shaft 710. Motor 71 rotates gear 72 together with output shaft 710.

[0109] Gear 72 meshes with the toothed portion 61 of the Y-axis track 6. Rotating gear 72 causes it to receive a reaction force from the Y-axis track 6. The moving unit U2, including the Y-axis driver 7 and the power transmitter 8, moves in the Y-axis direction as gear 72 rotates. More specifically, the moving unit U2 moves in the Y-axis direction when gear 72 meshes with the toothed portion 61 and a portion of it in contact with the slider 62 slides relative to the slider 62.

[0110] (8) Basic Operations Next, we will refer to Figure 7 This describes the basic operation of the wireless power transmission system 1.

[0111] In the following description, it is assumed that the power receiving terminal 9 includes a battery, and that the transmission of electrical energy from the power transmission coil 81 to the power receiving coil 91 should end when the battery is fully charged using electricity.

[0112] Figure 7 This is illustrated with a power receiving terminal 9 placed in the power transmittable area 210 (see reference). Figure 5An exemplary procedure for the operation of the wireless power transmission system 1. Position detector 3 has detected the position of power receiving coil 91 within the power transmittable area 210 (in step ST1). When identifier 141 of controller 14 detects the position of power receiving coil 91, motion controller 142 of controller 14 determines which of the two power transmission coils 81 will be moved to a position where power transmission coil 81 faces power receiving coil 91. Then, motion controller 142 controls motion system M1 to move power transmission coil 81 to such a position (in step ST2). When power transmission coil 81 has been moved to such a position, electrical energy begins to be transferred from power transmission coil 81 to power receiving coil 91 (in step ST3). Power receiving terminal 9 charges the battery with the electrical energy received by its power receiving coil 91.

[0113] When the battery is fully charged at the power receiving terminal 9 (if the answer is yes in step ST4), the transfer of electrical energy from the power transmission coil 81 to the power receiving coil 91 ends (in step ST5).

[0114] (9) Initial position When the mobile system M1 is energized, the two power transmitters 8 can move to their respective initial positions. That is, the movement control process of the mobile system M1 can include the process of moving the first power transmission coil 81A and the second power transmission coil 81B to their respective initial positions when the mobile system M1 is energized.

[0115] Additionally, each power transmission coil 81 can also move to its initial position when the transmission of electrical energy from the power transmission coil 81 to the power receiving coil 91 ends. That is, the movement control process of the movement control system M1 can include moving one of the power transmission coils, either the first power transmission coil 81A or the second power transmission coil 81B, to its initial position when the transmission of electrical energy from one power transmission coil 81A or 81B to the power receiving coil 91 ends. Alternatively, each power transmission coil 81 can also move to its initial position after a predetermined amount of time has elapsed since the end of the electrical energy transmission.

[0116] Figures 8-10 Each illustration in the diagram shows the situation where two of the power transmitters 8 are in their respective initial positions.

[0117] As in Figure 8As shown, at least a portion of the movable range R10A of the first power transmission coil 81A overlaps with at least a portion of the movable range R10B of the second power transmission coil 81B. Furthermore, the first power transmission coil 81A moves on a first plane, while the second power transmission coil 81B moves on a second plane, the same as the first plane. The first and second planes are planes aligned with both the X-axis and Y-axis directions. That is, the first and second planes intersect at right angles to the upward / downward directions.

[0118] The combined range R10 (refer to) is defined by combining the movable range R10A of the first power transmission coil 81A with the movable range R10B of the second power transmission coil 81B. Figure 8 It is preferred to have a square or rectangular shape. Figure 8 In the example shown in the figure, the combination range R10 has a rectangular shape.

[0119] exist Figure 8 In the example illustrated, when in their respective initial positions, the first power transmission coil 81A and the second power transmission coil 81B are arranged diagonally opposite each other within the combined range R10.

[0120] exist Figure 9 In the example illustrated, when in their respective initial positions, the first power transmission coil 81A and the second power transmission coil 81B are arranged adjacent to each other. Additionally, in Figure 9 In the example illustrated, the first power transmission coil 81A and the second power transmission coil 81B are arranged adjacent to the center R101 of the combined range R10. Alternatively, the first power transmission coil 81A and the second power transmission coil 81B may also be arranged adjacent to each other, such that at least one of the first power transmission coil 81A or the second power transmission coil 81B overlaps with the center R101 of the combined range R10. Therefore, the first power transmission coil 81A and the second power transmission coil 81B may be arranged adjacent to each other, such that at least one of the first power transmission coil 81A or the second power transmission coil 81B is adjacent to or overlaps with the center R101 of the combined range R10.

[0121] exist Figure 10In the example illustrated, when the first power transmission coil 81A and the second power transmission coil 81B are in their respective initial positions, the second power transmission coil 81B is arranged adjacent to the center R101 of the combined range R10, and the first power transmission coil 81A is arranged adjacent to the vertex R102 of the combined range R10. Alternatively, the second power transmission coil 81B may also be arranged to overlap with the center R101 of the combined range R10. Still alternatively, the first power transmission coil 81A may be arranged adjacent to or overlap with the center R101 of the combined range R10, and the second power transmission coil 81B may be arranged adjacent to a vertex of the combined range R10. That is, one of the first power transmission coil 81A or the second power transmission coil 81B may be arranged adjacent to or overlap with the center R101 of the combined range R10, and the other of the first power transmission coil 81A or the second power transmission coil 81B may be arranged adjacent to a vertex of the combined range R10 (i.e., one of the four vertices).

[0122] exist Figure 8 and Figure 10 In the example illustrated, the respective initial positions of the first power transmission coil 81A and the second power transmission coil 81B are spaced apart from each other, thus advantageously reducing the chance of interference (i.e., causing the first power transmission coil 81A and the second power transmission coil 81B to come into contact with each other) between the first power transmission coil 81A and the second power transmission coil 81B. Additionally, the power receiving terminal 9 is typically positioned around the center of the transmittable area 210 (see reference). Figure 5 Therefore, according to in Figure 9 and Figure 10 The example shown in the figure can advantageously reduce the time spent moving the power transmission coil 81 to a position facing the power receiving coil 91.

[0123] If the initial position of one of the power transmission coils, the first power transmission coil 81A or the second power transmission coil 81B, is adjacent to or overlaps with the center R101 of the combined range R10, and the initial position of the other power transmission coil, the first power transmission coil 81A or the second power transmission coil 81B, is adjacent to the vertex R102 of the combined range R10, then... Figure 10As shown, their respective initial positions can be changed each time a predetermined condition is met. The predetermined condition could be, for example, a power transmission coil 81 completing the transmission of electrical energy. Alternatively, the predetermined condition could also be, for example, the mobile system M1 being energized. If the predetermined condition is met when the initial position of the first power transmission coil 81A is adjacent to or overlaps with the center R101 of the combined range R10 and the initial position of the second power transmission coil 81B is adjacent to the vertex R10 of the combined range R10, their respective initial positions can be changed such that the initial position of the second power transmission coil 81B is adjacent to or overlaps with the center R101 of the combined range R10, and at this time, the initial position of the first power transmission coil 81A is adjacent to the vertex R102 of the combined range R10. Alternatively, if a predetermined condition is met where the initial position of the second power transmission coil 81B is adjacent to or overlaps with the center R101 of the combined range R10 and the initial position of the first power transmission coil 81A is adjacent to the vertex R102 of the combined range R10, their respective initial positions can be changed such that the initial position of the first power transmission coil 81A is adjacent to or overlaps with the center R101 of the combined range R10, and the initial position of the second power transmission coil 81B is adjacent to the vertex of the combined range R10. This advantageously reduces the chance that only one power transmission coil 81 (whose initial position is set around the center R101) is frequently selected as the power transmission coil 81 for transmitting electrical energy. Therefore, this advantageously averages the operating time of the power transmission circuit 83, and thereby extends the lifespan of the power transmission circuit 83.

[0124] (10) Specific exemplary operation Next, we will refer to Figure 11 This describes an exemplary operation corresponding to the case where two power receiving terminals 9 are arranged in the power transmittable area 210.

[0125] In the following description, the phrase “charging the power receiving terminal 9 using the power transmission coil 81” refers to the situation where the power transmission coil 81 is moved to a position facing the power receiving coil 91 of the power receiving terminal 9, so that the power receiving terminal 9 can charge the battery using the electrical energy that has been transmitted by the power transmission coil 81 and received at the power receiving coil 91.

[0126] Similarly, in the following description, one of the two power receiving terminals 9 that is placed earlier in the power transmissible region 210 than the other will be referred to as "first power receiving terminal 9A" below. Meanwhile, the other of the two power receiving terminals 9 that is placed later in the power transmissible region 210 than the first power receiving terminal 9A will be referred to as "second power receiving terminal 9B" below.

[0127] Assuming the two sides along the X-axis are referred to as the "left side" and "right side," the first Y-axis track 6A is positioned to the left of the second Y-axis track 6B. With the first Y-axis track 6A positioned at the left end of its movable range and the second Y-axis track 6B positioned at the right end of its movable range, the midpoint between the first Y-axis track 6A and the second Y-axis track 6B will be referred to hereinafter as the "reference point." The reference point is... Figure 8 The point is shown on line SL1. Line S1 is a straight line extending in the Y-axis direction. The X-coordinate of line S1 is the average of the X-coordinate at the left end of the movable range of the first Y-axis track 6A and the X-coordinate at the right end of the movable range of the second Y-axis track 6B.

[0128] As in Figure 11 As shown, position detector 3 has detected the position of the first power receiving coil 91A in the power transferable region 210 (in step ST1). If the first power receiving coil 91A is to the left of the reference point (if the answer is yes in step ST12), the first power receiving terminal 9A is charged using the first power transmitting coil 81A (in step ST13). That is, the first power transmitting coil 81A moves to a position facing the first power receiving coil 91A, and the first power receiving terminal 9A charges the battery using the electrical energy that has been transmitted by the first power transmitting coil 81A and received at the first power receiving coil 91A.

[0129] If the first power receiving terminal 9A is fully charged with power while the position detector 3 does not detect the second power receiving coil 91B (if the answer is no in step ST14 and yes in step ST15), the process ends.

[0130] If the position detector 3 has detected the second power receiving coil 91B before the first power receiving terminal 9A is fully charged (if the answer in step ST14 is yes), then it is determined whether the second power receiving coil 91B is positioned to the right of the first power receiving coil 91A (in step ST16). That is, the X-coordinates of the first power receiving coil 91A and the second power receiving coil 91B are compared. If the X-coordinate of the first power receiving coil 91A is less than the X-coordinate of the second power receiving coil 91B, then the second power receiving coil 91B is positioned to the right of the first power receiving coil 91A.

[0131] If the second power receiving coil 91B is positioned to the right of the first power receiving coil 91A (if the answer is yes in step ST6), then the second power receiving terminal 9B is charged using the second power transmitting coil 81B, while the first power receiving terminal 9A continues to be charged using the first power transmitting coil 81A (in step ST17).

[0132] On the other hand, if it is found in step ST16 that the second power receiving coil 91B is positioned to the left of the first power receiving coil 91A (if the answer in step ST6 is no), then the second power transmitting coil 81B is used to charge the first power receiving terminal 9A, and the first power transmitting coil 81A is used to charge the second power receiving terminal 9B (in step ST18). That is, in this case, the first power transmitting coil 81A suspends its operation of charging the first power receiving terminal 9A with power, and moves to a position where the first power transmitting coil 81A faces the second power receiving coil 91B to charge the second power receiving terminal 9B with power. At the same time, the second power transmitting coil 81B moves to a position where the second power receiving coil 81B faces the first power receiving coil 91A to charge the first power receiving terminal 9A with power.

[0133] The process ends when both power receiving terminals 9 are fully charged with power after step ST17 or step ST18 has been executed (in step ST19).

[0134] Next, the case where the first power receiving coil 91A is found to be to the right of the reference point in step ST12 (i.e., the case where the answer in step ST12 is "no") will be described. In this case, the first power receiving terminal 9A is charged with electricity using the second power transmitting coil 81B (in step ST20).

[0135] If the first power receiving terminal 9A is fully charged with power while the position detector 3 does not detect the second power receiving coil 91B (if the answer is no in step ST21 and yes in step ST22), the process ends.

[0136] If the position detector 3 has detected the second power receiving coil 91B before the first power receiving terminal 9A is fully charged with power (if the answer is yes in step ST21), then it is determined whether the second power receiving coil 91B is located to the right of the first power receiving coil 91A (in step ST16).

[0137] If the second power receiving coil 91B is positioned to the right of the first power receiving coil 91A (if the answer in step ST16 is yes), then the first power receiving terminal 9A is charged using power via the first power transmitting coil 81A, while the second power receiving terminal 9B is charged using power via the second power transmitting coil 81B (in step ST17). That is, the second power transmitting coil 81B suspends its operation of charging the first power receiving terminal 9A and moves to a position where it faces the second power receiving coil 91B to charge the second power receiving terminal 9B. Simultaneously, the first power transmitting coil 81A moves to a position where it faces the first power receiving coil 91A to charge the first power receiving terminal 9A.

[0138] On the other hand, if it is found in step ST16 that the second power receiving coil 91B is located to the left of the first power receiving coil 91A (if the answer in step ST6 is no), then the first power transmitting coil 81A is used to charge the second power receiving terminal 9B with power, while the second power transmitting coil 81B continues to use power to charge the first power receiving terminal 9A (in step ST18).

[0139] After step ST17 or step ST18 has been performed, the process ends when the power receiving terminal 9 is fully charged with power (in step ST19).

[0140] Note that if the first power receiving coil 91A is found to be at the reference point in step ST12, step ST13 or step ST20 can be performed, whichever is appropriate.

[0141] Similarly, if it is found in step ST16 that the X-coordinate of the second power receiving coil 91B is equal to the X-coordinate of the first power receiving coil 91A, then, for example, a display process (described later) can be performed to prompt the user to move the second power receiving coil 91B. Alternatively, if it is found in step ST16 that the X-coordinate of the second power receiving coil 91B is equal to the X-coordinate of the first power receiving coil 91A when the configuration of the sixth or seventh embodiment (described later) is adopted, then step ST17 can be performed, or step ST18 can be performed, whichever is appropriate.

[0142] As can be seen from the previous description, the movement control process includes selecting, based on the position of the power receiving coil 91 detected by the position detection process, a power transmission coil 81 that needs to be moved to a position facing the power receiving coil 91 from the group consisting of the first power transmission coil 81A and the second power transmission coil 81B. More specifically, if the first power receiving coil 91A is located to the left of the reference point, the first power transmission coil 81A is moved to a position facing the first power receiving coil 91A. On the other hand, if the first power receiving coil 91A is located to the right of the reference point, the second power transmission coil 81B is moved to a position facing the first power receiving coil 91A.

[0143] Similarly, if the position of the second power receiving coil 91B is detected by the position detection process at the same time that electrical energy is transmitted from the first power transmission coil 81A or the second power transmission coil 81B to the first power receiving coil 91A, the movement control process includes transmitting electrical energy from the first power transmission coil 81A to the first power receiving coil 91A and from the second power transmission coil 81B to the second power receiving coil 91B, provided that the second power receiving coil 91B is located to the right of the first power receiving coil 91A.

[0144] Alternatively, if the position of the second power receiving coil 91B is detected by the position detection process at the same time that electrical energy is transmitted from the first power transmission coil 81A or the second power transmission coil 81B to the first power receiving coil 91A, the movement control process includes transmitting electrical energy from the first power transmission coil 81A to the second power receiving coil 91B and from the second power transmission coil 81B to the first power receiving coil 91A, provided that the second power receiving coil 91B is positioned to the left of the first power receiving coil 91A.

[0145] This advantageously reduces the distance that the first power transmission coil 81A and the second power transmission coil 81B move, while also reducing the interference between the first power transmission coil 81A and the second power transmission coil 81B.

[0146] (11) Display processing The control method further includes display processing, which includes controlling the display device 211 to (refer to...) Figure 5 and Figure 12The display process includes displaying a predetermined information segment. More specifically, the display process includes causing the display device 211 to display at least one of the following: the location of the first power transmission coil 81A, the location of the second power transmission coil 81B, the corresponding power-transmitting areas 210 of the first power transmission coil 81A and the second power transmission coil 81B, and a recommended area, which is recommended as a preferred location for placing the power receiving terminal 9. This makes it easier for the user to decide where to place the power transmission terminal 9.

[0147] Figure 12 This is a plan view of housing 2. Display device 211 is disposed on the upper surface of housing 2. Similarly, when power receiving terminal 9 is placed within the power transmittable area 210 disposed on the upper surface of housing 2, electrical energy is transmitted from power transmission coil 81 to power receiving terminal 9.

[0148] The power transferable area 210 is the movable range (i.e., combined range R10) of the upper surface of the housing 2 facing the two power transfer coils 81. Figure 8 In the area of ​​)). Figure 12 In this configuration, the corresponding outer edges of the power-transferable area 210 and the display device 211 are (substantially) aligned with each other. However, the corresponding outer edges of the power-transferable area 210 and the display device 211 need not be aligned with each other.

[0149] When the power receiving terminal 9 is placed in the search area 212 provided on the upper surface of the housing 2, the position detector 3 detects the position of the power receiving terminal 9. The search area 212 is the area on the upper surface of the housing 2 facing the plurality of first search coils 310 and the plurality of second search coils 320. For example, the search area 212 includes, as shown in Figure 12 The power-transferable region 210 shown is illustrated.

[0150] The display device 211 can indicate the position of the first power transmission coil 81A by, for example, illuminating the area facing the first power transmission coil 81A. In the same way, the display device 211 can indicate the position of the second power transmission coil 81B by, for example, illuminating the area facing the second power transmission coil 81B.

[0151] Display device 211 can indicate the power-transmitting area 210 by, for example, illuminating the power-transmitting area 210.

[0152] If the power receiving terminal 9 is placed inside the search area 212 and outside the power transferable area 210, the display device 211 indicates a recommended area, which is preferably a location for placing the power receiving terminal 9 by, for example, showing an arrow 213 indicating the direction in which the power receiving terminal 9 should be moved. In this case, the arrow 213 is an arrow pointing in the direction of the power transferable area 210. Alternatively, the display device 211 may also illuminate, for example, a portion of the power transferable area 210 (e.g., the portion around the center) to indicate that portion as the recommended area.

[0153] Note that if the power receiving terminal 9 includes a display device such as a monitor screen, the power receiving terminal 9 can perform processing corresponding to the display processing in response to a signal received by the power receiving terminal 9 from the wireless power transmission system 1. That is, the power receiving terminal 9 can display at least one of the positions of the first power transmission coil 81A, the second power transmission coil 81B, the power transmittable area 210, or the recommended area. For example, the power receiving terminal 9 can display an arrow 213 indicating the direction in which the power receiving terminal 9 should move.

[0154] (2) Method of mobile power transmitter The statements provided in the following “Method for Moving Power Transmitter” section apply to either the first power transmitter 8A or the second power transmitter 8B.

[0155] Figure 13 This is a cross-sectional view of a portion of the wireless power transmission system 1. (As shown in...) Figure 13 As shown, the two sides in the X-axis direction are assumed to be the left and right sides, respectively. One end 121 of cable 12 is connected to power transmitter 8. Cable 12 includes a fixing portion 122, which is fixed in position relative to the housing 2 accommodating the Y-axis track 6. Figure 13 In the middle, the fixed part 122 is set on the left side of the Y-axis track 6.

[0156] The closer the power transmitter 8 is to the fixed part 122, the smaller the contact area between the bottom surface 200 of the housing 2 and the cable 12 will be. In other words, the closer the Y-axis track unit U1, including the power transmitter 8, is to the fixed part 122, the smaller the contact area between the bottom surface 200 of the housing 2 and the cable 12 will be. For example, when the power transmitter 8 is... Figure 13 When the solid line in the diagram indicates that the location is on the left, the contact area between the bottom surface 200 and the cable 12 is smaller than when the power transmitter 8 is located on the left. Figure 13 The area of ​​contact when the dotted line in the diagram indicates the location on the right.

[0157] The smaller the contact area between the bottom surface 200 and the cable 12, the less contact friction is caused by the movement of the cable 12 in the Y-axis direction. Therefore, preferably, the power transmitter 8 moves in the Y-axis direction, wherein the contact area between the bottom surface 200 and the cable 12 is reduced. This advantageously reduces wear on the cable 12.

[0158] Therefore, the movement control process includes, when it is necessary to move the Y-axis track 6 away from the fixed portion 122 along the X-axis track 4 (i.e., to the right) and it is necessary to move the power transmitter 8 in the Y-axis direction, causing the Y-axis track 6 to move away from the fixed portion 122 along the X-axis track 4 after the power transmitter 8 has already been moved in the Y-axis direction. As used herein, the phrase "causing the Y-axis track 6 to move away from the fixed portion 122 along the X-axis track 4" refers to, for example, causing the Y-axis track 6 to move from the fixed portion 122 along the X-axis track 4. Figure 13 The position indicated by the solid line in the middle is oriented towards the direction from. Figure 13 The position indicated by the dotted line in the text has moved.

[0159] Additionally, the motion control process includes, when it is necessary to move the Y-axis track 6 along the X-axis track 4 toward the fixed portion 122 (i.e., to the left) and it is necessary to move the power transmitter 8 in the Y-axis direction, after the Y-axis track 6 has already been moved along the X-axis track 4 toward the fixed portion 122. As used herein, the phrase "to move the Y-axis track 6 along the X-axis track 4 toward the fixed portion 122" refers to, for example, moving the Y-axis track 6 from the fixed portion 122 by... Figure 13 The dotted line in the middle indicates the direction of the position. Figure 13 The solid lines in the diagram indicate the positional movement.

[0160] Alternatively, a structure in which the fixing portion 122 of the cable 12 is located on the right side of the Y-axis track 6 can also be used.

[0161] Alternatively, a configuration can be used in which the fixing portion 122 of the cable 12 connected to the first power transmitter 8A is located on the left side of the housing 2 and the fixing portion 122 of the cable 12 connected to the second power transmitter 8B is located on the right side of the housing 2. This allows for not only advantageously shorter cable 12 lengths connected to each of these power transmitters 8, but also advantageously reduced opportunities for cable tangling, thus simplifying cable control. These advantages are highly likely to be achieved through… Figure 8 This is achieved through the configuration shown in the diagram.

[0162] Alternatively, if the wireless power transmission system 1 includes multiple power transmitters 8, the corresponding fixed portions 122 of the multiple cables 12 extending from the multiple power transmitters 8 can be jointly arranged on the right side or the left side of the Y-axis track 6. This allows the power transmission circuit 83 and the controller 14 to which the cables 12 are connected to to be arranged together on the right side or the left side of the Y-axis track 6. This not only advantageously simplifies the structure and design of the wireless power transmission system 1, but also advantageously reduces the size of the wireless power transmission system 1.

[0163] (13) Conditions that a wireless power transmission system must meet Next, we will refer to Figure 9 This describes the conditions that the wireless power transmission system 1 must satisfy when at least one of the first power transmitter 8A or the second power transmitter 8B (or at least one of the two Y-axis track units U1) is moving.

[0164] Assuming that the two sides of the X-axis are "left" and "right" respectively, the first Y-axis track 6A is set to the left of the second Y-axis track 6B.

[0165] The distance from the center of the first Y-axis track 6A, extending from the first centerline 600A in the Y-axis direction, to the right end of the first Y-axis track 6A, is defined as a first distance Wa, and the distance from the center of the second Y-axis track 6B, extending from the second centerline 600B in the Y-axis direction, to the left end of the second Y-axis track 6B, is defined as a second distance Wb. Similarly, the distance between the first centerline 600A and the second centerline 600B is defined as distance La. In this case, the movement control process preferably includes controlling the movement of at least one of the first power transmitter 8A or the second power transmitter 8B to satisfy the inequality: La ≥ Wa + Wb. This advantageously reduces interference between the first Y-axis track 6A and the second Y-axis track 6B.

[0166] Similarly, in Figure 9 In the illustrated example, a first protrusion is provided that projects to the right from the first Y-axis track 6A. More specifically, the motor 71 of the Y-axis driver 7 corresponds to the first protrusion. In this case, the distance from the first centerline 600A to the right end of the first protrusion is defined as the third distance Wc.

[0167] In addition, Figure 9 In the illustrated example, a second protrusion is provided that projects to the left from the second Y-axis track 6B. More specifically, the gear 72 of the Y-axis drive 7 corresponds to the second protrusion. In this case, the distance from the second centerline 600B to the left end of the second protrusion is defined as the fourth distance Wd.

[0168] The movement control process preferably includes controlling the movement of at least one of the first power transmitter 8A or the second power transmitter 8B to satisfy the inequality: La ≥ Wc + Wd. This advantageously reduces interference between the first protrusion, the second protrusion, and the Y-axis track 6.

[0169] Furthermore, it is assumed that the distance from the first centerline 600A to the right end of the first power transmitter 8A is defined as distance Ta, and the distance from the second centerline 600B to the left end of the second power transmitter 8B is defined as distance Tb. Similarly, it is assumed that the width of the first power transmitter 8A measured in the Y-axis direction is defined as width Sa, and the width of the second power transmitter 8B measured in the Y-axis direction is defined as width Sb. Furthermore, the distance measured in the Y-axis direction between the center of the first power transmitter 8A and the center of the second power transmitter 8B is defined as distance Lb. In this case, the movement control process preferably includes controlling the movement of at least one of the first power transmitter 8A or the second power transmitter 8B to satisfy at least one of the inequalities La≥Ta+Tb or 2Lb≥Sa+Sb. This advantageously reduces interference between the first power transmitter 8A and the second power transmitter 8B.

[0170] (Second Embodiment) Reference Figures 14-16 The following describes a wireless power transmission system 1 and a control method according to a second embodiment. The wireless power transmission system 1 according to the second embodiment has a substantially the same construction as the wireless power transmission system 1 according to the first embodiment described above. Therefore, the corresponding components of the wireless power transmission system 1 according to the second embodiment will be designated by the same reference numerals as the corresponding components of the wireless power transmission system 1 according to the first embodiment, and their descriptions will be omitted herein.

[0171] (14) Overview Figure 14 and Figure 15 This is a top view showing a schematic diagram of the positional relationship between the first power transmission coil 81A, the second power transmission coil 81B, the first power receiving coil 91A, and the second power receiving coil 91B. Figure 14 and Figure 15 In this context, each of these coils is represented by a single circle corresponding to its outer circumference.

[0172] If the second power receiving coil 91B is placed in the power transmission region 800A near the first power transmitting coil 81A, and electrical energy is transferred from the first power transmitting coil 81A to the first power receiving coil 91A, then, for example, a warning process (described later) is preferably performed. Similarly, if the second power receiving coil 91B is placed in the power transmission region 800B near the second power transmitting coil 81B, and electrical energy is transferred from the second power transmitting coil 81B to the first power receiving coil 91A, then, for example, a warning process (described later) is preferably performed.

[0173] Power transmission regions 800A and 800B are predefined regions.

[0174] The power transfer region 800A includes a region facing the first power transfer coil 81A. The power transfer region 800A moves together with the first power transfer coil 81A. For example, as in... Figure 14 As shown in the top view, the power transmission region 800A is the region surrounding the first power transmission coil 81A.

[0175] The power transmission region 800B includes a region facing the second power transmission coil 81B. The power transmission region 800B moves together with the second power transmission coil 81B. For example, as in... Figure 14 As shown in the top view, the power transmission region 800B is the region surrounding the second power transmission coil 81B.

[0176] (15) Control methods A method for controlling a mobile system M1 includes stop processing, warning processing, a first recovery processing, and a second recovery processing.

[0177] (15.1) First Example First, the stop process, warning process, first recovery process and second recovery process that are executed when electrical energy is transferred from the first power transmission coil 81A to the first power receiving coil 91A will be described.

[0178] When position detection processing is performed when electrical energy is detected being transferred from the first power transmission coil 81A to the first power receiving coil 91A, the second power receiving coil 91B, if... Figure 14 The ground shown is placed within the power transmission region 800A of the first power transmission coil 81A, and a stop process is performed to stop the transmission of electrical energy from the first power transmission coil 81A.

[0179] Similarly, if a stop process is performed, a warning process, including alerting the user, is also performed. This warning process may be performed, for example, just before, in parallel with, or immediately after the stop process. The warning process may include alerting the user by, for example, blinking the display device 211 or displaying a warning message on the display device 211. Alternatively, the warning process may include alerting the user by, for example, emitting an sound.

[0180] If, after the stop processing, only the first power receiving coil 91A or the second power receiving coil 91B is placed within the power transmission region 800A of the first power transmission coil 81A, a first recovery process, including restoring the transmission of electrical energy from the first power transmission coil 81A, is performed.

[0181] If both the first power receiving coil 91A and the second power receiving coil 91B are placed within the power transmission region 800A of the first power transmitting coil 81A, such as in Figure 14 As shown, after a predetermined amount of time has elapsed since the execution of the stop process, a second recovery process is executed. The second recovery process includes moving the first power transmission coil 81A away from the second power receiving coil 91B, and moving the second power transmission coil 81B to a position where the second power transmission coil 81B faces the second power receiving coil 91B, as shown in... Figure 15 As shown, electrical energy is transmitted from the first power transmission coil 81A to the first power receiving coil 91A, and also from the second power transmission coil 81B to the second power receiving coil 91B.

[0182] If the user removes the second power receiving terminal 9B in response to the warning process, the first power receiving terminal 9A can resume charging even when the first power transmission coil 81A has not been moved. This advantageously reduces the chance of a decrease in power transfer efficiency from the first power transmission coil 81A to the first power receiving coil 91A due to the movement of the first power transmission coil 81A during the second recovery process. On the other hand, this also advantageously increases the chance of making the second power receiving terminal 9B chargeable compared to the case where the second recovery process is not performed.

[0183] According to a variant, the control method may include performing a second recovery process without waiting for a predetermined amount of time to elapse after the stop process has been performed. That is, in this case, after the stop process has been performed, the first power transmission coil 81A may be moved away from the second power receiving coil 91B, and the second power transmission coil 81B may be moved to a position facing the second power receiving coil 91B to transfer electrical energy from the first power transmission coil 81A to the first power receiving coil 91A, and from the second power transmission coil 81B to the second power receiving coil 91B. In this case, the warning process can be omitted.

[0184] (15.2) Second example Next, the stop process, warning process, first recovery process and second recovery process that are executed starting from the state in which electrical energy is transferred from the second power transmission coil 81B to the first power receiving coil 91A will be described.

[0185] When a position detection process is detected that electrical energy is being transferred from the second power transmission coil 81B to the first power receiving coil 91A, the second power receiving coil 91B is placed within the power transmission region 800B of the second power transmission coil 81B, and a stop process is executed to stop the transfer of electrical energy from the second power transmission coil 81B.

[0186] Similarly, if a stop process is performed, a warning process, including alerting the user, is also performed. This warning process may be performed, for example, just before, in parallel with, or immediately after the stop process. The warning process may include alerting the user by, for example, blinking the display device 211 or displaying a warning message on the display device 211. Alternatively, the warning process may include alerting the user by, for example, emitting an sound.

[0187] If, after the stop process has been performed, only the first power receiving coil 91A or the second power receiving coil 91B is placed within the power transmission region 800B of the second power transmission coil 81B, a first recovery process is performed, which includes restoring the transmission of electrical energy from the second power transmission coil 81B.

[0188] If both the first power receiving coil 91A and the second power receiving coil 91B are placed within the power transmission region 800B of the second power transmitting coil 81B, and a predetermined amount of time has elapsed since the stop process was executed, a second recovery process is performed. The second recovery process includes moving the second power transmitting coil 81B away from the second power receiving coil 91B and moving the first power transmitting coil 81A to a position facing the second power receiving coil 91B, so as to transfer electrical energy from the second power transmitting coil 81B to the first power receiving coil 91A, and also to transfer electrical energy from the first power transmitting coil 81A to the second power receiving coil 91B.

[0189] According to a variant, the control method may include performing a second recovery process without waiting for a predetermined amount of time to elapse after the stop process has been performed. That is, in this case, after the stop process has been performed, the second power transmission coil 81B can be moved away from the second power receiving coil 91B, and the first power transmission coil 81A can be moved to a position facing the second power receiving coil 91B to transfer electrical energy from the second power transmission coil 81B to the first power receiving coil 91A, and vice versa. In this case, the warning process can be omitted.

[0190] (15.3) Details of the first example Next, we will refer to Figure 16 This describes the flow of a series of processing steps, including stop processing, warning processing, first recovery processing, and second recovery processing, as described in section "(15.1) First Example". Note that "(15.2) Second Example" is an example where the first power transmission coil 81A and the second power transmission coil 81B in section "(15.1) First Example" are simply interchanged. Therefore, in the following description, the flow of the series of processing steps in section "(15.2) Second Example", including stop processing, warning processing, first recovery processing, and second recovery processing, can be described simply by interchangeping the first power transmission coil 81A and the second power transmission coil 81B.

[0191] First, the first power transmission coil 81A is moved to a position facing the first power receiving coil 91A, so that the first power transmission coil 81A can be used to charge the first power receiving terminal 9A with power (in step ST31). Afterwards, the second power receiving coil 91B is detected by the position detector 3 (in step ST32).

[0192] If the second power receiving coil 91B is placed within the power transmission area 800A of the first power transmitting coil 81A (if the answer in step ST33 is yes), a stop process and a warning process are executed (in steps ST34 and ST35, respectively). Thereafter, if either the first power receiving coil 91A or the second power receiving coil 91B leaves the power transmission area 800A of the first power transmitting coil 81A before a predetermined amount of time has elapsed (if the answer in step ST36 is no), a first recovery process is executed to restore power transmission from the first power transmitting coil 81A (in step ST45). Thereafter, the process ends when the power receiving terminal 9 is fully charged using power from the first power transmitting coil 81A (in step ST46).

[0193] On the other hand, if the first power receiving coil 91A and the second power receiving coil 91B are still placed within the power transmission area 800A of the first power transmitting coil 81A, even after a predetermined amount of time has elapsed since the stop processing and warning processing have been executed (if the answer in step ST36 is "yes" and the answer in step ST37 is "yes"), then the second recovery processing is executed (in step ST38). That is, as in Figure 15 As shown, the first power transmission coil 81A is moved away from the second power receiving coil 91B, and the second power transmission coil 81B is moved to a position where the second power transmission coil 81B faces the second power receiving coil 91B.

[0194] In this case, if at least one of the first power receiving terminal 9A or the second power receiving terminal 9B can be charged with electricity (if the answer in step ST39 is yes), the rechargeable power receiving terminal 9 begins to charge with electricity (in step ST40). When the power receiving terminal 9 is fully charged (in step ST41), the process ends. On the other hand, depending on the arrangement of the first power receiving coil 91A and the second power receiving coil 91B, it is possible that neither the first power receiving terminal 9A nor the second power receiving terminal 9B can be charged with electricity after step ST38 has been performed (if the answer in step ST39 is no). In this case, the wireless power transmission system 1 makes an error output (in step ST42). As used herein, "error output" refers to displaying an error message on the display device 211 or notifying the user of an error by emitting an sound.

[0195] Note that if, in step ST33, it is found that the second power receiving coil 91B is placed outside the power transmission area 800A of the first power transmitting coil 81A (if the answer in step ST33 is no), then the second power receiving terminal 9B is charged using the second power transmitting coil 81B (in step ST43). The process ends when the second power receiving terminal 9B is fully charged with power (in step ST44).

[0196] According to a variation of this embodiment, if the second power receiving coil 91B is detected in step ST32 and the second power receiving coil 91B is located to the left of the first power receiving coil 91A, then the second power transmitting coil 81B can be used to charge the first power receiving terminal 9A with electricity, and the first power transmitting coil 81A can be used to charge the second power receiving terminal 9B with electricity.

[0197] (Third embodiment) Next, we will refer to Figure 17 The following describes a wireless power transmission system 1 according to a third embodiment. In the following description, any component of the third embodiment having the same function as the counterpart of the first embodiment described above will be designated by the same reference numerals as the counterpart, and its description will be omitted herein.

[0198] The mobile system M1 according to this embodiment includes a guide rod 401 instead of an X-axis track 4A. The guide rod 401 is aligned with the X-axis direction. That is, the guide rod 401 extends in the X-axis direction. For example, the guide rod 401 can be fixed to the housing 2. More specifically, for example, the guide rod 401 is fixed to the housing 2 via a support member.

[0199] The Y-axis track 6 includes a first component 601 movably coupled to the guide rod 401. The first component 601 is a component provided in place of the driven component 13 (see reference). Figure 1 For example, the first component 601 has a through hole 6011 through which the guide rod 401 passes, as in... Figure 17 As shown in the image.

[0200] The surface of the guide rod 401 that contacts the Y-axis track 6 is preferably a planar surface or a cylindrical surface. The surface of the guide rod 401 that contacts the Y-axis track 6 is preferably non-uniform and has low frictional resistance.

[0201] Similarly, the surface of the Y-axis track 6 that contacts the guide rod 401 is preferably a planar surface or a cylindrical surface. The surface of the Y-axis track 6 that contacts the guide rod 401 is preferably non-uniform and has low frictional resistance.

[0202] The shape of the guide rod 401 and the corresponding shape of the through hole 6011 can be, for example, a cylindrical shape, an elliptical cylindrical shape, or a polygonal prism shape including a quadrangular prism shape. However, these are merely exemplary shapes of the guide rod 401 and its corresponding through hole 6011, and should not be construed as limiting.

[0203] For example, the first component 601 is located at one end (rear end) of the Y-axis track 6.

[0204] Y-axis rail 6 is movably coupled to guide rod 401 and X-axis rail 4B (reference). Figure 1 ).

[0205] When the gear 52 of the X-axis driver 5 rotates to move the Y-axis track unit U1 in the X-axis direction, the first component 601 of the Y-axis track 6 slides on the surface of the guide rod 401.

[0206] In this embodiment, a guide rod 401 is provided instead of the X-axis track 4A to allow the first component 601 of the Y-axis track 6 to slide on the surface of the guide rod 401. This allows the Y-axis track 6 to move more smoothly in the X-axis direction.

[0207] According to a variation of this embodiment, the first component 601 may have a groove 6012, such as in... Figure 18 As shown, the guide rod 401 passes through the groove 6012 instead of the through hole 6011. This allows for a reduction in the contact area between the guide rod 401 and the first component 601, and thus reduces contact resistance, which allows for the selection of a motor 51 with even smaller dimensions as the X-axis driver 5. Consequently, this advantageously reduces the thickness of the wireless power transmission system 1.

[0208] (Fourth embodiment) Next, we will refer to Figure 19 The following describes a wireless power transmission system 1 according to a fourth embodiment. In the following description, any component of the fourth embodiment having the same function as the counterpart of the first embodiment described above will be designated by the same reference numerals as the counterpart, and its description will be omitted herein.

[0209] First, the moving system M1 according to this embodiment also includes a guide rod 401 as described above in the third embodiment, instead of the X-axis track 4A. In the following description, the guide rod 401 will be referred to as "first guide rod 401".

[0210] The mobile system M1 includes a second guide rod 402 in addition to the first guide rod 401. The second guide rod 402 is aligned with the X-axis direction. That is, the second guide rod 402 extends in the X-axis direction. The second guide rod 402 faces the first guide rod 401 in the Y-axis direction. The second guide rod 402 can be fixed to the housing 2, for example. More specifically, for example, the second guide rod 402 is fixed to the housing 2 via a support member.

[0211] The Y-axis track 6 also includes a second component 602 movably coupled to the second guide rod 402. For example, the second component 602 has a through-hole 6021 through which the second guide rod 402 passes, as in... Figure 19 As shown in the diagram. Alternatively, the second component 602 may also have a groove through which the second guide rod 402 passes.

[0212] The surface of the second guide rod 402 that contacts the Y-axis track 6 is preferably a planar surface or a cylindrical surface. The surface of the second guide rod 402 that contacts the Y-axis track 6 is preferably non-uniform and has low frictional resistance.

[0213] Similarly, the surface of the Y-axis track 6 that contacts the second guide rod 402 is preferably a planar surface or a cylindrical surface. The surface of the Y-axis track 6 that contacts the second guide rod 402 is preferably non-uniform and has low frictional resistance.

[0214] For example, the second component 602 is located at one end (front end) of the Y-axis track 6.

[0215] The Y-axis track 6 is movably coupled to the first guide rod 401, the second guide rod 402, and the X-axis track 4B.

[0216] When the gear 52 of the X-axis driver 5 rotates to move the Y-axis track unit U1 in the X-axis direction, the first component 601 of the Y-axis track 6 slides on the surface of the first guide rod 401, and its second component 602 slides on the surface of the second guide rod 402.

[0217] In this embodiment, a first guide rod 401 and a second guide rod 402 are provided instead of the X-axis track 4A to allow the Y-axis track 6 to slide on the surfaces of the first guide rod 401 and the second guide rod 402. This allows the Y-axis track 6 to move more smoothly in the X-axis direction.

[0218] (Fifth Embodiment) Next, we will refer to Figure 20 and Figure 21The following describes a wireless power transmission system 1 according to a fifth embodiment. In the following description, any component of the fifth embodiment having the same function as the counterpart of the first embodiment described above will be designated by the same reference numerals as the counterpart, and its description will be omitted herein.

[0219] The mobile system M1 according to this embodiment includes a first guide rail 403 instead of the X-axis rail 4A. Additionally, the mobile system M1 according to this embodiment also includes a second guide rail 404.

[0220] The first guide rail 403 and the second guide rail 404 may be fixed to the housing 2, for example. More specifically, the first guide rail 403 and the second guide rail 404 may be fixed to the side wall or bottom wall of the housing 2, for example.

[0221] The first guide rail 403 is aligned with the X-axis direction. That is, the first guide rail 403 extends in the X-axis direction.

[0222] The first guide rail 403 has a first groove 4031. The first groove 4031 is provided on the surface (front surface) facing the Y-axis rail 6. The first groove 4031 is provided continuously in the X-axis direction.

[0223] The second guide rail 404 is aligned with the X-axis direction. That is, the second guide rail 404 extends in the X-axis direction. The second guide rail 404 faces the first guide rail 403 in the Y-axis direction.

[0224] The second guide rail 404 has a second groove 4041. The second groove 4041 is provided on the surface (rear surface) facing the Y-axis rail 6. That is, the second groove 4041 is provided on the surface (rear surface) facing the first groove 4031. The second groove 4041 is continuously provided in the X-axis direction.

[0225] Y-axis track 6 is located between the first guide rail 403 and the second guide rail 404.

[0226] The Y-axis track 6 includes a first coupling portion 605 that is movably coupled to the first guide rail 403. The first coupling portion 605 is a component provided in place of the driven member 13 (see reference). Figure 1 For example, the first coupling portion 605 is disposed at one end (front end) of the Y-axis track 6. The first coupling portion 605 is inserted into the first groove 4031 of the first guide rail 403.

[0227] The Y-axis track 6 includes a second coupling portion 606 that is movably coupled to the second guide rail 404. For example, the second coupling portion 606 is disposed at one end (rear end) of the Y-axis track 6. The second coupling portion 606 is inserted into a second groove 4041 of the second guide rail 404.

[0228] The Y-axis track 6 is movably coupled to the first guide rail 403, the second guide rail 404 and the X-axis track 4B.

[0229] When the gear 52 of the X-axis driver 5 rotates to move the Y-axis track unit U1 in the X-axis direction, the first coupling portion 605 slides in the X-axis direction inside the first groove 4031, and the second coupling portion 606 slides in the X-axis direction inside the second groove 4041.

[0230] In this embodiment, a first guide rail 403 and a second guide rail 404 are provided instead of the X-axis track 4A to allow the Y-axis track 6 to slide on the first guide rail 403 and the second guide rail 404. This allows the Y-axis track 6 to move more smoothly in the X-axis direction. In addition, mechanically fixing the first guide rail 403 and the second guide rail 404 to the housing 2 reduces the chance of bending of the first guide rail 403 and the second guide rail 404, thereby advantageously increasing the robustness of the first guide rail 403 and the second guide rail 404.

[0231] Alternatively, the mobile system M1 may include only one rail selected from the group including the first rail 403 and the second rail 404.

[0232] (First variant of the fifth embodiment) Reference Figure 22 and Figure 23 The following description will focus only on the differences from the fifth embodiment (hereinafter referred to as the "fifth basic example") described above.

[0233] In this first variation, the corresponding shapes of the first guide rail 403 and the second guide rail 404 differ from those of their counterparts in the fifth basic example. Specifically, the first guide rail 403 has a first through hole 4032 instead of a first groove 4031. The second guide rail 404 has a second through hole 4042 instead of a second groove 4041.

[0234] The first through hole 4032 extends through the first guide rail 403 in the Y-axis direction. The first through hole 4032 is continuously arranged in the X-axis direction. The first coupling portion 605 of the Y-axis track 6 is inserted into the first through hole 4032.

[0235] The second through hole 4042 extends through the second guide rail 404 in the Y-axis direction. The second through hole 4042 is continuously provided in the X-axis direction. The second coupling portion 606 of the Y-axis track 6 is inserted into the second through hole 4042.

[0236] When the gear 52 of the X-axis driver 5 rotates to move the Y-axis track unit U1 in the X-axis direction, the first coupling part 605 slides in the X-axis direction inside the first through hole 4032, and the second coupling part 606 slides in the X-axis direction inside the second through hole 4042.

[0237] This first variant also achieves the same advantages as the fifth basic example.

[0238] Alternatively, the mobile system M1 may include only one rail selected from the group including the first rail 403 and the second rail 404.

[0239] (Second variant of the fifth embodiment) Reference Figure 24 and Figure 25 The following description will focus only on the differences from the fifth basic example, describing a second variant of the wireless power transmission system 1 according to the fifth embodiment.

[0240] In this second variation, the corresponding shapes of the first coupling portion 605 and the second coupling portion 606 differ from their corresponding shapes in the fifth basic example. Specifically, the first coupling portion 605 has a groove 6050 into which the first guide rail 403 is inserted. The second coupling portion 606 has a groove 6060 into which the second guide rail 404 is inserted.

[0241] The groove 6050 is provided through the surface (rear surface) of the first coupling portion 605 opposite to the center of the Y-axis track 6. The groove 6050 is continuously provided in the X-axis direction.

[0242] The groove 6060 is provided through the surface (front surface) of the second coupling portion 606 opposite to the center of the Y-axis track 6. The groove 6060 is continuously provided in the X-axis direction.

[0243] The first guide rail 403 has a shape that matches the shape of the groove 6050 of the first coupling portion 605 (e.g., in...). Figure 24 The example shown in the figure is a slender rectangular parallelepiped shape.

[0244] The second guide rail 404 has a shape that matches the shape of the groove 6060 of the second coupling portion 606 (e.g., in...). Figure 24 The example shown in the figure is a slender rectangular parallelepiped shape.

[0245] As the gear 52 of the X-axis driver 5 rotates to move the Y-axis track unit U1 in the X-axis direction, the first coupling part 605 slides along the inner surface of the groove 6050 in the X-axis direction, and the second coupling part 606 slides along the inner surface of the groove 6060 in the X-axis direction.

[0246] This second variant also achieves the same advantages as the fifth basic example.

[0247] Alternatively, the mobile system M1 may include only one rail selected from the group including the first rail 403 and the second rail 404.

[0248] (Sixth embodiment) Next, we will refer to Figure 26 The following describes a wireless power transmission system 1 according to a sixth embodiment. In the following description, any component of the sixth embodiment having the same function as the counterpart of the first embodiment described above will be designated by the same reference numerals as the counterpart, and its description will be omitted herein.

[0249] Figure 26 Two Y-axis track units U1 are illustrated in a simplified form. The first center line 600A is a straight line extending in the Y-axis direction to pass through the center of the first Y-axis track 6A. The center 801A of the first power transmission coil 81A is located closer to the second Y-axis track 6B than the first center line 600A (i.e., to the right of the first center line 600A).

[0250] The second center line 600B is a straight line extending in the Y-axis direction to pass through the center of the second Y-axis track 6B. The center 801B of the second power transmission coil 81B is located closer to the first Y-axis track 6A than the second center line 600B (i.e., to the left of the second center line 600B).

[0251] Compared to the first embodiment, even when the two power receiving coils 91 are arranged side-by-side in the Y-axis direction within the power transmission region 210, this embodiment allows the two power transmission coils 81 to be easily moved to positions facing the two power receiving coils 91 respectively. This advantageously increases the opportunity to use the two power transmission coils 81 to charge the two power receiving terminals 9 with electricity. Furthermore, this also helps to more efficiently transfer electrical energy from the two power transmission coils 81 to the two power receiving coils 91.

[0252] For example, the first power transmitter 8A and the second power transmitter 8B can be arranged such that when the first Y-axis track 6A and the second Y-axis track 6B are close to each other, the center 801A of the first power transmission coil 81A and the center 801B of the second power transmission coil 81B are arranged side by side in the Y-axis direction.

[0253] (Seventh Embodiment) Next, we will refer to Figure 27The following describes a wireless power transmission system 1 according to a seventh embodiment. In the following description, any component of the seventh embodiment having the same function as the counterpart of the first embodiment described above will be designated by the same reference numerals as the counterpart, and its description will be omitted herein.

[0254] The configuration of this embodiment applies to both the first power transmitter 8A and the second power transmitter 8B.

[0255] The base 82 includes a rotating mechanism 821. The rotating mechanism 821 holds the power transmission coil 81 to allow the power transmission coil 81 to rotate about a central axis 822 perpendicular to both the X-axis and Y-axis directions. The central axis 822 is located at a point different from the center 801 of the power transmission coil 81. The central axis 822 may, for example, be located on the centerline 600 of the Y-axis track 6. The centerline 600 is a straight line extending in the Y-axis direction to pass through the center of the Y-axis track 6.

[0256] The base 82 includes, for example, a base body 820 and a rotating mechanism 821. The base body 820 holds the power transmission coil 81. The rotating mechanism 821 is mechanically fixed to the base body 820 and protrudes from the base body 820. The rotating mechanism 821 may be, for example, the shaft of a motor used as a rotary drive. The motor 51 can rotate the base body 820 via the rotating mechanism 821.

[0257] The Y-axis track unit U1 also includes a rotary driver 15. The rotary driver 15 is held by the Y-axis track 6. The rotary driver 15 may include, for example, a motor. The motor is connected to a rotation mechanism 821. The motor applies a rotational force to the base body 820 via the rotation mechanism 821, thereby causing the base 82 to rotate. The power transmission coil 81 rotates together with the base 82.

[0258] In other words, the power transmitter 8 rotates about a central axis 822 relative to the Y-axis track 6, and the central axis 822 is located at different points from the center 801 of the power transmission coil 81. For example, the power transmitter 8 can be rotated to move to a position where... Figure 27 The dotted lines indicate the positions.

[0259] Therefore, the method for controlling the mobile system M1 according to this embodiment includes the following process: causing the power transmission coil 81 to rotate about a central axis 822 relative to the Y-axis track 6, the central axis 822 being set at a point different from the center 801 of the power transmission coil 81, and the central axis 822 being perpendicular to the X-axis direction and the Y-axis direction.

[0260] As the power transmission coil 81 rotates, it is displaced. This advantageously expands the power transmission area 210. For example, if the Y-axis track 6 is located at the left end, the power transmission area 210 can be extended to the left by rotating the power transmitter 8 to position it closer to the left end. Additionally, if the power transmitter 8 moves along the Y-axis track 6 to the rear end, the power transmission area 210 can be extended rearward by rotating the power transmitter 8 to position it closer to the rear end.

[0261] Furthermore, for example, if the two power transmitters 8 are brought closer together in the X-axis direction, the first power transmitter 8A can be rotated such that the center 801A of the first power transmission coil 81A is positioned closer to the second Y-axis track 6B than the first centerline 600A (i.e., to the right of the first centerline 600A), as illustrated in the sixth embodiment. Figure 26 As shown in the illustration. This allows for the same advantages as the sixth embodiment. Additionally, if the two power transmitters 8 are brought closer together in the X-axis direction, the second power transmitter 8B can be rotated such that the center 801B of the second power transmission coil 81B is positioned closer to the first Y-axis track 6A than the second centerline 600B (i.e., to the left of the second centerline 600B), as illustrated in the sixth embodiment. Figure 26 As shown in the illustration. This allows for the achievement of the same advantages as the sixth embodiment.

[0262] Optionally, the motor of the rotary driver 15 can be arranged such that the motor's output shaft is aligned with a direction perpendicular to the upward / downward direction. Even if the motor is relatively long in the direction aligned with the output shaft, this can advantageously reduce the thickness of the Y-axis track unit U1. The rotary driver 15 may also include a conversion mechanism for converting the rotational force of the motor's output shaft into a rotational force generated around the axis aligned with the upward / downward direction. The conversion mechanism may include, for example, a plurality of gears.

[0263] (Eighth Embodiment) Next, we will refer to Figure 28 The following describes a wireless power transmission system 1 according to an eighth embodiment. In the following description, any component of the eighth embodiment having the same function as the counterpart of the first embodiment described above will be designated by the same reference numerals as the counterpart, and its description will be omitted herein.

[0264] In the wireless power transmission system 1 according to this embodiment, each of the two power transmitters 8 includes a base 82 with a circular shape, which differs from the first embodiment. Each of the two power transmitters 8 also has a circular shape as a whole.

[0265] The conditions that the wireless power transmission system 1 must satisfy when at least one of the first power transmitter 8A or the second power transmitter 8B (or at least one of the two Y-axis track units U1) moves according to this embodiment will be described.

[0266] The distance between a first centerline 600A extending in the Y-axis direction to pass through the center of the first Y-axis track 6A and a second centerline 600B extending in the Y-axis direction to pass through the center of the second Y-axis track 6B is defined as distance La. The first power transmitter 8A has a circular shape with a radius of Ra. The second power transmitter 8B has a circular shape with a radius of Rb. The distance measured in the Y-axis direction between the center 801A of the first power transmitter 8A and the center 801B of the second power transmitter 8B is defined as distance Lb. The distance measured in the X-axis direction between the center 801A of the first power transmitter 8A and the center 801B of the second power transmitter 8B is defined as distance Lc.

[0267] In this case, the movement control process preferably includes controlling the movement of at least one of the first power transmitter 8A or the second power transmitter 8B, such that the inequality: Lc 2 +Lb 2 ≥(Ra+Rb) 2 This advantageously reduces interference between the first power transmitter 8A and the second power transmitter 8B.

[0268] Furthermore, in this embodiment, the center 801A of the first power transmitter 8A is located on the first center line 600A, and the center 801B of the second power transmitter 8B is located on the second center line 600B. Therefore, the movement control process preferably includes controlling the movement of at least one of the first power transmitter 8A or the second power transmitter 8B, such that the inequality: La 2 +Lb 2 ≥(Ra+Rb) 2 .

[0269] Furthermore, in this embodiment, the center 801A of the first power transmitter 8A is located on the first center line 600A, and the center 801B of the second power transmitter 8B is located on the second center line 600B. Therefore, the distance Lc is equal to the distance La.

[0270] Alternatively, in this embodiment, the power transmission coil 81 may also be configured to be rotatable, as in the seventh embodiment.

[0271] (Ninth Embodiment) Next, we will refer to Figure 9The following describes a wireless power transmission system 1 according to a ninth embodiment. In the following description, any component of the ninth embodiment having the same function as the counterpart of the first embodiment described above will be designated by the same reference numerals as the counterpart, and its description will be omitted herein.

[0272] In the wireless power transmission system 1 according to this embodiment, each of the two power transmitters 8 includes a base 82 with a circular shape, which differs from the first embodiment. Each of the two power transmitters 8 also has a circular shape as a whole.

[0273] The conditions that the wireless power transmission system 1 must satisfy when at least one of the first power transmitter 8A or the second power transmitter 8B (or at least one of the two Y-axis track units U1) moves according to this embodiment will be described.

[0274] The distance between a first centerline 600A extending in the Y-axis direction to pass through the center of the first Y-axis track 6A and a second centerline 600B extending in the Y-axis direction to pass through the center of the second Y-axis track 6B is defined as distance La. The first power transmitter 8A has a circular shape with a radius of Ra. The second power transmitter 8B has a circular shape with a radius of Rb. The distance measured in the Y-axis direction between the center 801A of the first power transmitter 8A and the center 801B of the second power transmitter 8B is defined as distance Lb.

[0275] If the negative side of the X-axis direction is assumed to be the left side, then the first Y-axis track 6A is set to the left of the second Y-axis track 6B.

[0276] The center 801A of the first power transmission coil 81A is offset by a positive offset Pa relative to the first center line 600A in the X-axis direction. That is, if the center 801A is located to the right of the first center line 600A, the offset Pa is a positive value.

[0277] The magnitude of the negative displacement Pb in the X-axis direction of the center 801B of the second power transmission coil 81B relative to the second center line 600B. That is, if the center 801B is located to the left of the second center line 600B, the magnitude of the displacement Pb is negative.

[0278] In this case, the movement control process preferably includes controlling the movement of at least one of the first power transmitter 8A or the second power transmitter 8B such that the inequality (La - Pa + Pb) is satisfied. 2 +Lb 2 ≥(Ra+Rb) 2 This advantageously reduces interference between the first power transmitter 8A and the second power transmitter 8B.

[0279] Alternatively, in this embodiment, the power transmission coil 81 may also be rotatable, as in the seventh embodiment.

[0280] (Variations of the first to eighth embodiments) Next, variations of the first to eighth embodiments will be listed one by one. Optionally, the variations described below can be appropriately combined.

[0281] The two X-axis tracks 4A and 4B do not necessarily need to be supported by a support base (which is either the first support base 11A or the second support base 11B). Instead, the two X-axis tracks 4A and 4B can be mounted, for example, simply on the bottom surface of the housing 2.

[0282] Only one of the Y-axis drivers 7 or power transmitters 8 can contact the slider 62 to slide on the surface of the slider 62. That is, at least one of the Y-axis drivers 7 or power transmitters 8 can contact the slider 62 to slide on the surface of the slider 62. Similarly, the slider 62 preferably includes a guide rail for guiding the movement of at least one of the Y-axis drivers 7 or power transmitters 8. The guide rail has a groove extending in the Y-axis direction, and a portion of at least one of the Y-axis drivers 7 or power transmitters 8 is inserted into the groove.

[0283] The fixing part 122 of the cable 12 can be connected and fixed to the controller 14.

[0284] Optionally, the X-axis track 4 can be a ball screw with threads spirally arranged on its outer peripheral surface. As the gear 52 of the X-axis driver 5 rotates, the gear 52 receives a reaction force in the X-axis direction from the ball screw, thereby causing the Y-axis track unit U1 to move in the X-axis direction.

[0285] When the first power receiving coil 91A is placed in the power transmittable area 210, a power transmitting coil 81 selected from the group including the first power transmitting coil 81A and the second power transmitting coil 81B located at a shorter distance from the first power receiving coil 91A can be moved to a position where the power transmitting coil 81 faces the first power receiving coil 91A.

[0286] The wireless power transmission system 1 according to this disclosure, or the agent performing the control method according to this disclosure, includes a computer system. The computer system includes a processor and a memory as its main hardware component. The computer system performs at least some functions of the wireless power transmission system 1 according to this disclosure, or acts as an agent performing at least a portion of the control method according to this disclosure by causing the processor to execute a program stored in the memory of the computer system. The program may be pre-stored in the memory of the computer system. Alternatively, the program may also be downloaded via a telecommunications line, or distributed after being stored on some non-transitory storage medium such as a memory card, optical disc, or hard disk drive, any of which are readable by the computer system. The processor of the computer system may consist of one or more electronic circuits including semiconductor integrated circuits (ICs) or large-scale integrated circuits (LSIs). As used herein, "integrated circuit" (such as ICs or LSIs) is referred to by different names depending on its degree of integration. Examples of integrated circuits such as ICs or LSIs include integrated circuits referred to as "system LSIs," "very large-scale integrated circuits (VLSIs)," and "ultra-large-scale integrated circuits (ULSIs)." Alternatively, a field-programmable gate array (FPGA) programmed after the LSI has been manufactured, or a reconfigurable logic device that allows reconfiguration of the connections or circuitry within the LSI, can be used as the processor. These electronic circuits can be integrated together on a single chip or distributed across multiple chips, whichever is suitable. These multiple chips can be clustered together in a single device or distributed across multiple devices without limitation. As used herein, a “computer system” includes a microcontroller that includes one or more processors and one or more memories. Therefore, the microcontroller can also be implemented as a single or multiple electronic circuits comprising semiconductor integrated circuits or large-scale integrated circuits.

[0287] The multiple functions integrated in a single housing in the embodiments described above can be distributed across multiple different housings. For example, the controller 14 can be located outside the housing 2 that houses the mobile system M1.

[0288] In the foregoing description of the embodiments, if one of two values ​​being compared is "equal to or greater than" the other, then the phrase "equal to or greater than" can also be a synonym for the phrase "greater than". From a technical point of view, there is no difference between the phrase "equal to or greater than" and the phrase "greater than". Similarly, as in the embodiments described above, the phrase "less than" can also be a synonym for the phrase "equal to or less than".

[0289] (Summary) The foregoing description of embodiments and variations thereof provides specific implementations of the following aspects of this disclosure.

[0290] The control method according to the first aspect is a method for controlling a moving system (M1). The moving system (M1) moves a first power transmitter (8A) including a first power transmission coil (81A) and a second power transmitter (8B) including a second power transmission coil (81B). The first power transmission coil (81A) transmits electrical energy to a power receiving coil (91) included in a power receiving terminal (9). The second power transmission coil (81B) transmits electrical energy to the power receiving coil (91). The control method includes a position detection process and a movement control process. The position detection process includes detecting the position of the power receiving coil (91). The movement control process includes performing control on the moving system (M1) to move at least one of the first power transmission coil (81A) or the second power transmission coil (81B) according to the position of the power receiving coil (91) detected by the position detection process. The movement control process includes: when the position of a single power receiving coil (91) has been detected by the position detection process, moving either the first power transmitting coil (81A) or the second power transmitting coil (81B) to a position facing the single power receiving coil (91). The first power transmitter (8A) is movably coupled to a first Y-axis track (6A) extending in the Y-axis direction. The second power transmitter (8B) is movably coupled to a second Y-axis track (6B) extending in the Y-axis direction. The first Y-axis track (6A) and the second Y-axis track (6B) are movably coupled to an X-axis track (4) extending in the X-axis direction intersecting the Y-axis direction. The motion control process includes: a first process, which includes moving a first Y-axis track (6A) along an X-axis track (4); a second process, which includes moving a first power transmitter (8A) along the first Y-axis track (6A); a third process, which includes moving a second Y-axis track (6B) along the X-axis track (4) independently of the movement of the first Y-axis track (6A); and a fourth process, which includes moving a second power transmitter (8B) along a second Y-axis track (6B).

[0291] This method allows the first power transmitter (8A) and the second power transmitter (8B) to be moved in the X-axis and Y-axis directions by performing first to fourth processes using a first Y-axis track (6A) and a second Y-axis track (6B) that are co-coupled to the same X-axis track (4). This advantageously increases user-friendliness compared to the case where only the first power transmitter (8A) is moved. Furthermore, the first Y-axis track (6A) is coupled to the first X-axis track, but the second Y-axis track (6B) is not coupled to the first X-axis track. This advantageously reduces the size of the movement system (M1) compared to the case where the second Y-axis track (6B) is coupled to the second X-axis track.

[0292] In the control method according to the second aspect which can be implemented in conjunction with the first aspect, the movement control process includes causing at least a portion of the movable range (R10A) of the first power transmitter (8A) to overlap with at least a portion of the movable range (R10B) of the second power transmitter (8B).

[0293] This method allows electrical energy to be advantageously transmitted to two power receiving terminals (9) arranged close to each other.

[0294] In the control method according to the third aspect, which can be implemented in conjunction with the second aspect, the movement control process includes moving the first power transmission coil (81A) and the second power transmission coil (81B) to their respective initial positions when the movement system (M1) is energized. The combined range (R10), defined by combining the movable range (R10A) of the first power transmission coil (81A) with the movable range (R10B) of the second power transmission coil (81B), has a square or rectangular shape. When the first power transmission coil (81A) and the second power transmission coil (81B) are in their respective initial positions, the first power transmission coil (81A) and the second power transmission coil (81B) are arranged diagonally opposite each other within the combined range (R10). Alternatively, when the first power transmission coil (81A) and the second power transmission coil (81B) are in their respective initial positions, the first power transmission coil (81A) and the second power transmission coil (81B) are arranged adjacent to each other, and at least one of the first power transmission coil (81A) or the second power transmission coil (81B) is arranged to be adjacent to or overlap with the center (R101) of the combined range (R10). Alternatively, when the first power transmission coil (81A) and the second power transmission coil (81B) are in their respective initial positions, the first power transmission coil (81A) and the second power transmission coil (81B) are arranged such that one of the first power transmission coil (81A) or the second power transmission coil (81B) is adjacent to or overlaps with the center (R101) of the combined range (R10), and the other of the first power transmission coil (81A) or the second power transmission coil (81B) is adjacent to the vertex (R102) of the combined range (R10).

[0295] This method allows the power transmission coil (81) to be advantageously and quickly moved to a position, for example, where the power transmission coil (81) faces the power receiving coil (91).

[0296] In a control method that can be implemented in conjunction with the second or third aspect according to the fourth aspect, the movement control process includes selecting, based on the position of the power receiving coil (91) detected by the position detection process, a power transmission coil (81) to be moved to a position facing the power receiving coil (91) from a group including a first power transmission coil (81A) and a second power transmission coil (81B).

[0297] This method allows the power transmission coil (81) to be advantageously and quickly moved to a position, for example, where the power transmission coil (81) faces the power receiving coil (91).

[0298] In the control method implemented according to the fifth aspect in conjunction with the fourth aspect, it is assumed that: the two sides of the X-axis direction are the left and right sides, respectively; the first Y-axis track (6A) is set to the left of the second Y-axis track (6B); and when the first Y-axis track (6A) is set at the left end of the movable range of the first Y-axis track (6A) and the second Y-axis track (6B) is set at the right end of the movable range of the second Y-axis track (6B), the midpoint between the first Y-axis track (6A) and the second Y-axis track (6B) is defined as a reference point. In this case, the control method includes: if the power receiving coil (91) is set to the left of the reference point, moving the first power transmitting coil (81A) to a position facing the power receiving coil (91). The control method includes: if the power receiving coil (91) is set to the right of the reference point, moving the second power transmitting coil (81B) to a position facing the power receiving coil (91).

[0299] This method allows the power transmission coil (81) to be advantageously and quickly moved to a position, for example, where the power transmission coil (81) faces the power receiving coil (91).

[0300] In the control method according to the sixth aspect, which can be implemented in conjunction with the fifth aspect, the power receiving coil (91) is a first power receiving coil (91A). The position detection process includes further detecting the position of a second power receiving coil (91B) disposed separately from the first power receiving coil (91A). Assuming that electrical energy is transferred from either the first power transmission coil (81A) or the second power transmission coil (81B) to the first power receiving coil (91A), the position detection process detects the position of the second power receiving coil (91B). In this case, if the second power receiving coil (91B) is disposed to the right of the first power receiving coil (91A), the movement control process includes transferring electrical energy from the first power transmission coil (81A) to the first power receiving coil (91A) and also transferring electrical energy from the second power transmission coil (81B) to the second power receiving coil (91B). Assuming that when electrical energy is transferred from the first power transmission coil (81A) or the second power transmission coil (81B) to the first power receiving coil (91A), the position of the second power receiving coil (91B) is detected by the position detection process. In this case, if the second power receiving coil (91B) is located to the left of the first power receiving coil (91A), the movement control process includes transferring electrical energy from the first power transmission coil (81A) to the second power receiving coil (91B), and also transferring electrical energy from the second power transmission coil (81B) to the first power receiving coil (91A).

[0301] This method advantageously reduces the chance of interference between the first power transmission coil (81A) and the second power transmission coil (81B).

[0302] In the control method implemented according to the seventh aspect, which can be combined with any of the second to sixth aspects, it is assumed that the two sides in the X-axis direction are the left and right sides, respectively, and the first Y-axis track (6A) is set to the left of the second Y-axis track (6B). It is assumed that the distance from a first centerline (600A) extending in the Y-axis direction through the center (801A) of the first Y-axis track (6A) to the right end of the first Y-axis track (6A) is defined as a first distance Wa; the distance from a second centerline (600B) extending in the Y-axis direction through the center (801B) of the second Y-axis track (6B) to the left end of the second Y-axis track (6B) is a second distance Wb; and the distance between the first centerline (600A) and the second centerline (600B) is defined as distance La. In this case, the movement control process includes controlling the movement of at least one of the first power transmitter (8A) or the second power transmitter (8B) to satisfy La ≥ Wa + Wb.

[0303] This method advantageously reduces interference between the first Y-axis track (6A) and the second Y-axis track (6B).

[0304] In the control method implemented according to the eighth aspect in conjunction with the seventh aspect, it is assumed that: when a first protrusion is provided protruding to the right from the first Y-axis track (6A), the distance from the first centerline (600A) to the right end of the first protrusion is defined as a third distance Wc; and when a second protrusion is provided protruding to the left from the second Y-axis track (6B), the distance from the second centerline (600B) to the left end of the second protrusion is defined as a fourth distance Wd. In this case, the movement control process includes controlling the movement of at least one of the first power transmitter (8A) or the second power transmitter (8B) to satisfy La≥Wc+Wd.

[0305] This method advantageously reduces interference between the first and second protrusions and the Y-axis track (6).

[0306] In the control method according to the ninth aspect, which can be implemented in conjunction with the seventh or eighth aspect, it is assumed that: the distance from the first centerline (600A) to the right end of the first power transmitter (8A) is defined as distance Ta; the distance from the second centerline (600B) to the left end of the second power transmitter (8B) is defined as distance Tb; the width of the first power transmitter (8A), as measured in the Y-axis direction, is defined as width Sa; the width of the second power transmitter (8B), as measured in the Y-axis direction, is defined as width Sb; and the distance between the center (801A) of the first power transmitter (8A) and the center (801B) of the second power transmitter (8B), measured in the Y-axis direction, is defined as distance Lb. In this case, the movement control process includes controlling the movement of at least one of the first power transmitter (8A) or the second power transmitter (8B) to satisfy at least one of the following: La ≥ Ta + Tb; or 2Lb ≥ Sa + Sb.

[0307] This method advantageously reduces interference between the first power transmitter (8A) and the second power transmitter (8B).

[0308] In the control method according to the tenth aspect, which can be implemented in conjunction with any of the seventh to ninth aspects, the first power transmitter (8A) has a circular shape with a radius of Ra. The second power transmitter (8B) has a circular shape with a radius of Rb. It is assumed that the distance measured in the Y-axis direction between the center (801A) of the first power transmitter (8A) and the center (801B) of the second power transmitter (8B) is defined as distance Lb; and the distance measured in the X-axis direction between the center (801A) of the first power transmitter (8A) and the center (801B) of the second power transmitter (8B) is distance Lc. In this case, the movement control process includes controlling the movement of at least one of the first power transmitter (8A) or the second power transmitter (8B) to satisfy Lc. 2 +Lb 2 ≥(Ra+Rb) 2 .

[0309] This method advantageously reduces interference between the first power transmitter (8A) and the second power transmitter (8B).

[0310] In the control method according to the eleventh aspect, which can be implemented in combination with any of the seventh to tenth aspects, the first power transmitter (8A) has a circular shape with a radius of Ra. The second power transmitter (8B) has a circular shape with a radius of Rb. It is assumed that the distance measured in the Y-axis direction between the center (801A) of the first power transmitter (8A) and the center (801B) of the second power transmitter (8B) is defined as distance Lb. In this case, if the negative side of the X-axis direction is the left side, the first Y-axis track (6A) is set to the left of the second Y-axis track (6B), the center (801A) of the first power transmission coil (81A) is offset by a positive offset Pa relative to the first center line (600A) in the X-axis direction, and the center (801B) of the second power transmission coil (81B) is offset by a negative offset Pb relative to the second center line (600B) in the X-axis direction. The movement control process includes controlling the movement of at least one of the first power transmitter (8A) or the second power transmitter (8B) to satisfy (La-Pa+Pb). 2 +Lb 2 ≥(Ra+Rb) 2 .

[0311] This method advantageously reduces interference between the first power transmitter (8A) and the second power transmitter (8B).

[0312] In the control method according to the twelfth aspect, which can be implemented in conjunction with any of the first to eleventh aspects, the power receiving coil (91) is a first power receiving coil (91A). The position detection process includes further detecting the position of a second power receiving coil (91B) disposed separately from the first power receiving coil (91A). The control method further includes: executing a stop process to stop the transmission of electrical energy from the first power receiving coil (81A) when the position detection process, which is performed when electrical energy is transmitted from the first power transmitting coil (81A) to the first power receiving coil (91A), detects that the second power receiving coil (91B) is placed within a predetermined power transmission area (800A) of the first power transmitting coil (81A); executing a warning process to warn the user when the stop process is executed; and executing a first recovery process, which includes: after the stop process has been executed, when only the first power receiving coil (91A) or the second power receiving coil (91B) is placed within the power transmission area (800A) of the first power transmitting coil (81A), recovering the transmission of electrical energy from the first power receiving coil (91A). (81A) Transmitting electrical energy; and performing a second recovery process, which includes: moving the first power transmission coil (81A) away from the second power receiving coil (91B) and moving the second power transmission coil (81B) to a position facing the second power receiving coil (91B) to transmit electrical energy from the first power transmission coil (81A) to the first power receiving coil (91A), and also transmitting electrical energy from the second power transmission coil (81B) to the second power receiving coil (91B) when both the first power receiving coil (91A) and the second power receiving coil (91B) are placed within the power transmission area (800A) of the first power transmission coil (81A) after a predetermined amount of time has elapsed since the execution of the stop process.

[0313] According to this method, having the user remove the second power receiving coil (91B) in response to a warning process allows electrical energy to be continuously transferred to the first power receiving coil (91A) even without moving the first power transmitting coil (81A). This advantageously reduces the chance of a decrease in the efficiency of power transfer from the first power transmitting coil (81A) to the first power receiving coil (91A) due to the movement of the first power transmitting coil (81A) during the second recovery process. Simultaneously, this also advantageously increases the chance of power being transferred to the second power receiving coil (91B) compared to the case where the second recovery process is not performed.

[0314] In the control method according to the thirteenth aspect, which can be implemented in conjunction with any of the first to twelfth aspects, the power receiving coil (91) is a first power receiving coil (91A). The position detection process includes further detecting the position of a second power receiving coil (91B) disposed separately from the first power receiving coil (91A). The control method further includes: executing a stop process to stop the transmission of electrical energy from the second power receiving coil (81B) when the position detection process, which is performed when electrical energy is transmitted from the second power transmitting coil (81B) to the first power receiving coil (91A), detects that the second power receiving coil (91B) is placed within a predetermined power transmission area (800B) of the second power transmitting coil (81B); when the stop process is executed, executing a warning process to warn the user; and after the stop process has been executed, executing a first recovery process, which includes resuming the transmission of electrical energy from the second power transmitting coil (91A) when only the first power receiving coil (91A) or the second power receiving coil (91B) is placed within the power transmission area (800B) of the second power transmitting coil (81B). 81B) transmits electrical energy; and performs a second recovery process, which includes moving the second power transmission coil (81B) away from the second power receiving coil (91B) and moving the first power transmission coil (81A) to a position where the first power transmission coil (81A) faces the second power receiving coil (91B) to transmit electrical energy from the second power transmission coil (81B) to the first power receiving coil (91A), and also transmitting electrical energy from the first power transmission coil (81A) to the second power receiving coil (91B) when a predetermined amount of time has elapsed since the execution of the stop process, and when both the first power receiving coil (91A) and the second power receiving coil (91B) are placed within the power transmission area (800A) of the second power transmission coil (81B).

[0315] According to this method, having the user remove the second power receiving coil (91B) in response to a warning process allows electrical energy to be continuously transferred to the first power receiving coil (91A) even without moving the second power transmitting coil (81B). This advantageously reduces the chance of a decrease in the efficiency of transferring electrical energy from the second power transmitting coil (81B) to the first power receiving coil (91A) due to the movement of the second power transmitting coil (81B) during the second recovery process. At the same time, this also advantageously increases the chance of transferring electrical energy to the second power receiving coil (91B) compared to the case where the second recovery process is not performed.

[0316] In the control method implemented according to the fourteenth aspect in combination with any one of the first to thirteenth aspects, the control method further includes a display process, the display process including causing a display device (211) to display at least one of the following: the position of the first power transmission coil (81A), the position of the second power transmission coil (81B), the power transmittable area (210) of each of the first power transmission coil (81A) and the second power transmission coil (81B), or a recommended area recommended as the place where the power receiving terminal (9) is placed.

[0317] This method advantageously makes it easier for users to decide where to place the power receiving terminal (9).

[0318] In the control method according to the fifteenth aspect, which can be implemented in conjunction with any of the first to fourteenth aspects, one end (121) of the cable (12) is connected to the first power transmitter (8A). The cable (12) includes a fixed portion (122) whose position relative to the housing (2) housing the Y-axis track is fixed. The movement control process includes, when the first Y-axis track (6A) needs to move away from the fixed portion (122) along the X-axis track (4) and the first power transmitter (8A) needs to move in the Y-axis direction, causing the first Y-axis track (6A) to move away from the fixed portion (122) along the X-axis track (4) after the first power transmitter (8A) has already moved in the Y-axis direction. The motion control process includes, when the first Y-axis track (6A) needs to move along the X-axis track (4) toward the fixed part (122) and the first power transmitter (8A) needs to move in the Y-axis direction, such that the first Y-axis track (6A) moves along the X-axis track (4) toward the fixed part (122) before moving the first power transmitter (8A) in the Y-axis direction.

[0319] This method advantageously reduces wear on the cable (12).

[0320] In the control method according to the sixteenth aspect, which can be implemented in conjunction with any of the first to fifteenth aspects, the control method further includes a process of rotating the first power transmission coil (81A) about a central axis (822) perpendicular to the X-axis and Y-axis directions relative to a first Y-axis track (6A). The central axis (822) is located at different points from the center (801A) of the first power transmission coil (81A).

[0321] This scheme expands the power transferable area (210) of the power transfer coil (81).

[0322] Note that the features described in aspects two through sixteen are not essential features of the control method, but can be omitted as appropriate.

[0323] The procedure according to the seventeenth aspect is designed to cause one or more processors of a computer system to execute the control method according to any one of the first to sixteenth aspects.

[0324] This program achieves the same advantages as the first aspect.

[0325] Note that these are not the only aspects of this disclosure, but various configurations (including variations) of the wireless power transmission system (1) according to the exemplary embodiments described above can also be implemented as, for example, a control method, a (computer) program, or a non-transitory storage medium on which a program is stored.

[0326] Reference tag list 2. Shell 4 X-axis tracks 6A First Y-axis track 6B Second Y-axis track 8A First Power Transmitter 8B Second Power Transmitter 9 Power receiving terminal 12 cables 81A First Power Transmission Coil 81B Second Power Transfer Coil 91 Power receiving coil 91 First power receiving coil 91B Second Power Receiver Coil 121 One end 122 Fixed part 210 Power Transmittable Area 211 Display device 600A First Centerline 600B Second Centerline 800A power transferable area 800A power transferable area 801A Center 801B Center 822 Central Axis M1 Mobile System R10 Combination Range R10A Movable Range R10B Movable Range R101 Center R102 Vertex

Claims

1. A control method for controlling a mobile system, the mobile system being configured to move a first power transmitter including a first power transmission coil and a second power transmitter including a second power transmission coil, the first power transmission coil being configured to transmit electrical energy to a power receiving coil included in a power receiving terminal, and the second power transmission coil being configured to transmit electrical energy to the power receiving coil. The control method includes: Position detection processing includes detecting the position of the power receiving coil; as well as The motion control process includes performing control on the motion system to move at least one of the first power transmission coil or the second power transmission coil based on the position of the power receiving coil detected by the position detection process. The movement control process includes: when the position of a single power receiving coil has been detected by the position detection process, moving the first power transmitting coil or the second power transmitting coil to a position where the first power transmitting coil or the second power transmitting coil faces the single power receiving coil. The first power transmitter is movably coupled to a first Y-axis track extending in the Y-axis direction. The second power transmitter is movably coupled to a second Y-axis track extending in the Y-axis direction. The first Y-axis track and the second Y-axis track are movably coupled to an X-axis track extending in the X-axis direction intersecting the Y-axis direction. The motion control process includes: The first process includes moving the first Y-axis track along the X-axis track; The second process includes moving the first power transmitter along the first Y-axis track. The third process includes causing the second Y-axis track to move along the X-axis track independently of the movement of the first Y-axis track; and The fourth process includes moving the second power transmitter along the second Y-axis track.

2. The control method according to claim 1, wherein, The motion control process includes: causing at least a portion of the movable range of the first power transmitter to overlap with at least a portion of the movable range of the second power transmitter.

3. The control method according to claim 2, wherein, The motion control process includes the following steps: when the motion system is powered on, the first power transmission coil and the second power transmission coil are moved to their respective initial positions. The combined range defined by combining the movable range of the first power transmission coil with the movable range of the second power transmission coil has a square or rectangular shape, and When the first power transfer coil and the second power transfer coil are at their respective initial positions: The first power transfer coil and the second power transfer coil are arranged at positions diagonally opposite each other within the combined range; or The first power transmission coil and the second power transmission coil are arranged adjacent to each other, and at least one of the first power transmission coil or the second power transmission coil is arranged to be adjacent to or overlap with the center of the combined range; or The first power transmission coil and the second power transmission coil are arranged such that one of the first power transmission coil or the second power transmission coil is adjacent to or overlaps with the center of the combined range, and the other of the first power transmission coil or the second power transmission coil is adjacent to the vertex of the combined range.

4. The control method according to claim 2 or 3, wherein, The movement control process includes: selecting, based on the position of the power receiving coil detected by the position detection process, a power transmission coil to be moved to a position facing the power receiving coil from the group including the first power transmission coil and the second power transmission coil.

5. The control method according to claim 4, wherein, Assumptions: The two sides of the X-axis direction are the left and right sides, respectively, and the first Y-axis track is set to the left of the second Y-axis track; and When the first Y-axis track is positioned at the left end of its movable range and the second Y-axis track is positioned at the right end of its movable range, the midpoint between the first and second Y-axis tracks is the reference point. The control method includes: When the power receiving coil is positioned to the left of the reference point, the first power transmitting coil is moved to a position where the first power transmitting coil faces the power receiving coil; as well as When the power receiving coil is positioned to the right of the reference point, the second power transmitting coil is moved to a position where the second power transmitting coil faces the power receiving coil.

6. The control method according to claim 5, wherein, The power receiving coil is the first power receiving coil. The position detection process includes: further detecting the position of a second power receiving coil that is separately positioned from the first power receiving coil. When the position of the second power receiving coil is detected by the position detection process, electrical energy is transferred from either the first power transmitting coil or the second power transmitting coil to the first power receiving coil. The motion control process includes: When the second power receiving coil is positioned to the right of the first power receiving coil, electrical energy is transferred from the first power transmitting coil to the first power receiving coil, and also from the second power transmitting coil to the second power receiving coil; and When the second power receiving coil is positioned to the left of the first power receiving coil, electrical energy is transferred from the first power transmitting coil to the second power receiving coil, and also from the second power transmitting coil to the first power receiving coil.

7. The control method according to any one of claims 2 to 6, wherein, Assumptions: The two sides of the X-axis direction are the left and right sides, respectively, and the first Y-axis track is set to the left of the second Y-axis track; The distance from the first center line extending in the Y-axis direction through the center of the first Y-axis track to the right end of the first Y-axis track is defined as the first distance Wa; The second distance Wb is the distance from the second center line extending in the Y-axis direction through the center of the second Y-axis track to the left end of the second Y-axis track; and The distance between the first centerline and the second centerline is defined as distance La. The movement control process includes controlling the movement of at least one of the first power transmitter or the second power transmitter to satisfy La≥Wa+Wb.

8. The control method according to claim 7, wherein, Assumption: When a first protrusion is provided that extends to the right from the first Y-axis track, the distance from the first centerline to the right end of the first protrusion is defined as the third distance Wc; and When a second protrusion is provided that projects to the left from the second Y-axis track, the distance from the second centerline to the left end of the second protrusion is defined as the fourth distance Wd. The movement control process includes controlling the movement of at least one of the first power transmitter or the second power transmitter to satisfy La≥Wc+Wd.

9. The control method according to claim 7 or 8, wherein, Assumption: The distance from the first centerline to the right end of the first power transmitter is defined as distance Ta; The distance from the second center line to the left end of the second power transmitter is defined as distance Tb; The width of the first power transmitter, measured in the Y-axis direction, is defined as width Sa; The width of the second power transmitter, measured in the Y-axis direction, is defined as width Sb; and The distance between the center of the first power transmitter and the center of the second power transmitter, measured in the Y-axis direction, is defined as distance Lb. The movement control process includes controlling the movement of at least one of the first power transmitter or the second power transmitter to satisfy at least one of the following: La≥Ta+Tb; or 2Lb≥Sa+Sb.

10. The control method according to any one of claims 7 to 9, wherein, The first power transmitter has a circular shape with a radius of Ra. The second power transmitter has a circular shape with a radius of Rb. Assumption: The distance between the center of the first power transmitter and the center of the second power transmitter, measured in the Y-axis direction, is defined as distance Lb; and The distance Lc, measured along the X-axis, between the center of the first power transmitter and the center of the second power transmitter. The movement control process includes controlling the movement of at least one of the first power transmitter or the second power transmitter to satisfy Lc 2 +Lb 2 ≥(Ra+Rb) 2 .

11. The control method according to any one of claims 7 to 10, wherein, The first power transmitter has a circular shape with a radius of Ra. The second power transmitter has a circular shape with a radius of Rb. Assumption: The distance between the center of the first power transmitter and the center of the second power transmitter, measured in the Y-axis direction, is defined as distance Lb. When the negative side of the X-axis direction is the left side, the first Y-axis track is set to the left of the second Y-axis track. The center of the first power transmission coil is offset relative to the first center line in the X-axis direction by a positive offset of Pa. The center of the second power transmission coil is offset by a negative offset Pb relative to the second center line in the X-axis direction, and The movement control process includes controlling the movement of at least one of the first power transmitter or the second power transmitter to satisfy (La - Pa + Pb). 2 +Lb 2 ≥(Ra+Rb) 2 .

12. The control method according to any one of claims 1 to 11, wherein, The power receiving coil is the first power receiving coil. The position detection process includes: further detecting the position of a second power receiving coil that is separately positioned from the first power receiving coil, and The control method further includes: By performing the position detection process when electrical energy is transferred from the first power transmission coil to the first power receiving coil, when it is detected that the second power receiving coil is placed within a predetermined power transmission area of ​​the first power transmission coil, a stop process is performed to stop the transfer of electrical energy from the first power transmission coil. When the stop process is executed, a warning is issued to the user. Perform a first recovery process, the first recovery process comprising: after the stop process has been performed, when only the first power receiving coil or the second power receiving coil is placed within the power transmission area of ​​the first power transmitting coil, resuming the transmission of electrical energy from the first power transmitting coil; and Perform a second recovery process, the second recovery process comprising: moving the first power transmission coil away from the second power receiving coil, and moving the second power transmission coil to a position facing the second power receiving coil to transfer electrical energy from the first power transmission coil to the first power receiving coil, and also transferring electrical energy from the second power transmission coil to the second power receiving coil when both the first power receiving coil and the second power receiving coil are placed within the power transmission area of ​​the first power transmission coil after a predetermined amount of time has elapsed since the stop process was performed.

13. The control method according to any one of claims 1 to 12, wherein, The power receiving coil is the first power receiving coil. The position detection process includes: further detecting the position of a second power receiving coil that is separately positioned from the first power receiving coil, and The control method further includes: By performing the position detection process when electrical energy is transferred from the second power transmission coil to the first power receiving coil, a stop process is performed to stop the transfer of electrical energy from the second power transmission coil when it is detected that the second power receiving coil is placed within a predetermined power transmission area of ​​the second power transmission coil. When the stop process is executed, a warning is issued to the user. Perform a first recovery process, the first recovery process comprising: after the stop process has been performed, when only the first power receiving coil or the second power receiving coil is placed within the power transmission area of ​​the second power transmitting coil, resuming the transmission of electrical energy from the second power transmitting coil; and Perform a second recovery process, the second recovery process comprising: moving the second power transmission coil away from the second power receiving coil, and moving the first power transmission coil to a position facing the second power receiving coil to transfer electrical energy from the second power transmission coil to the first power receiving coil, and also transferring electrical energy from the first power transmission coil to the second power receiving coil when both the first power receiving coil and the second power receiving coil are placed within the power transmission area of ​​the second power transmission coil after a predetermined amount of time has elapsed since the stop process was performed.

14. The control method according to any one of claims 1 to 13, wherein, The control method further includes a display process, which includes causing a display device to display at least one of the following: the location of the first power transmission coil, the location of the second power transmission coil, the respective power transmittable power regions of the first power transmission coil and the second power transmission coil, and a recommended area recommended as the location where the power receiving terminal is placed.

15. The control method according to any one of claims 1 to 14, wherein, One end of the cable is connected to the first power transmitter. The cable includes a fixed portion, the fixed portion being fixed in position relative to the housing accommodating the Y-axis track, and The motion control process includes: When the first Y-axis track needs to move away from the fixed portion along the X-axis track and the first power transmitter needs to move in the Y-axis direction, the first Y-axis track moves away from the fixed portion along the X-axis track after the power transmitter has already moved in the Y-axis direction; and When the first Y-axis track needs to move along the X-axis track toward the fixed portion and the first power transmitter needs to move in the Y-axis direction, the first Y-axis track moves along the X-axis track toward the fixed portion before the first power transmitter moves in the Y-axis direction.

16. The control method according to any one of claims 1 to 15, wherein, The control method further includes the following process: causing the first power transmission coil to rotate relative to the first Y-axis track about a central axis perpendicular to the X-axis and the Y-axis, wherein the central axis is set at a point different from the center of the first power transmission coil.

17. A computer system-readable program, The program is designed to cause one or more processors of the computer system to execute the control method according to any one of claims 1 to 16.

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