Contactless power supply system, power transmission device, and power receiving device

Abstract

To provide a technique that ensures sufficient charging capability in a limited power transmission path in contactless power supply.SOLUTION: A contactless power supply system 10c includes a power transmission device 200, a plurality of travel paths 300c each including a power transmission path 310 and a non-power transmission path 320, and a power supply management unit 400c. A moving body 100 travels on the travel path and includes a power receiving unit, a battery, a battery sensor, and a first control device. The power supply management unit includes a first control unit that generates power supply information. The power supply information is power supply information for controlling the travel and power reception on the power transmission path of the moving body and includes a first travel speed on a route at which the moving body traveling at a second travel speed should travel on the path. The first control unit calculates a third traveling speed for charging the moving body on the route as the first traveling speed, and transmits the third traveling speed to the moving body.SELECTED DRAWING: Figure 19

Description

[Technical field]

[0001] The present disclosure relates to a contactless power supply system, a power transmitting device, and a power receiving device. [Background technology]

[0002] For vehicles that receive power in a contactless manner, there is a technology for supplying power while the vehicle is traveling by installing a power supply line in a part of the travel route, as in Patent Document 1. A vehicle equipped with a power receiving device receives power from a power transmitting device when traveling on a power transmission line equipped with a power transmitting device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-45013 Summary of the Invention [Problem to be solved by the invention]

[0004] In a non-contact power supply system using a power transmission line, the length of the power transmission line is finite, so the time that a vehicle can travel on the power transmission line is also limited. Therefore, there are cases where the amount of charge required by the vehicle cannot be secured while traveling on the power transmission line. In such cases, for example, an AGV used in a factory must supply power while stopped, and therefore cannot perform work during that time. In other words, the operating rate of the AGV decreases. Therefore, measures must be taken to install a large-capacity battery in order to extend the operating time of the AGV.

[0005] Therefore, there has been a demand for a technology that can ensure a sufficient amount of charge on a limited power transmission line using a non-contact power supply method, which would prevent the decline in vehicle operation rate due to charging time and eliminate the need for large-capacity batteries. [Means for solving the problem]

[0006] The present disclosure can be realized in the following forms.

[0007] According to a first embodiment of the present disclosure, there is provided a contactless power supply system (10, 10a, 10b, 10c, 10d, 10e) that contactlessly supplies power to a moving object (100, 100a, 100b).The contactless power supply system includes a power transmission device (200) that transmits power for the power supply to the moving body, one or more power transmission paths (310) through which power is transmitted by the power transmission device, and one or more non-power transmission paths (320) other than the one or more power transmission paths, and a power supply management unit (400, 400a, 400b, 400c) that controls the contactless power supply system. The moving body travels on any of the plurality of travel paths, and includes a power receiving unit (110) that receives the power from the power transmission device, and a predetermined The power transmission device includes a battery (120) that can be charged with a supply power (P), a battery sensor (130) that acquires a remaining capacity (Wb) of the battery, a first communication unit (140) that communicates with the power supply management unit, and a first control device (150) that controls the mobile body. The power transmission device includes one or more power transmission coils (220) provided on the one or more power transmission paths, and a power source (210) that outputs the supply power (P) to the mobile body traveling on the one or more power transmission paths via the power transmission coils. The power supply management unit includes a first control unit (40) that generates power supply information (Dc). The mobile unit or the power supply management unit includes a third control unit (411y) that calculates a required amount of power (Ws) of the battery based on the remaining amount, and the power supply information is the power supply information for controlling the traveling of the mobile unit on the one or more power transmission paths and the power reception by the first control device, and includes at least the power supply information on a route that is predetermined as each of the one or more power transmission paths, or a route that combines the one or more non-power transmission paths and the one or more power transmission paths. the first control unit calculates a third travel speed (V_com) as the first travel speed, which is a third travel speed at which the moving body on the path is to charge the requested amount of power as the first travel speed, based on one or more pieces of predetermined power reception information regarding the power supply capacity of the one or more power transmission lines and the requested amount of power, and transmits the third travel speed to the moving body via the second communication unit.

[0008] By adopting such an embodiment, the mobile body travels along the course at the third traveling speed V_com according to the change in the battery's required power amount and the power reception information. For example, the power reception information is the supply power and the length of the power transmission line. Therefore, the power received by the mobile body depends on the traveling speed. Therefore, the mobile body charges the required power amount according to the change in the remaining amount of the battery by traveling at the third traveling speed transmitted from the power supply management unit. Therefore, the contactless power supply system can prevent the mobile body from stopping due to a lack of the remaining amount, thereby preventing a decrease in the operating rate of the mobile body.

[0009] According to a second aspect of the present disclosure, there is provided a power transmission device for a contactless power supply system that supplies power to a moving body in a contactless manner. The power transmission device includes a power transmission device that transmits power to the moving body for the power supply, one or more power transmission paths through which power is transmitted by the power transmission device, and one or more non-power transmission paths other than the one or more power transmission paths; and a power supply management unit that controls the contactless power supply system, wherein the mobile body travels on any of the plurality of travel paths and comprises a power receiving unit that receives the power from the power transmission device, a battery that can be charged with a predetermined supply power as the power, a battery sensor that acquires a remaining amount of the battery as an amount of power, a first communication unit that communicates with the power supply management unit, and a first control device that controls the mobile body, wherein the power transmission device comprises one or more power transmission coils provided on the one or more power transmission paths, and a power source that outputs the supply power to the mobile body traveling on the one or more power transmission paths via the power transmission coil, and the power supply management unit comprises a first control unit that generates power supply information necessary for the travel of the mobile body, and a second communication unit that communicates with the first communication unit, and the mobile body or the power supply management unit calculates a required amount of power of the battery based on the remaining amount. the power supply information is the power supply information for controlling the traveling of the moving body on the one or more power transmission lines and the power reception by the first control device, and includes at least a first traveling speed on a route predetermined as each of the one or more power transmission lines, or a route combining the one or more non-power transmission lines and the one or more power transmission lines, at which the moving body traveling on each of the one or more non-power transmission lines at a predetermined second traveling speed should travel on the route, and the first control unit calculates the third traveling speed as the first traveling speed, which is a third traveling speed at which the moving body on the route charges the required amount of power, based on one or more pieces of power reception information predetermined regarding the power supply capacity of the one or more power transmission lines and the required amount of power, and transmits the third traveling speed to the moving body via the second communication unit.

[0010] By adopting such an embodiment, the mobile body travels along the course at a third travel speed according to the change in the battery's required power amount and the power reception information. For example, the power reception information is the supply power and length of the power transmission line. Therefore, the power received by the mobile body depends on the travel speed. Therefore, the mobile body charges the required power amount according to the change in the remaining amount of the battery by traveling at the third travel speed transmitted from the power supply management unit. Therefore, the power transmission device can prevent the mobile body from stopping due to a lack of the remaining amount, thereby preventing a decrease in the operating rate of the mobile body.

[0011] According to a third aspect of the present disclosure, there is provided a power receiving device of a contactless power supply system that supplies power to a moving body in a contactless manner. The power receiving device is provided on the moving body, and the contactless power supply system includes a power transmitting device that transmits power to the moving body for the power supply, a plurality of travel paths including one or more power transmission paths through which power is transmitted by the power transmitting device, and one or more non-power transmission paths other than the one or more power transmission paths, and a power supply management unit that controls the contactless power supply system, and the moving body travels on any of the plurality of travel paths, and the power receiving device includes a power receiving unit that receives the power from the power transmitting device, and a predetermined supply power as the power. a battery that can be charged by a power source, a battery sensor that acquires a remaining amount of the battery as an amount of electric power, a first communication unit that communicates with the power supply management unit, and a first control device that controls the moving body, wherein the power transmission device includes one or more power transmission coils provided on the one or more power transmission paths, and a power source that outputs the supply power to the moving body traveling on the one or more power transmission paths via the power transmission coils, and the power supply management unit includes a first control unit that generates power supply information necessary for the traveling of the moving body, and a power supply unit that communicates with the first communication unit. and a second communication unit that receives the remaining amount from the mobile body and calculates the amount of power required by the battery based on the remaining amount, and the mobile body or the power supply management unit includes a third control unit that receives the remaining amount from the mobile body and calculates the amount of power required by the battery based on the remaining amount, and the power supply information is the power supply information for controlling the traveling of the mobile body on the one or more power transmission lines and the power reception by the first control device, and includes at least a first traveling speed on a route that is predetermined as each of the one or more power transmission lines, or a route combining the one or more non-power transmission lines and the one or more power transmission lines, and includes a first traveling speed at which the mobile body, which travels on each of the one or more non-power transmission lines at a predetermined second traveling speed, should travel on the route, and the first control unit calculates the third traveling speed as the first traveling speed, which is a third traveling speed at which the mobile body on the route charges the required amount of power, based on one or more pieces of power reception information predetermined regarding the power supply capacity of the one or more power transmission lines and the required amount of power, and transmits the third traveling speed to the mobile body via the second communication unit.

[0012] By adopting such an embodiment, the mobile body travels along the course at a third travel speed according to the change in the battery's required power amount and the power reception information. For example, the power reception information is the supply power and length of the power transmission line. Therefore, the power received by the mobile body depends on the travel speed. Therefore, the mobile body charges the required power amount according to the change in the remaining amount of the battery by traveling at the third travel speed transmitted from the power supply management unit. Therefore, the power receiving device can prevent the mobile body from stopping due to a lack of the remaining amount, thereby preventing a decrease in the operating rate of the mobile body. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is an explanatory diagram showing a schematic configuration of a contactless power supply system according to a first embodiment. [Diagram 2] FIG. 2 is a block diagram showing the configuration of a moving object and a power transmitting device. [Diagram 3] FIG. 4 is a block diagram showing the functional configuration of a power supply management unit. [Figure 4] 4 is a flowchart showing a power supply process when traveling on one power transmission path. [Diagram 5] 6 is a flowchart showing a power supply process when traveling on a plurality of power transmission paths. [Figure 6] 6 is a flowchart showing a power supply process when traveling on the same power transmission line. [Figure 7] 6 is a flowchart showing a process for stopping power reception of a moving body. [Figure 8] FIG. 11 is an explanatory diagram showing a schematic configuration of a contactless power supply system according to a second embodiment. [Figure 9] FIG. 11 is a block diagram showing the functional configuration of a power supply management unit according to a second embodiment. [Figure 10] FIG. 11 is a block diagram showing the configuration of a moving object and a power transmitting device according to a second embodiment. [Figure 11] 6 is a flowchart showing a process of determining a route based on a predicted charging time and a charging rate. [Figure 12] 6 is a flowchart showing a process for selecting between stationary charging and moving charging. [Figure 13] FIG. 11 is an explanatory diagram showing the configuration of a contactless power supply system according to a third embodiment. [Figure 14] FIG. 11 is a block diagram showing the configuration of a moving object and a power transmitting device according to a third embodiment. [Figure 15] FIG. 13 is a block diagram showing the functional configuration of a power supply management unit according to a third embodiment. [Figure 16] FIG. 2 is an explanatory diagram showing the functional configuration of a process management section. [Figure 17] 13 is a flowchart of a process for contactless power supply in the third embodiment. [Figure 18] 11 is a flowchart of a process for changing the traveling speed on a non-powered line. [Figure 19] FIG. 13 is an explanatory diagram showing a schematic configuration of a contactless power supply system according to a fourth embodiment. [Figure 20] FIG. 13 is an explanatory diagram showing the functional configuration of a power supply management unit according to a fourth embodiment. [Figure 21] 10 is a flowchart showing a process of a contactless power supply system according to a fourth embodiment. [Figure 22] FIG. 13 is an explanatory diagram of a control interval according to the fourth embodiment. [Diagram 23] 13 is a flowchart showing a control according to a fifth embodiment. [Figure 24] 13 is a flowchart showing a control according to a sixth embodiment. [Diagram 25] FIG. 23 is an explanatory diagram of a control interval according to the seventh embodiment. [Figure 26] FIG. 23 is an explanatory diagram of a method for calculating a required amount of power in the eighth embodiment. [Figure 27] FIG. 23 is an explanatory diagram showing a schematic configuration of a contactless power supply system according to a tenth embodiment. [Figure 28] FIG. 23 is a block diagram showing the functional configuration of a process management unit according to a tenth embodiment. [Figure 29] 23 is a table showing power reception information according to the tenth embodiment. [Diagram 30] FIG. 23 is an explanatory diagram showing a schematic configuration of a contactless power supply system according to an eleventh embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] A. First embodiment: A1. Configuration of the wireless power supply system: 1 supplies power contactlessly to a moving body 100. For example, as shown in FIG 1, the contactless power supply system 10 supplies power contactlessly to an unmanned guided vehicle as the moving body 100 that transports a product Pr in a logistics warehouse. The contactless power supply system 10 includes the moving body 100, a power transmission device 200, a travel path 300, and a power supply management unit 400.

[0015] 2 transmits electric power to the moving body 100 for power supply. More specifically, the power transmitting device 200 supplies electric power to the moving body 100 including the power receiving coil 111 in a non-contact manner by a power transmitting coil 220 laid on a power transmission path 310 that is a part of a running path 300. The power transmitting coil 220 and the power receiving coil 111 transmit electric power in a non-contact manner by magnetic field resonance coupling. The power transmitting device 200 includes one or more power transmitting coils 220 and a power source 210. The running path 300 and the moving body 100 will be described in detail later.

[0016] The power source 210 outputs supply power P to the moving object 100 traveling on one or more power transmission paths. More specifically, the power source 210 outputs the supply power P as power required to charge the battery 120 of the moving object 100. The power source 210 is connected to one or more power transmitting coils 220.

[0017] The supply power P is the power that the power source 210 can supply as power for power supply. As described above, the contactless power supply system 10 transmits power in a contactless manner by magnetic resonance coupling between the power transmission coil 220 and the power receiving coil 111. Therefore, the supplied power varies depending on the relative positions of the power transmission device 200 including the power transmission coil 220 and the mobile body 100 including the power receiving coil 111. The supply power P is the average value of the power supplied from the power transmission device 200 to the mobile body 100 at each position on the power transmission path 310. The supply power P is a predetermined power, and information about the power supply P is stored in the RAM 413 of the power supply management unit 400 described later before contactless power supply is performed.

[0018] The power supply 210 is composed of, for example, a commercial AC power supply, a rectifier circuit, and an inverter. The commercial AC power supply is electrically connected to the rectifier circuit. The rectifier circuit is electrically connected to the inverter. The commercial AC power supply outputs AC power to the rectifier circuit as supply power P for charging the battery 120. The rectifier circuit converts the received AC power into DC power. The inverter converts the DC power output from the rectifier circuit into AC power of a frequency required for power transmission by the power transmitting coil 220.

[0019] The power transmission coil 220 transmits the power supplied from the power source 210 to the power receiving coil 111. More specifically, the power transmission coil 220 includes a capacitor and constitutes a resonant circuit. The power transmission coil 220 is a resonant circuit designed to have a resonant frequency of 85 kHz when electromagnetically coupled to the power receiving coil 111, for example. The power transmission coil 220 receives AC power of 85 kHz from the inverter by being connected to the inverter. The power transmission coil 220 generates an AC magnetic field by the AC power received from the inverter. The power receiving coil 111 described later is also a resonant circuit having the same resonant frequency as the power transmission coil 220 when electromagnetically coupled to the power transmission coil 220. Therefore, the power receiving coil 111 receives the supply power P by resonating with the AC magnetic field received from the power transmission coil 220. The power transmission coil 220 is provided in a predetermined section of one or more power transmission paths 310. The arrangement of the power transmitting coil 220 will be described in the explanation of the power transmitting line 310.

[0020] The travel path 300 is a path along which the moving body 100 travels. More specifically, when the moving body 100 is an automated guided vehicle, the travel path 300 is a work path of the automated guided vehicle. In an optically guided automated guided vehicle, the moving body 100 is guided by a guide tape, and therefore the travel path 300 is a guide tape. In FIG. 1, the path of the guide tape is shown as an example of the travel path 300. The travel path 300 is composed of one or more power transmission paths 310 that receive power transmission, and one or more non-power transmission paths 320 other than the one or more power transmission paths 310.

[0021] The power transmission path 310 receives power from the power transmitting device 200, thereby wirelessly supplying power to the moving object 100 while it is moving. That is, the power transmission path 310 is provided with one or more power transmission coils 220. As shown in the middle left part of Fig. 1, the power transmission coils 220 are arranged so that their centers C are located on the induction tape. That is, the power transmission path 310 is a section of the travel path 300 on which one or more power transmission coils 220 are arranged.

[0022] More specifically, the section of the power transmission path 310 is the length L of a path connecting the power transmission coils 220 at both ends of one or more power transmission coils 220 arranged at equal intervals on the induction tape. More specifically, this length L is a length connecting both ends of the range in which the power transmission coils 220 at both ends can transmit power along the running path 300. In FIG. 1, in order to facilitate understanding of the technology, the power transmission path 310 is divided into sections of the power transmission path 310 by dashed lines.

[0023] There are a plurality of sections of the power transmission path 310 in the contactless power supply system 10. A length L is set for each of the plurality of power transmission paths 310. The length L of the power transmission path 310 is set based on the number and spacing of the power transmission coils 220 according to the area in which the power transmission coils 220 can be laid and the traveling speed of the mobile body 100. The length L is a predetermined length, and is stored in the RAM 413 of the power supply management unit 400 described later before contactless power supply is performed.

[0024] A predetermined speed zone Vb for limiting the traveling speed of the mobile body 100 is set for each of the power transmission lines 310. This speed zone Vb is stored in the RAM 413 of the power supply management unit 400, which will be described later, before wireless power supply is performed.

[0025] The non-power transmission line 320 is a section of the travel path 300 other than the section of the power transmission line 310. The non-power transmission line 320 is not a section that does not receive power transmission from the power transmission device 200. In the non-power transmission line 320 near the power transmission line, the non-power transmission line 320 may be included in a range where power can be transmitted due to an AC magnetic field leaking from the power transmission line 310.

[0026] The moving body 100 travels on the travel path 300. More specifically, when the moving body 100 receives an instruction based on the power supply information Dc while traveling at a second travel speed V2 predetermined on each of the one or more non-power transmission paths 320, the moving body 100 travels on one of the one or more power transmission paths 310. When the moving body 100 does not receive a route command R as the power supply information Dc from the power supply management unit 400, the moving body 100 travels on a route on the travel path 300 that is predetermined. When the moving body 100 receives a route command R from the power supply management unit 400, which will be described later, the moving body 100 travels on a route that combines the power transmission path 310 and the non-power transmission path 320.

[0027] The second running speed V2 is a running speed set for the moving body 100 to run on the non-power transmission line 320. When the moving body 100 does not receive a command for the running speed, the moving body 100 runs at the second running speed V2 on the non-power transmission line 320. The second running speed V2 is stored in advance in the RAM 153 of the moving body 100, which will be described later, before non-contact power supply is performed. The second running speed V2 is also called a standard speed V2. The running speed of the moving body 100 on the power transmission line 310 is called a first running speed V1. A third running speed V_com, which will be described later, is a speed set by the power supply management unit 400 as the first running speed V1. This speed may not be uniform across the entire route, but may differ depending on each route.

[0028] The moving body 100 is, for example, an automated guided vehicle also called an AGV (Automatic Guided Vehicle). In Fig. 1, an optically guided automated guided vehicle is taken as an example of the moving body 100. That is, the moving body 100 runs along a guide tape on a running path 300. Furthermore, the moving body 100 runs on a power transmission path 310 while charging.

[0029] 2, the moving body 100 includes a power receiving unit 110, a battery 120, a battery sensor 130, a first communication unit 140, a first control device 150, a drive unit 160, and wheels 170. The configuration of the power receiving unit 110, the battery 120, the battery sensor 130, the first communication unit 140, and the first control device 150 is also referred to as a power receiving device.

[0030] The power receiving unit 110 receives power from the wireless power supply system 10. More specifically, the power receiving unit 110 wirelessly receives supply power P for charging the battery 120, which is transmitted from the power transmitting coil 220. Furthermore, the power receiving unit 110 charges the battery 120 with the received supply power P. The power receiving unit 110 includes a power receiving coil 111 and a charging circuit 112.

[0031] The receiving coil 111 receives the supply power P from the transmitting coil 220. More specifically, the receiving coil 111 includes a capacitor and constitutes a resonant circuit. The receiving coil 111 is a resonant circuit designed to have a resonant frequency of 85 kHz when electromagnetically coupled with the transmitting coil 220. The receiving coil 111 receives an AC magnetic field from the transmitting coil 220. The receiving coil 111 is connected to a charging circuit 112. Thus, the receiving coil 111 outputs AC power generated by an induced electromotive force generated by resonating with the AC magnetic field to the charging circuit 112.

[0032] The power receiving coil 111 is disposed at the bottom of the moving body 100. Furthermore, the power receiving coil 111 is disposed at the center in the width direction of the moving body 100. Because the moving body 100 runs on the induction tape, the power receiving coil 111 is disposed so as to be closer to the power transmitting coil 220 laid along the induction tape. Moreover, the power receiving coil 111 is disposed facing the power transmitting coil 220 laid on the road surface.

[0033] The charging circuit 112 charges the battery 120 with AC power received from the power receiving coil 111. The charging circuit 112 is electrically connected to the battery 120 and the power receiving coil 111. The charging circuit 112 is configured, for example, with a DC / DC converter and a rectifier circuit. The charging circuit 112 converts the AC power supplied from the power receiving coil 111 into DC power by the rectifier circuit. The DC / DC converter converts the voltage of the DC power into a charging voltage for the battery 120 and outputs it to the battery 120.

[0034] Furthermore, the charging circuit 112 stops the reception of power from the battery 120. The charging circuit 112 is connected to the first control device 150 by a communication line. Therefore, the charging circuit 112 cuts off the electrical connection with the battery 120 in response to a command from the first control device 150. For example, the charging circuit 112 stops the operation of a DC / DC converter to stop the output of power to the battery 120. Note that there are various known methods for stopping the reception of power, depending on whether the resonance method is parallel or series, and details will not be mentioned here.

[0035] The battery 120 can be charged with a predetermined supply power P as electric power. The battery 120 is a secondary battery. For example, the battery 120 is a lithium ion battery. The battery 120 receives DC power from the charging circuit 112 to charge the battery 120 with the electric power required for the traveling of the moving body 100.

[0036] The driving unit 160 generates power for the moving body 100 by operating the motor 162 using power sent from the battery 120. The driving unit 160 includes a driving circuit 161 and a motor 162. The driving circuit 161 is electrically connected to the battery 120 and the motor 162. The driving unit 160 is connected to the first control device 150 via a communication line. The driving unit 160 drives the motor 162 upon receiving a command from the first control device 150.

[0037] The drive circuit 161 is composed of an inverter and a DC / DC converter. The inverter converts DC power supplied from the battery 120 into AC power and supplies the AC power to the motor 162. The DC / DC converter boosts the voltage of the battery 120 as necessary when the power stored in the battery 120 is supplied to the motor 162. The drive circuit 161 is connected to the first control device 150. The drive circuit 161 changes the trajectory of the moving body 100 by changing the rotation speed of the motor 162, which will be described later, according to a command from the first control device 150.

[0038] The motor 162 is driven by the power stored in the battery 120 as a power source to move the moving body 100. The motor 162 is driven by receiving AC power required to rotate the motor 162 from a drive circuit 161. The power of the motor 162 is transmitted to the wheels 170 via a reducer and an axle. Note that a method of using an in-wheel motor built into the wheels 170 is also possible.

[0039] The motors 162 are configured by separate motors 162 for the wheels 170 on both sides of the boundary in the traveling direction of the moving body 100. The motors 162 change the course of the moving body 100 by creating a difference in rotation speed between the wheels 170 on both sides.

[0040] The battery sensor 130 acquires the remaining capacity Wb of the battery 120 as an amount of electric power. The battery sensor 130 detects the remaining capacity Wb in units of Ah, which is obtained by integrating the current value and time of charging and discharging the battery 120. Furthermore, the battery sensor 130 acquires the terminal voltage V of the battery 120 together with the remaining capacity Wb. The battery sensor 130 is connected to the first control device 150 by a communication line. In response to acquiring the remaining capacity Wb, the battery sensor 130 transmits the remaining capacity Wb and the terminal voltage V to the first control device 150. The remaining capacity Wb and the terminal voltage V are transmitted to the power supply management unit 400 by the first control device 150. The rated capacity Wm of the battery 120 is stored in advance in the RAM 413 of the power supply management unit 400.

[0041] The battery sensor 130 periodically acquires the remaining charge Wb of the battery 120 on the travel path 300. More specifically, the remaining charge Wb is acquired at intervals that allow acquisition multiple times on each of the power transmission path 310 and the non-power transmission path 320. For this reason, the acquisition intervals are set according to the travel speed of the moving body 100 and the length L of the power transmission path 310.

[0042] The first communication unit 140 communicates with the power supply management unit 400. More specifically, the first communication unit 140 communicates the power supply information Dc and the remaining amount Wb with the second communication unit 420 of the power supply management unit 400. The first communication unit 140 communicates with the power supply management unit 400 by using wireless communication via a WiFi connection, for example. The first communication unit 140 is a hardware module in which a microcomputer and an IC for wireless communication are built in.

[0043] The first control device 150 controls the moving body 100. The first control device 150 includes a processor 151, a ROM 152, and a RAM 153. The ROM 152 is a read-only semiconductor memory, and stores a control program for controlling the moving body 100 in advance. The RAM 153 includes a main memory, which is a semiconductor memory, and a hard disk or a solid state drive, which is an auxiliary storage device. The RAM 153 stores information required for controlling the moving body 100. The first control device 150 controls the moving body 100 based on the power supply information Dc received from the power supply management unit 400.

[0044] Processor 151 realizes the functions of each unit by executing various programs stored in ROM 152. Processor 151 stores information necessary for processing using RAM 153. Specific functions of processor 151 will be described in detail later.

[0045] 3 controls the contactless power supply system 10. The power supply management unit 400 is, for example, a general-purpose computer. The power supply management unit 400 includes a second control device 410, a second communication unit 420, and a first detection unit 430.

[0046] The second control device 410 controls the operation related to the contactless power supply of the moving body 100. The second control device 410 includes a processor 411, a ROM 412, and a RAM 413. The ROM 412 is a read-only semiconductor memory, and stores in advance a control program for controlling each component related to the contactless power supply. The RAM 413 includes a main memory, which is a semiconductor memory, and a hard disk or a solid state drive, which is an auxiliary storage device.

[0047] The processor 411 realizes the functions of each unit by executing various programs stored in the ROM 412. The processor 411 uses the RAM 413 to store information required for processing. The processor 411 includes a first control unit 411x that generates power supply information Dc required for the traveling of the moving body 100, and a third control unit 411y that calculates the required amount of power W_com of the battery 120 based on the remaining amount Wb. Specific functions of the processor 411 will be described in detail later.

[0048] The power supply information Dc is information for controlling the traveling and power reception of the mobile body 100 on one or more power transmission lines 310 by the first control device 150. More specifically, the power supply information Dc is information including at least a route command R instructing a route that combines any one of the one or more non-power transmission lines 320 and any one of the one or more power transmission lines 310, and a first traveling speed V1 on each of the one or more power transmission lines 310. Furthermore, the power supply information Dc includes a command S to stop power reception by the power receiving unit 110.

[0049] The first detection unit 430 detects the number of moving bodies 100 and the first running speed V1 of each moving body 100 in each of the multiple power transmission lines 310. The first detection unit 430 is composed of a camera and a video analysis device, and functions to detect the number of moving bodies 100 and the first running speed V1 in each of the multiple power transmission lines 310. For example, the first detection unit 430 acquires a video of the moving body 100 on the power transmission line 310 by providing a camera on each of the multiple power transmission lines 310. The first detection unit 430 detects the number of moving bodies 100 from the video based on the time change of pixels on the power transmission line 310 by the video analysis device. For example, the first detection unit 430 detects the moving body 100 moving on the power transmission line 310 in the video by storing a pixel range corresponding to the size of the moving body 100 in advance. The first detection unit 430 is connected to the second control device 410 of the power supply management unit 400 via a communication line. Therefore, the first detection unit 430 notifies the second control device 410 of the acquired number of moving objects 100 on the power transmission line 310 every time the number changes.

[0050] The second communication unit 420 communicates with the first communication unit 140 of the mobile object 100. More specifically, the second communication unit 420 communicates information such as power supply information Dc and remaining capacity Wb with the first communication unit 140. The second communication unit 420, like the first communication unit 140, is a hardware module that performs wireless communication via a WiFi connection.

[0051] A2. Power supply method for one transmission line: 4, a process of contactless power supply in the contactless power supply system 10 when the moving body 100 enters one of the power transmission paths 310 from the non-power transmission path 320 will be described. The moving body 100 is in a state of traveling on the non-power transmission path 320 before entering the power transmission path 310. This flow starts with acquisition of the remaining capacity Wb of the moving body 100. As described above, the remaining capacity Wb is acquired by acquiring the inter-terminal voltage V.

[0052] 4, the processor 411 of the power supply management unit 400 acquires the remaining capacity Wb and the inter-terminal voltage V acquired by the battery sensor 130. That is, the processor 411 of the power supply management unit 400 receives the remaining capacity Wb from the processor 151 of the moving object 100 via the first communication unit 140 and the second communication unit 420.

[0053] In step S120 of FIG. 4, the processor 411 of the power supply management unit 400 reads out the rated capacity Wm of the battery 120.

[0054] 4, the processor 411 of the power supply management unit 400 calculates the required amount of power W_com of the battery 120 based on the remaining amount Wb received from the moving object 100. More specifically, the processor 411 of the power supply management unit 400 calculates the required amount of power W_com in units of Ws from the remaining amount Wb in units of Ah, the rated capacity Wm, and the inter-terminal voltage V of the battery 120 in units of V. That is, it is found from equation (1). W_com = (Wm × 0.8 - Wb) × V … (1) The processor 411 of the power supply management unit 400 stores the required amount of power W_com in the RAM 413. The functional unit of the processor 411 of the power supply management unit 400 that calculates the required amount of power W_com is the third control unit 411y. In this example, the rated capacity Wm is multiplied by 0.8, but this is because the battery 120 is not always fully charged but is charged to a target of 80%, and this numerical value can be changed depending on the operation. When the right side of the formula (1) is negative, such as when the remaining capacity Wb exceeds the target of 80%, the processor 411 of the power supply management unit 400 sets the required amount of power W_com to zero.

[0055] That is, the third control unit 411y calculates the required amount of power W_com based on the difference between the remaining amount Wb and a first reference capacity C1 based on the rated capacity Wm of the battery 120. In formula (1), the first reference capacity C1 is Wm×0.8.

[0056] In step S140 of FIG. 4, the processor 411 of the power supply management unit 400 reads out the length L of the power transmission line 310 stored in the RAM 413 in advance.

[0057] In step S150 of FIG. 4, the processor 411 of the power supply management unit 400 reads out the supply power P of the power transmission line 310 stored in the RAM 413 in advance.

[0058] 4, the processor 411 of the power supply management unit 400 calculates a third traveling speed V_com for the moving body 100 to charge the required amount of power W_com over the length L, based on the predetermined length L of the power transmission line 310, the supply power P, and the required amount of power W_com received from the third control unit 411y. More specifically, the processor 411 of the power supply management unit 400 calculates the third traveling speed V_com using the length L in units of m, the required amount of power W_com in units of Ws, and the supply power P in units of W, and equation (2). V_com=L / (W_com / P) …(2) The processor 411 of the power supply management unit 400 stores the third traveling speed V_com in the RAM 413 for each moving body 100. Note that the length L is short in the power transmission path 310 equipped with one power transmission coil 220. At this time, if the required amount of power W_com is large, the third traveling speed V_com approaches zero, resulting in a nearly stopped state. Therefore, when the speed is lower than a predetermined value, it is possible to set this to zero and treat it as a stationary charging.

[0059] In step S170 of FIG. 4, the processor 411 of the power supply management unit 400 transmits the third traveling speed V_com to the moving body 100 via the second communication unit 420. That is, the processor 411 of the power supply management unit 400 determines the third traveling speed V_com as the first traveling speed V1 of the moving body 100. Since the processor 151 of the moving body 100 sets the first traveling speed V1 as the third traveling speed V_com according to the received power supply information Dc, the moving body 100 travels at the third traveling speed V_com after entering the power transmission path 310. Thus, the processing of this flow ends. The functional unit of the processor 411 of the power supply management unit 400 that generates the third traveling speed V_com is the first control unit 411x.

[0060] With this configuration, the moving body 100 can change the first running speed V1 as the running speed of the power transmission line 310 according to the required power amount W_com of the battery 120, the length L of the power transmission line 310, and the supply power P of the power transmission line 310. The power transmission line 310 outputs a predetermined supply power P. Therefore, the power supplied to the moving body 100 depends on the first running speed V1 of the moving body 100. Therefore, the contactless power supply system 10 can perform charging to satisfy the required power amount W_com while traveling by changing the first running speed V1 of the moving body 100 to the third running speed V_com. Therefore, the contactless power supply system 10 does not stop the moving body 100, and can prevent a decrease in the operation rate due to charging of the moving body 100.

[0061] With this configuration, the contactless power supply system 10 calculates the amount of power consumed by traveling as the required amount of power W_com based on the first reference capacity C1. Furthermore, the contactless power supply system 10 causes the moving body 100 to travel so that the required amount of power W_com is charged to the battery 120. Therefore, the contactless power supply system 10 can prevent the remaining power Wb of the battery 120 from becoming insufficient even in the moving body 100 equipped with a small-capacity battery 120, for example.

[0062] A3. Power supply method for a track with multiple power transmission lines: In the flowchart of the contactless power supply system 10 shown in Fig. 5, a contactless power supply process will be described when the moving body 100 enters one of the multiple power transmission paths 310 from the non-power transmission path 320. The multiple power transmission paths 310 are multiple power transmission paths 310 that are formed by branching the travel path 300. For example, the multiple power transmission paths 310 are in a state where two or more power transmission paths 310 are provided on multiple parallel travel paths 300, such as the section between branch points A and B in the lower center of Fig. 1. When the moving body 100 moves from branch point A to branch point B, this flow is started by acquiring the remaining capacity Wb of the battery 120 in the non-power transmission path 320 before arriving at branch point A.

[0063] In FIG. 5, steps S210 to S230 are similar to steps S110 to S230 in FIG. 4, and therefore the description thereof will be omitted.

[0064] 5, the processor 411 of the power supply management unit 400 reads out the length L of each of the multiple power transmission lines 310 stored in advance in the RAM 413. n is an integer equal to or greater than 2, and the length L of the n-th power transmission line 310_n is referred to as the length L_n. That is, the processor 411 of the power supply management unit 400 reads out the length L_n of each n-th power transmission line 310_n.

[0065] 5, the processor 411 of the power supply management unit 400 reads out the supply power P of each of the multiple power transmission lines 310 stored in advance in the RAM 413. The supply power P of the n-th power transmission line 310_n is referred to as the supply power P_n. That is, the processor 411 of the power supply management unit 400 reads out the supply power P_n of each n-th power transmission line 310_n.

[0066] 5, the processor 411 of the power supply management unit 400 calculates a third traveling speed V_com_n for the moving body 100 to charge the required amount of power W_com along the length L_n, based on the predetermined length L_n of the power transmission line 310, the supply power P_n, and the required amount of power W_com received from the third control unit 411y. The processor 411 of the power supply management unit 400 calculates the third traveling speed V_com_n for each n-th power transmission line 310_n, similar to step S160 of FIG.

[0067] In step S270 of FIG. 5, the processor 411 of the power supply management unit 400 selects a speed band Vb_n of the n-th power transmission line 310_n corresponding to the third travel speed V_com_n. As described above, the speed band Vb_n is stored in advance in the RAM 413. The processor 411 of the power supply management unit 400 selects a power transmission line 310_n that is a speed band Vb_n that includes the third travel speed V_com_n, or a speed band Vb_n whose median value is closest to the third travel speed V_com_n. That is, the processor 411 of the power supply management unit 400 determines a route command R that instructs the vehicle to head toward any one of the power transmission lines 310 that is set with a speed band Vb_n that limits the third travel speed V_com_n, based on the determination of the third travel speed V_com_n.

[0068] In step S280 of FIG. 5, the processor 411 of the power supply management unit 400 transmits the route command R and the third traveling speed V_com_n as the power supply information Dc to the moving body 100 via the second communication unit 420. That is, the processor 411 of the power supply management unit 400 sets the route command R and the third traveling speed V_com_n as the route and the first traveling speed V1 of the moving body 100. The processor 151 of the moving body 100 travels toward the power transmission path 310_n in the speed band Vb_n corresponding to the third traveling speed V_com_n according to the received power supply information Dc. Furthermore, since the processor 151 of the moving body 100 determines the first traveling speed V1 as the third traveling speed V_com, after entering the power transmission path 310, the moving body travels at the third traveling speed V_com. Thus, the processing of this flow is ended. The functional part of the processor 411 of the power supply management unit 400 that generates the route command R is the first control unit 411x.

[0069] With this configuration, the contactless power supply system 10 can select the power transmission path 310 on which the mobile object 100 travels, depending on the third traveling speed V_com_n of the mobile object 100. That is, the contactless power supply system 10 can cause the mobile objects 100 having different third traveling speeds V_com_n to travel on different power transmission paths 310. Therefore, the contactless power supply system 10 can alleviate congestion of the mobile objects 100 on the power transmission path 310 caused by differences in the third traveling speeds V_com_n.

[0070] A4. Method of power supply to multiple moving objects on the same power transmission line: 6, a case will be described in which a plurality of moving objects 100 travel on the same power transmission line 310. This flow is started when the processor 411 of the power transmission management unit 400 receives a notification from the first detection unit 430 that there is a change in the number of moving objects 100 on the power transmission line 310.

[0071] In step S310 in Fig. 6, the processor 411 of the power supply management unit 400 reads out the third traveling speeds V_com of the multiple moving objects 100 traveling on the same power transmission line 310. Note that this third traveling speed V_com is the third traveling speed V_com stored by the processing of step S160 in Fig. 4.

[0072] In step S320 of FIG. 6, the processor 411 of the power supply management unit 400 selects the slowest third traveling speed V_com_m from among the third traveling speeds V_com of the multiple moving objects 100.

[0073] In step S330 of Fig. 6, the processor 411 of the power supply management unit 400 transmits the slowest third traveling speed V_com_m as the power supply information Dc to the multiple moving bodies 100 traveling on the same power transmission line 310. Since the moving bodies 100 travel based on the power supply information Dc, they travel on the same power transmission line 310 at the received slowest third traveling speed V_com_m. Thus, the processing of this flow ends. The functional unit of the processor 411 of the power supply management unit 400 that generates the third traveling speed V_com is the first control unit 411x.

[0074] That is, when the number of moving bodies 100 changes in each of the multiple power transmission lines 310, the second control device 410 changes the third traveling speed V_com of each of the moving bodies 100 to the third traveling speed V_com_m among the third traveling speeds V_com of each of the moving bodies 100.

[0075] By adopting such an embodiment, the contactless power supply system 10 can make the moving bodies 100 with different third running speeds V_com on the same power transmission line 310 run in accordance with the moving body 100 with the slowest third running speed V_com. That is, the contactless power supply system 10 can make the moving bodies 100 with different third running speeds V_com run on the same power transmission line 310. Note that since the speed is adjusted to match the speed of the slowest moving body 100, the other moving bodies 100 may reach the target charge capacity halfway through the power transmission line 310. When the target charge capacity is 80%, it is possible to continue receiving power even if the battery rated capacity exceeds 80% during power reception. However, when charging is controlled with a target rated capacity of 100%, overcharging occurs, and power reception must be stopped.

[0076] A5. Power supply interruption on the transmission line: 7, a case where the mobile object 100 stops receiving power when the battery 120 is sufficiently charged will be described. This flow starts with the mobile object 100 traveling on the power transmission path 310 acquiring the remaining charge Wb of the battery 120.

[0077] In FIG. 7, steps S410 and S420 are similar to steps S110 and S120 in FIG. 3, and therefore their explanation will be omitted.

[0078] 7, the processor 411 of the power supply management unit 400 compares the remaining amount Wb with a predetermined reference power amount Wa. For example, as in equation (1), the processor 411 of the power supply management unit 400 performs the comparison using 80% of the rated capacity Wm of the battery 120 as the reference power amount Wa. That is, if the remaining amount Wb exceeds the reference power amount Wa of 80% of the rated capacity Wm, the processor 411 of the power supply management unit 400 advances the process to step S440. If the remaining amount Wb is equal to or less than the reference power amount Wa of 80% of the rated capacity Wm, the processor 411 of the power supply management unit 400 advances the process to step S410.

[0079] 7, the processor 411 of the power supply management unit 400 transmits a power reception stop command S as power supply information Dc to the moving object 100. The processor 151 of the moving object 100 stops power reception by the power receiving unit 110 based on the power supply information Dc. A functional unit of the processor 411 of the power supply management unit 400 that generates the stop command S is a first control unit 411x.

[0080] In step S450 in Fig. 7, the processor 411 of the power supply management unit 400 transmits a route command R to return from the power transmission line 310 to the non-power transmission line 320 as the power supply information Dc to the moving body 100. For example, in the section between branch points A and B in the lower center of Fig. 1, a branch point F exists in the middle of the route of the power transmission line 310a. When the moving body 100 travels on the power transmission line 310a, the moving body 100 passes through the non-power transmission line 320a and changes its route to the non-power transmission line 320 by receiving the route command R in step S450 before reaching the branch point F. This ends the processing of this flow.

[0081] That is, the processor 411 of the power supply management unit 400 instructs the mobile unit 100 to stop receiving power if the remaining amount Wb is greater than a predetermined reference power amount Wa, on condition that the remaining amount Wb is acquired while the mobile unit 100 is receiving power. Furthermore, the processor 411 of the power supply management unit 400 determines a route command R that instructs the mobile unit 100 to head toward any one of the non-power transmission lines 320.

[0082] With this configuration, the contactless power supply system 10 can stop charging according to the remaining capacity Wb of the battery 120. Therefore, for example, the contactless power supply system 10 can prevent excessive charging by setting the reference power amount Wa to a power amount lower than the remaining capacity Wb of a fully charged battery.

[0083] Furthermore, the moving object 100 can move away from the power transmission line 310 depending on the remaining charge Wb of the battery 120 being charged. Thus, the contactless power supply system 10 reduces the number of moving objects 100 on the power transmission line 310, thereby preventing the moving objects 100 traveling on the power transmission line 310 from being obstructed.

[0084] B. Second embodiment: B1. Configuration of the non-contact power supply system according to the second embodiment: In the second embodiment shown in Fig. 8, the power transmission path 310 includes one or more first power transmission paths 311 for charging the mobile body 100a in a stopped state, and one or more second power transmission paths 312 for charging the mobile body 100a in a traveling state. More specifically, as shown in the lower part of Fig. 8, the first power transmission path 311 is a power transmission path 310 provided with one power transmission coil 220. The second power transmission path 312 is a power transmission path 310 provided with two or more power transmission coils 220. The length L of the first power transmission path 311 is 0 because there is only one power transmission coil 220. Therefore, the section of the power transmission path 310 described above includes the section with the length L=0.

[0085] The processor 411a of the power supply management unit 400a shown in FIG. 9 includes a second control unit 411z that generates time information T of the moving body 100a based on the power supply information Dc. The specific functions will be described later. Furthermore, the RAM 413a of the power supply management unit 400a stores a predetermined charging time Tc_o of each of the multiple power transmission lines 310 before non-contact power supply is performed. For example, when the moving body 100 is an unmanned guided vehicle, the charging time Tc_o is a limit time that is allowable for a delay due to charging as a process involving the unmanned guided vehicle. Furthermore, the RAM 413a of the power supply management unit 400a stores a reference charging rate Som that will be described later.

[0086] 10 includes a SOC acquisition unit 151ax that acquires a charging rate So as a state of charge (SOC) of the battery 120. The SOC acquisition unit 151ax calculates the charging rate So from a ratio of a remaining capacity Wb to a rated capacity Wm of the battery 120. For this reason, the rated capacity Wm is stored in advance in the RAM 153a of the mobile object 100a. The interval at which the charging rate So is acquired is the same as the interval at which the battery sensor 130 acquires the remaining capacity Wb.

[0087] The reference charging rate Som is a charging rate So that is determined in advance as a standard for determining whether or not charging of the battery 120 is necessary. For example, when the moving body 100 is an unmanned guided vehicle, the reference charging rate So is a limit of the charging rate So at which the moving body 100 can operate for a predetermined operating time. The other configurations of the non-contact power supply system 10a in the second embodiment are similar to those of the non-contact power supply system 10 in the first embodiment.

[0088] B2. Route determination based on predicted charging time and charging rate: As shown in Fig. 11, the contactless power supply system 10a of the second embodiment performs contactless power supply based on the charging rate So and the predicted charging time Tc of the battery 120. The moving body 100a is in a state of traveling on the non-power transmission line 320 before generating power supply information Dc as a route command R toward the power transmission line 310. That is, the flowchart of Fig. 11 is performed before the flow of Fig. 5, that is, on the condition that the route command R toward the power transmission line 310 has not been generated. This flow is started by acquiring the remaining capacity Wb of the battery sensor 130 of the moving body 100.

[0089] 11, the processor 411a of the power supply management unit 400a acquires the charging rate So. That is, the processor 411a of the power supply management unit 400a receives the charging rate So generated by the SOC acquisition unit 151ax of the moving object 100a via the first communication unit 140 and the second communication unit 420.

[0090] In FIG. 11, steps S520 to S540 are similar to steps S120, S130, and S150 in FIG.

[0091] 11, the processor 411a of the power supply management unit 400a calculates the predicted charging time Tc of each of the power transmission lines 310 of the multiple power transmission lines 310 based on the supply power P and the required amount of power W_com. More specifically, the processor 411a of the power supply management unit 400a calculates the predicted charging time Tc by equation (3). Tc=W_com / P …(3) The functional unit of the processor 411a in calculating the predicted charging time Tc is a second control unit 411z shown in FIG.

[0092] 11, the processor 411a of the power supply management unit 400a compares a predetermined charging time Tc_o with the predicted charging time Tc. More specifically, if the predicted charging time Tc exceeds the charging time Tc_o, the processor 411a of the power supply management unit 400a advances the process to step S570. If the predicted charging time Tc is equal to or less than the charging time Tc_o, the processor 411a of the power supply management unit 400a ends the process.

[0093] In step S570 of FIG. 11, the processor 411a of the power supply management unit 400a reads out the reference charging rate Som from the RAM 413.

[0094] In step S580 of Fig. 11, the processor 411a of the power supply management unit 400a compares the charging rate So with a predetermined reference charging rate Som. More specifically, if the charging rate So is equal to or lower than the reference charging rate Som, the processor 411a of the power supply management unit 400a ends the process. If the charging rate So exceeds the reference charging rate Som, the processor 411a of the power supply management unit 400a advances the process to step S590.

[0095] 11, the processor 411a of the power supply management unit 400a generates the route command R when the remaining power Wb is next acquired. That is, the moving body 100a receives the route command R and the power supply information Dc of the third traveling speed V_com, and charges the moving body 100a by traveling on the power transmission path 310.

[0096] In step S590 of FIG. 11, the processor 411a of the power supply management unit 400a stops generating the power supply information Dc. That is, the processor 411a of the power supply management unit 400a does not transmit the third traveling speed V_com or the route command R to the moving body 100a. More specifically, the processor 411a of the power supply management unit 400a stops generating the power supply information Dc for a certain time. That is, the moving body 100a advances toward the non-power transmission line 320 at the branch point E of the power transmission line 310 and the non-power transmission line 320 for the certain time. For example, the certain time is a time shorter than the time to travel the interval between the power transmission lines 310. This time is for enabling the generation of the power supply information Dc again by this flow on the non-power transmission line 320 before moving from the power transmission line 310 that was passed after step S590 to the next power transmission line 310.

[0097] That is, the processor 411a of the power supply management unit 400a suspends determination of the route command R when the predicted charging time Tc is longer than the predetermined charging time Tc_o and the charging rate So is higher than the predetermined reference charging rate Som.

[0098] With this configuration, when the predicted charging time Tc is shorter than the predetermined charging time Tc_o or the charging rate So is lower than the reference charging rate Som, the moving body 100a travels on the power transmission path 310. That is, the moving body 100a can selectively use the power transmission path 310 and the non-power transmission path 320 depending on the predicted charging time Tc and the charging rate So.

[0099] B3. Choosing Between Stationary and Driving Charging: The contactless power supply system 10a of the second embodiment selects between stationary charging and traveling charging based on the predicted charging time Tc. As shown in the lower center of Fig. 8, the moving body 100a is traveling on the non-power transmission path 320 before generating power supply information Dc as a route command R toward the power transmission path 310. This flow starts by acquiring the remaining capacity Wb of the battery sensor 130 of the moving body 100.

[0100] In FIG. 12, steps S610 to S650 are similar to steps S510 to S550 in FIG.

[0101] 12, the processor 411a of the power supply management unit 400a compares the predicted charging time Tc with a predetermined charging time Tc_o. More specifically, if the predicted charging time Tc exceeds the charging time Tc_o, the processor 411a of the power supply management unit 400a advances the process to step S670. If the predicted charging time Tc is equal to or less than the charging time Tc_o, the processor 411a of the power supply management unit 400a advances the process to step S680.

[0102] 12, the processor 411a of the power supply management unit 400a transmits, as the power supply information Dc, to the moving object 100a, a route command R toward the first power transmission line 311. As a result, the moving object 100a travels toward the first power transmission line 311. Thus, the processing of this flow ends.

[0103] 12, the processor 411a of the power supply management unit 400a transmits, as the power supply information Dc, a route command R to the moving object 100a to head toward the second power transmission line 312. As a result, the moving object 100a travels toward the second power transmission line 312. This ends the processing of this flow.

[0104] On the condition that the remaining amount Wb after step S680 is acquired, the process of the flow of FIG. 4 or FIG. 5 is performed, whereby the third traveling speed V_com and the routes of the multiple second power transmission lines 312 are selected.

[0105] That is, the processor 411a of the power supply management unit 400a calculates a predicted charging time Tc of each of the multiple power transmission lines 310 based on the supply power P and the required power amount W_com, on the condition that the remaining amount Wb is acquired before the determination of the path command R. If the predicted charging time Tc is longer than a predetermined charging time Tc_o for each of the multiple power transmission lines 310, the second control device 410a of the power supply management unit 400 determines a path command R to head toward one of the one or more first power transmission lines 311.

[0106] By adopting such an embodiment, if the moving body 100 cannot ensure the predicted charging time Tc while traveling, the moving body 100 can stop and charge.

[0107] C. Third embodiment: C1. Configuration of the third embodiment: 13, in this embodiment, a contactless power supply system 10b includes a moving body 100b, a power supply management unit 400b, and a process management unit 500. The moving body 100b and the power supply management unit 400b correspond to the moving body 100a and the power supply management unit 400a in the second embodiment. The contactless power supply system 10b performs contactless power supply according to the status of a work process of the moving body 100.

[0108] 14, the mobile object 100b includes a fifth communication unit 180. The fifth communication unit 180 communicates with the process management unit 500. The configuration of the fifth communication unit 180 is similar to that of the first communication unit 140.

[0109] 15, the power supply management unit 400b includes a fourth communication unit 440. The fourth communication unit 440 communicates with the process management unit 500. The fourth communication unit 440 has the same configuration as the second communication unit 420.

[0110] As shown in Fig. 16, the process management unit 500 manages the operation of the mobile object 100b on the travel path 300. More specifically, the process management unit 500 measures the travel time Td of the mobile object 100b on each of the multiple power transmission paths 310. The process management unit 500 determines whether the travel time Td is acceptable for the process. Furthermore, the process management unit 500 controls the travel of the mobile object 100b on the travel path 300 depending on the status of the process.

[0111] The process is a process in the work of the moving body 100b, for example, in the case where the moving body 100b is an unmanned guided vehicle, it is a transport work process. In other words, the determination of whether a process is acceptable is a determination of whether a delay in the travel time Td of the moving body 100 will cause a delay in the next process. The delay in the travel time Td is determined based on a predetermined allowable time Tm. The allowable time Tm is a predetermined time, and is stored in advance in the RAM 513 of the process management unit 500 and the RAM 413 of the power supply management unit 400, which will be described later, before non-contact power supply is performed.

[0112] The process control unit 500 is, for example, a general-purpose computer. The process control unit 500 includes a third control device 510, a second detection unit 530, a third communication unit 540, and a sixth communication unit 550.

[0113] The third control device 510 controls the process management unit 500. More specifically, the third control device 510 determines a standard speed V2 of the moving body 100b on the non-power transmission line 320. The third control device 510 includes a processor 511, a RAM 513, and a ROM 512. The configurations of the RAM 513 and the ROM 512 are similar to those of the RAM 413 and the ROM 412.

[0114] The processor 511 realizes the functions of each unit by executing various programs stored in the ROM 512. The processor 511 stores information necessary for processing using the RAM 513. The specific functions of the processor 511 will be described in detail later.

[0115] The third communication unit 540 communicates with the fifth communication unit 180 of the mobile object 100b. The sixth communication unit 550 communicates with the fourth communication unit 440 of the power supply management unit 400. Each of these communication units is configured as a hardware module that performs wireless communication via a WiFi connection, similar to the first communication unit 140.

[0116] The second detection unit 530 measures the travel time Td of the mobile object 100b on each of the multiple power transmission lines 310. Furthermore, the second detection unit 530 detects the separation of the mobile object 100 from each of the multiple power transmission lines 310. The configuration of the second detection unit 530 is similar to that of the first detection unit 430. The second detection unit 530 detects the separation of the mobile object 100b from the power transmission line 310 by detecting the entrance and exit of the mobile object 100b to and from the power transmission line 310. Furthermore, the second detection unit 530 measures the travel time Td based on the time when the mobile object 100b enters and exits the power transmission line 310. The second detection unit 530 is connected to the third control device 510 by a communication line. Therefore, the second detection unit 530 sends the travel time Td and a notification of the separation to the third control device 510 every time the mobile object 100b leaves.

[0117] Other configurations of the contactless power supply system 10a in the third embodiment are similar to those of the contactless power supply system 10b in the second embodiment.

[0118] C2.Notification to Process Control: Step S710 in FIG. 17 is a process subsequent to step S550 in FIG.

[0119] 17, the processor 411b of the power supply management unit 400b compares a predetermined charging time Tc_o with the predicted charging time Tc. More specifically, if the predicted charging time Tc exceeds the charging time Tc_o, the processor 411b of the power supply management unit 400b advances the process to step S750. If the predicted charging time Tc is equal to or less than the charging time Tc_o, the processor 411a of the power supply management unit 400a advances the process to step S720.

[0120] In step S720 of FIG. 17, the processor 411b of the power supply management unit 400b reads out the reference charging rate Som from the RAM 413.

[0121] 17, the processor 411b of the power supply management unit 400b compares the charging rate So with a predetermined reference charging rate Som. More specifically, if the charging rate So is equal to or lower than the reference charging rate Som, the processor 411b of the power supply management unit 400b ends the process. If the charging rate So exceeds the reference charging rate Som, the processor 411a of the power supply management unit 400a advances the process to step S740.

[0122] In step S750 of FIG. 17, the processor 411b of the power supply management unit 400b calculates the predicted extended time Te by equation (4) based on the predicted charging time Tc and the permissible time Tm. Tc-Tm=Te …(4) That is, the extended predicted time Te is, for example, a predicted time of delay due to charging in a process involving the automatic guided vehicle when the moving body 100b is an automatic guided vehicle. The functional part of the processor 411a in calculating the predicted charging time Tc is the second control unit 411z shown in FIG.

[0123] 17, the second control device 410b of the power supply management unit 400b transmits the predicted charging time Tc to the process management unit 500 via the fourth communication unit 440 and the third communication unit 540. That is, the processor 411a of the power supply management unit 400a notifies the process management unit 500 that a delay will occur due to charging of the mobile object 100b.

[0124] After step S760, the process of the flow of FIG. 4 or FIG. 5 is performed on the condition that the remaining amount Wb is acquired, whereby the third traveling speed V_com and the routes of the multiple second power transmission lines 312 are selected.

[0125] That is, the second control device 410b of the power supply management unit 400b determines the route command R when the predicted charging time Tc is longer than the predetermined charging time Tc_o of each of the multiple power transmission lines 310 and the charging rate So is lower than the predetermined reference charging rate Som.

[0126] Furthermore, the second control device 410b of the power supply management unit 400b calculates the predicted extension time Te, which is the difference between the predetermined allowable time Tm of the power transmission line 310 and the predicted charging time Tc, as time information T and notifies the process management unit 500 of it.

[0127] With this configuration, the process management unit 500 can check the predicted extended time Te due to charging of the moving object 100b. Therefore, for example, the process management unit 500 can start considering measures for the delay of the moving object 100b upon receiving the notification of the predicted extended time Te.

[0128] C3. Changing the travel speed of a moving object on a non-powered line: The process control unit 500 changes the standard speed V2 based on the travel time Td of the moving body 100b. The flowchart in Fig. 18 is started when the third control device 510 of the process control unit 500 detects the detachment of the moving body 100b from the power transmission line 310 by detecting the detachment of the second detection unit 530. Note that the process control unit 500 has already determined the standard speed V2 of the moving body 100b before this flow.

[0129] In step S810 of FIG. 18, the third control device 510 of the process management section 500 acquires the traveling time Td of the moving object 100b that has left the power transmission line 310 from the second detection section 530.

[0130] In step S820 of Fig. 18, the third control device 510 of the process control unit 500 compares the travel time Td with the allowable time Tm. More specifically, if the travel time Td exceeds the allowable time Tm, the third control device 510 of the process control unit 500 advances the process to step S830. That is, in this case, a delay occurs in the next process. If the travel time Td is equal to or less than the allowable time Tm, the third control device 510 of the process control unit 500 ends the process.

[0131] 18, the third control device 510 of the process management unit 500 changes the detected travel speed of the moving body 100 to a fifth travel speed V5 that is faster than the standard speed V2. That is, the third control device 510 of the process management unit 500 increases the travel speed of the moving body 100b that has left the power transmission line 310 on the non-power transmission line 320. The fifth travel speed V5 is stored in advance in the RAM 513 of the process management unit 500, for example, before traveling on the non-power transmission line 320.

[0132] In step S840 of FIG. 18, the third control device 510 of the process management section 500 acquires the travel time Td of the mobile body 100b that has left the power transmission line 310 after the mobile body 100 whose travel time Td has been acquired in step S810.

[0133] 18, if the travel time Td acquired in step S840 exceeds the allowable time Tm, the third control device 510 of the process control unit 500 advances the process to step S830. If the travel time Td acquired in step S840 is equal to or less than the allowable time Tm, the third control device 510 of the process control unit 500 advances the process to step S860.

[0134] 18, the third control device 510 of the process management unit 500 changes the travel speed of the moving body 100b determined in step S830 from the fifth travel speed V5 to the standard speed V2. That is, the third control device 510 of the process management unit 500 returns the travel speed of the moving body 100b increased in step S730 to the standard speed V2. Thus, the processing of this flow ends.

[0135] That is, when the traveling time Td is longer than the predetermined allowable time Tm of each of the multiple power transmission lines 310, the third control device 510 of the process management section 500 changes the traveling speed of the detected moving body 100b to a fifth traveling speed V5 that is faster than the standard speed V2.

[0136] With this configuration, the moving body 100b can increase its speed on the power transmission line 310 when it exceeds the travel time Td allowed on the power transmission line 310. Therefore, the moving body 100b can shorten the travel time Td on the entire power transmission line 310 and the travel path 300 including the power transmission line 310, compared to a case in which the speed of the power transmission line 310 is not increased. Therefore, the contactless power supply system 10b can improve the delay in the next process caused by contactless power supply.

[0137] D. Variations: In the third embodiment, the process management unit 500 may transmit the estimated arrival time of the mobile object 100b to the management device of the next process based on the predicted charging time Tc. For example, the third control device 510 of the process management unit 500 can obtain the estimated exit time from the predicted charging time Tc by storing the time of entry into the power transmission line 310 by the second detection unit 530. The third control device 510 of the process management unit 500 can transmit the estimated arrival time of the mobile object 100 by providing the management device of the next process with a communication device capable of communicating with the third communication unit 540. Therefore, even if the charging of the mobile object 100b affects the next process, the contactless power supply system 10b can secure time for changing the plan compared to a case where the estimated arrival time of the mobile object 100b is not transmitted.

[0138] E. Fourth embodiment: As shown in Fig. 19, in the contactless power supply system 10c of the fourth embodiment, the travel path 300c is configured as a route along which the moving body 100 travels. Fig. 19 illustrates the moving body 100 traveling on four power transmission paths 310 and four non-power transmission paths 320. Other configurations of the travel path 300c are similar to those of the travel path 300 of the first embodiment. Note that configurations that have been changed from the configuration of the first embodiment are designated by the reference numerals suffixed with "c."

[0139] In the contactless power supply system 10c of the fourth embodiment, the first detection unit 430c has the same configuration as the first detection unit 430 of the first embodiment. However, the first detection unit 430c does not need to detect the number of moving bodies 100 and the first traveling speed V1 of each moving body 100 in each of the multiple power transmission lines 310, as the first detection unit 430 of the first embodiment does. However, the first detection unit 430c detects the separation of the moving body 100 from the power transmission line 310.

[0140] The power supply information Dc of the fourth embodiment does not include the route command R included in the power supply information Dc of the above embodiment. The moving body 100 in the fourth embodiment does not need the route command R because it travels around the travel path 300. That is, the processor 411c of the power supply management unit 400c in the fourth embodiment does not determine the route command R that instructs a route that combines any one of the non-power transmission paths 320 and any one of the multiple power transmission paths 310.

[0141] Furthermore, the power supply information Dc does not include a first travel speed V1 predetermined for each of the multiple power transmission lines 310 included in the above embodiment. The power supply information Dc includes a first travel speed V1 on a route predetermined as a route combining multiple non-power transmission lines 320 and multiple power transmission lines 310.

[0142] The first control unit 411xc of the fourth embodiment calculates the third traveling speed V_com as the first traveling speed V1 for the moving body 100 traveling along the path to charge the required amount of power W_com. More specifically, the first control unit 441xc calculates the third traveling speed V_com based on the required amount of power W_com and a plurality of pieces of predetermined power reception information Dr related to the power supply capacities of the four power transmission lines 310 along the path. The calculation of the third traveling speed V_com by the first control unit 411xc will be described in detail later.

[0143] In the fourth embodiment, the power reception information Dr is the supply power P and the length L of each of the four power transmission lines 310. The power reception information Dr is stored in the RAM 413c of the power supply management unit 400c before wireless power supply is performed. In this specification, the control for calculating the third traveling speed V_com based on the power reception information Dr based on the power supply capacity of one or more power transmission lines 310 on the route is referred to as feedforward control or FF control.

[0144] In the above embodiment, the first control unit 411x performs control based on the acquisition of the remaining amount Wb, and calculates the third traveling speed V_com. However, the first control unit 411xc in the fourth embodiment controls the calculation of the third traveling speed V_com for each of four power transmission lines 310 among the multiple power transmission lines 310 on the route, based on the number of times of detection of separation. That is, the first control unit 411xc performs control at an interval at which the moving body 100 passes through the four power transmission lines 310, which is an interval at which the moving body 100 makes one revolution around the travel route 300c. The interval of control by the first control unit 411xc is called a control interval.

[0145] Other configurations of the contactless power supply system 10c in the fourth embodiment are similar to those of the contactless power supply system 10 in the first embodiment. A power supply method by the contactless power supply system 10c in the fourth embodiment will be described below.

[0146] 21, a control interval of the first control unit 411xc is determined before the moving body 100 starts traveling. For example, the manager of the power supply management unit 400c sets the control interval of the first control unit 411xc so that the control is performed for each of the four power transmission lines 310.

[0147] 21 are similar to the processes of steps S110 to S150 in Fig. 4 by the contactless power supply system 10 of the first embodiment. However, in the fourth embodiment, since there are four power transmission paths 310, the processor 411c of the power supply management unit 400c reads out the length L and the supply power P of each of the four power transmission paths 310.

[0148] In step S970 of FIG. 21, the processor 411c calculates a third traveling speed V_com for the moving body 100 to charge the required amount of power W_com in all of the power transmission lines 310 based on the predetermined power receiving information Dr regarding the power supply capacity for all of the power transmission lines 310 and the required amount of power W_com.

[0149] A calculation method of the third traveling speed V_com in the fourth embodiment will be described with reference to Fig. 22. However, to facilitate understanding of the technology, the control interval in the description of the calculation method of the third traveling speed V_com is the interval for two power transmission lines 310, not four power transmission lines 310. The two power transmission lines 310 in the description of the calculation method of the third traveling speed V_com are composed of a third power transmission line 313 with a length L3 and a supply power P3, and a fourth power transmission line 314 with a length L4 and a supply power P4.

[0150] Since the moving object 100 travels on the two power transmission lines 310 at the third travel speed V_com, the passing time T3 of the third power transmission line 313 is calculated by the formula (5). T3=L3 / V_com …(5) By multiplying the equation (5) by the supply power P3 of the third power transmission line 313, the required amount of power W_com3 to be charged in the third power transmission line 313 is calculated by the equation (6). W_com3=P3×L3 / V_com …(6) The sum of the required amount of power W_com4 of the fourth power transmission line 314, which is calculated in the same manner as the required amount of power W_com3, and the required amount of power W_com3 of the third power transmission line 313, is calculated by equation (7). W_com3+W_com4=P3×L3 / V_com+P4×L4 / V_com …(7) Therefore, the third traveling speed V_com of the two power transmission lines 310 is calculated by the formula (8). V_com=(P3×L3+P4×L4) / (W_com3+W_com4) …(8) In the fourth embodiment, the processor 411c calculates the third traveling speeds V_com in the four power transmission lines 310 by a method similar to that of equations (5) to (8).

[0151] The process of step S980 in FIG. 21 is similar to the process of step S170 in FIG.

[0152] 21, the processor 411c determines whether or not the moving body 100 should continue traveling. For example, when the number of times to go around the travel path 300 is set in advance, the processor 411c ends the traveling on condition that the moving body 100 has completed traveling the set number of times. When the moving body 100 should continue traveling, the processor 411c returns the process to step S920.

[0153] With this configuration, the moving body 100 travels along the course at a third travel speed according to changes in the required power amount W_com of the battery 120 and the power reception information Dr. For example, the power reception information Dr is the supply power P and length L of the power transmission line 310. Therefore, the power received by the moving body 100 depends on the travel speed. Therefore, the moving body 100 charges the required power amount W_com according to changes in the remaining amount Wb of the battery 120 by traveling at the third travel speed V_com transmitted from the power supply management unit 400. Thus, the contactless power supply system 10c can prevent a decrease in the availability rate of the moving body 100 by preventing the moving body 100 from stopping due to a shortage of the remaining amount Wb.

[0154] Furthermore, by adopting such a configuration, the contactless power supply system 10c can control the moving object 100 more easily than, for example, a configuration in which feedback control, which will be described later, is performed.

[0155] Moreover, by adopting such an embodiment, the traveling speed of the moving body 100 becomes more stable compared to an embodiment in which the traveling speed of the moving body 100 is changed for each power transmission line 310. Therefore, for example, the contactless power supply system 10c can easily manage the traveling state of the moving body 100.

[0156] F. Fifth embodiment: In the above embodiment, the third traveling speed V_com is calculated based on the length L of the power transmission path 310 on the route and the supply power P as the power reception information Dr. However, the third traveling speed V_com may be calculated based on the power reception record acquired by the moving body 100 traveling on the route before the third traveling speed V_com is calculated as the power reception information Dr. The power reception record is, for example, information such as the amount of charged power and the traveling speed by the traveling of the moving body 100 in the past. The amount of charged power represents the amount of power charged by traveling on the power transmission path. That is, the power reception information Dr in the fifth embodiment is the power reception record of the moving body 100 regarding the power supply capacity related to the route before the third traveling speed V_com is calculated, and includes information related to the amount of charged power. Therefore, the third traveling speed V_com in the fifth embodiment is calculated based on the power reception record and the required power amount W_com.

[0157] The power supply management unit 400c of the fifth embodiment has the same configuration as the power supply management unit 400c of the fourth embodiment shown in Fig. 20. However, a power reception record is stored in a RAM 413c of the power supply management unit 400c as the power reception information Dr of the fifth embodiment. In this specification, the control for calculating the third traveling speed V_com from the power reception record as the power reception information Dr is referred to as feedback control or FB control.

[0158] The moving body 100 of the fifth embodiment includes a power sensor in addition to the configuration of the moving body 100 of the fourth embodiment. The power sensor of the fifth embodiment acquires the amount of charged power. For example, the power sensor of the fifth embodiment, like the battery sensor 130, measures the input voltage and input current of the battery 120 to acquire the amount of charged power.

[0159] Other configurations of the fifth embodiment are similar to those of the contactless power supply system 10c of the fourth embodiment. A power supply method by the contactless power supply system 10c of the fifth embodiment will be described below.

[0160] The process of steps S1010 to S1040 in FIG. 23 is similar to the process of steps S910 to S940 in FIG. 21 by the contactless power supply system 10c of the fourth embodiment.

[0161] In step S1050 of Fig. 23, the processor 411c of the power supply management unit 400c reads out the power receiving record. More specifically, the processor 411c reads out the amount of charged power and the traveling speed acquired in the past. For example, if the moving body 100 has already traveled along the route, the processor 411c reads out the amount of charged power and the traveling speed when the moving body 100 traveled the previous time. If the moving body 100 travels along a route that has not been traveled before, the manager of the power supply management unit 400c stores in advance the power receiving record related to the moving body 100 and the power transmission line 310 of the same specifications in the power supply management unit 400c, and the processor 411c reads out the power receiving record.

[0162] In step S1060 in FIG. 23, the processor 411c calculates the difference between the requested amount of energy W_com and the amount of charging energy.

[0163] 23, the processor 411c calculates a speed correction term based on the difference between the required power amount W_com and the charging power amount. For example, the speed correction term is a proportional term or an integral term in PI control.

[0164] 23, the processor 411c calculates the third traveling speed V_com based on the traveling speed and the speed correction term in the power reception record. For example, the processor 411c calculates the third traveling speed V_com by adding the speed correction term to the third traveling speed V_com when the vehicle traveled the same route in the past.

[0165] The process of step S1090 in FIG. 23 is similar to the process of step S980 in FIG.

[0166] 23, the processor 411c acquires the amount of charging power by the power sensor while the moving body 100 is traveling. The processor 411c stores the third traveling speed V_com and the acquired amount of charging power as power reception memory. The power reception memory is used as power reception information Dr for the next traveling or power reception information Dr of another moving body 100.

[0167] The process of step S1110 in FIG. 23 is similar to the process of step S990 in FIG.

[0168] In such an embodiment, the contactless power supply system 10 calculates the third traveling speed V_com based on, for example, a power reception record related to the amount of charging power and the traveling speed in the past traveling of the moving body 100 along a course. More specifically, the contactless power supply system 10 calculates the traveling speed obtained by correcting the traveling speed when the amount of charging power was acquired as the third traveling speed V_com based on the difference between the past amount of charging power and the current required amount of power W_com. Therefore, when there is a difference between the required amount of power W_com and the amount of charging power due to actual traveling, the contactless power supply system 10 can charge the battery 120 more efficiently than the feedforward control.

[0169] G. Sixth embodiment: The third traveling speed V_com may be calculated by a combination of the FF control of the fourth embodiment and the FB control of the fifth embodiment. The combination of the FF control and the FB control is called FF+FB control. The contactless power supply system 10c of the sixth embodiment has the same configuration as the contactless power supply system 10c of the fifth embodiment.

[0170] The process of steps S1210 to S1240 in FIG. 24 is similar to the process of steps S910 to S940 in the contactless power supply system 10c of the fourth embodiment.

[0171] In step S1250 of FIG. 24, the processor 411c of the power supply management unit 400c in the sixth embodiment reads out the power reception record. If the processor 411c does not store the power reception record, the processor 411c advances the process to S1260. For example, in the first control of the control interval, the processor 411c does not store the charging energy amount or the third traveling speed V_com of the same route. Therefore, the processor 411c advances the process to S1260 to execute the FF control. If the processor 411c stores the power reception record, the processor 411c advances the process to S1300 to execute the FB control.

[0172] The processing in steps S1260 to S1290 in FIG. 24 is similar to the processing in steps S950 to S980 in FIG. 21 of the fourth embodiment.

[0173] The processing in steps S1300 to S1350 in FIG. 24 is similar to the processing in steps S1060 to S1110 in FIG. 23 of the fifth embodiment.

[0174] That is, in the first control in the control interval, the first control unit 411x determines the power reception information Dr based on the power supply capacity of the power transmission line 310 in the route. Furthermore, in the control after the first control in the control interval, the first control unit 411x determines the power reception information Dr to be the power reception record of the moving body 100 related to the route acquired in the past control and including information related to the amount of charged power.

[0175] With this configuration, the contactless power supply system 10c of the sixth embodiment determines the third traveling speed V_com based on the supplied power P of the power transmission line 310 when the power reception information Dr does not include a power reception record. Furthermore, when a difference occurs between the required power amount W_com and the amount of charging power due to actual traveling, the contactless power supply system 10 of the sixth embodiment determines the third traveling speed V_com based on the difference. That is, the contactless power supply system 10 of the sixth embodiment can charge the battery 120 more efficiently by performing control that combines feedback control and feedforward control than by control using only one of the controls.

[0176] H. Seventh embodiment: In the fourth to sixth embodiments, the first control unit 411xc controls the calculation of the third traveling speed V_com for each of two or more predetermined power transmission lines 310 among one or more power transmission lines 310 in the route, and for each of four power transmission lines 310 among the multiple power transmission lines 310 by the first detection unit 430c. However, the first control unit 411xc may periodically control the control interval. The configuration of the contactless power supply system 10c of the seventh embodiment is the same as the configuration of the contactless power supply system 10c of the fourth embodiment. However, the moving body 100 travels at a fourth traveling speed or higher on the route. The power supply management unit 400 further includes a fourth traveling speed V4, a length L of the power transmission line 310, a length Ln of the non-power transmission line 320, and a supply power P.

[0177] The first control unit 411xc of the seventh embodiment controls the calculation of the third traveling speed V_com with the time t_in that the moving body 100 can travel on the two power transmission lines 310 when the moving body 100 travels on the path at the fourth traveling speed V4. The control interval of the seventh embodiment will be described with reference to FIG. 25. In FIG. 25, three power transmission lines 310, the third power transmission line 313 to the fifth power transmission line 315, are illustrated. The three power transmission lines 310 are composed of the third power transmission line 313 with a length L3 and a supply power P3, the fourth power transmission line 314 with a length L4 and a supply power P4, and the fifth power transmission line 315 with a length L5 and a supply power P5. Furthermore, between the third power transmission line 313 and the fourth power transmission line 314, there is a first non-power transmission line with a length Ln1. In addition, between the fourth power transmission line 314 and the fifth power transmission line 315, there is a second non-power transmission line with a length Ln2.

[0178] The first control unit 411xc of the seventh embodiment determines the electric power transmission line 310 that can be passed through in a period of time t_in based on the fourth traveling speed V4, the lengths L3 to L5 of the path, and the lengths Ln1 and Ln2 of the path. As shown in FIG. 25, when the moving body 100 travels at the fourth traveling speed V4, it enters the first electric power transmission line 311 and reaches the middle of the third electric power transmission line 313 after the time t_in has elapsed. That is, the moving body 100 passes through the third electric power transmission line 313 and the fourth electric power transmission line 314. The power supply management unit 400 of the seventh embodiment determines the length L3 and the supply power P3 of the third electric power transmission line 313 and the length L4 and the supply power P4 of the fourth electric power transmission line 314 in the electric power reception information Dr. As a result, the third traveling speed V_com is calculated by a method similar to that of the formulas (5) to (8).

[0179] That is, the first control unit 411xc controls the calculation of the third traveling speed V_com in a period in which at least two power transmission lines 310 can be traveled when the moving body 100 travels on a course at the fourth traveling speed V4. The power supply management unit 400c determines the length L of the power transmission line 310 and the supply power P of the power transmission line 310 that can be passed in a period of time t_in among the multiple power transmission lines 310, based on the fourth traveling speed V4, the length L of the power transmission line 310, and the length of the non-power transmission line 320, as the second power receiving information Dr.

[0180] With this configuration, the contactless power supply system 10c of the seventh embodiment can control the moving body 100 more simply by performing periodic control, as compared to a configuration in which control is performed for each power transmission line 310 of the moving body 100.

[0181] I. Eighth embodiment: In the above embodiment, the third control unit 411y calculates the required power amount W_com based on the difference between the reference power amount Wa based on the rated capacity Wm of the battery 120 and the required power amount W_com. However, other methods may be used to calculate the required power amount W_com. Specifically, the third control unit 411y of the eighth embodiment calculates the required power amount W_com based on a first predetermined relationship between the running time Td of the moving body 100 and the remaining amount Wb when a second reference capacity C2 smaller than the rated capacity Wm of the battery 120 is set as the lower limit of the remaining amount Wb at the end Tf of the operation period Ta of the moving body 100.

[0182] Fig. 26 illustrates the relationship between the capacity of the battery 120 and the running time Td of the moving body 100. The time in Fig. 26 indicates the time from the start of the moving body 100, which is the start Ts of the operation period Ta, to the scheduled end of the moving body 100, which is the end Tf of the operation period Ta.

[0183] The predetermined operation period Ta of the mobile body 100 is, for example, a one-day operation period of a factory in which the mobile body 100 is used. The manager of the mobile body 100 may stop the operation of the mobile body 100 at night when the manager is not present or during a break. That is, the operation period Ta is predetermined as a period during which the mobile body 100 can operate. That is, if the battery 120 has a remaining capacity Wb that allows the mobile body 100 to travel within the operation period Ta, the mobile body 100 does not stop operating during the operation period Ta. By charging the mobile body 100 at a stationary position after the operation period Ta, the mobile body 100 can be efficiently charged while preventing a decrease in the operation rate.

[0184] The remaining capacity Wb of the battery 120 at the start Ts and end Tf of the operating period Ta is, for example, set to the rated capacity Wm at the start Ts and set to 20% of the rated capacity Wm at the end Tf. The capacity at the end Tf of the operating period Ta is called a second reference capacity C2. As a result, the remaining capacity Wb at any time t during the operation period Ta is calculated by the formula (9). Wb = Wm - Wm × 0.8 / Tf × t … (9) Therefore, the required power amount W_com in the eighth embodiment is calculated by the formula (10). W_com=(Wm-Wm×0.8 / Tf×t-Wb)×V …(10)

[0185] That is, the third control unit 411y of the eighth embodiment sets the second reference capacity C2, which is smaller than the rated capacity Wm of the battery 120, as the lower limit of the remaining capacity Wb at the end Tf of the operation period Ta of the moving body 100. Furthermore, the third control unit 411y calculates the required energy W_com based on the predetermined relationship between the running time Td of the moving body 100 and the remaining capacity Wb.

[0186] By adopting such an embodiment, the contactless power supply system 10c charges only the power required for the operation period Ta determined by the second reference capacity C2. For example, the moving body 100 traveling with a large-capacity battery 120, which is less likely to run out of the remaining capacity Wb than a small-capacity battery 120, can reduce the opportunities to suppress the traveling speed for charging. In other words, the contactless power supply system 10c can increase the operation rate of the moving body 100.

[0187] J. Ninth embodiment: In the above embodiment, the power reception information Dr is a plurality of pieces of information such as the length L and the supplied power P of the power transmission path 310, and the amount of charged power and the traveling speed as a power reception record. However, the power reception information Dr may be a single piece of information. More specifically, the power reception information Dr may be a constant based on the product of the length L of the power transmission path 310 and the supplied power P. That is, the contactless power supply system 10c of the ninth embodiment does not need to store information on the length L and the supplied power P, unlike the power supply management unit 400c of the contactless power supply system 10c of the fourth embodiment.

[0188] As shown in formula (2), when the product of the length L and the supply power P is a constant, the third traveling speed V_com is calculated by determining the required power amount W_com. For example, when there are multiple power transmission lines 310 having the same length L and supply power P, it is not necessary to change the power reception information Dr for each power transmission line 310.

[0189] In the contactless power supply system 10c of the ninth embodiment, the power reception information Dr is set to one constant, which makes the control easier than when the third traveling speed V_com is calculated from a plurality of pieces of power reception information Dr.

[0190] K. Tenth embodiment: In the ninth embodiment, the power reception information Dr is one constant. However, in the tenth embodiment, the power reception information Dr may be a plurality of constants according to the operation status of the moving body 100. The specific power reception information Dr will be described below. As shown in FIG. 27, the contactless power supply system 10d of the tenth embodiment is an aspect in which the contactless power supply system 10c of the fourth embodiment is provided with a process management unit 500d. Configurations that are changed from the configuration of the fourth embodiment are marked with d at the end of the reference numeral.

[0191] The process control unit 500d of the tenth embodiment differs from the process control unit 500 of the third embodiment shown in Fig. 13 in the following respects: The components that have been changed from the components of the process control unit 500c of the third embodiment are designated with the letter d suffixed.

[0192] The process management unit 500d of the tenth embodiment manages the operation of multiple moving bodies 100, and checks the power that can be supplied to multiple moving bodies 100b. For example, the process management unit 500d checks the operation status of the moving body 100b on the travel path 300. Furthermore, the process management unit 500d checks, as the power status of the process, what percentage of the rated power of the process in which the moving body 100b is used can be supplied to the moving body 100b.

[0193] The process control unit 500d does not necessarily have to include the fourth traveling speed V4, the permissible time Tm, and the third communication unit 540 that are included in the process control unit 500 of the third embodiment.

[0194] The third control device 510d of the process management unit 500d includes a plurality of pieces of power reception information Dr. For example, the plurality of pieces of power reception information Dr are a plurality of constants based on the product of the length L of the power transmission line 310 and the supply power P according to the operation status of the moving body 100b on the travel path 300 and the power status of the process. The plurality of pieces of power reception information Dr will be specifically described with reference to FIG. 29.

[0195] In Fig. 29, the columns represent average values ​​of the supply power P for the multiple power transmission lines 310. Hereinafter, the average value of the supply power P for the multiple power transmission lines 310 is referred to as the average supply power Pa. In Fig. 29, rows for the sixth power transmission line 316 and the seventh power transmission line 317 are illustrated. The rows for the sixth power transmission line 316 and the seventh power transmission line 317 represent the power reception information Dr for each power transmission line 310.

[0196] For example, when the load of the process is high due to the operation of multiple mobile objects 100b and there is a surplus of power in the process, the third control device 510d selects a larger constant from among the multiple constants. For example, as shown in FIG. 29, in order to change the average supply power Pa to 1500 W, the third control device 510d changes the power reception information Dr of the sixth power transmission line 316 to 2000 and the power reception information Dr of the seventh power transmission line 317 to 3000. That is, the traveling speed of the mobile object 100b increases. As a result, even if the load of the mobile object 100b is high, delays in the process are unlikely to occur.

[0197] That is, the third control device 510d includes a plurality of pieces of power reception information Dr. The third control device 510d instructs the first control unit 411x to determine one piece of power reception information Dr according to the operating status of the moving body 100b. The first control unit 411x calculates the third traveling speed V_com based on one piece of power reception information Dr.

[0198] In such an embodiment, the contactless power supply system 10d can control the third traveling speed V_com of the moving body 100b according to the operation status of the moving body 100b. For example, when there are many moving bodies 100b due to a high load of the process and the process has a surplus of power, the contactless power supply system 10 increases the supply power P of the power transmission line 310. That is, the third traveling speed V_com becomes faster. Therefore, the contactless power supply system 10d can efficiently receive power from the battery 120 according to the operation status and the power status of the process.

[0199] L. Eleventh embodiment: In the fourth to tenth embodiments, the first control unit 411xc performs control so as to calculate the third traveling speed V_com for each of the four power transmission lines 310 among the multiple power transmission lines 310 in the path based on the number of times that departure is detected. However, the first control unit 411xc may perform control for each of the one or more power transmission lines 310 in the path, on the condition that departure of the moving object 100 is detected.

[0200] With this configuration, the contactless power supply system 10c can change the traveling speed for each power transmission line 310 by detecting the disconnection of the power transmission line 310. That is, the contactless power supply system 10 can easily control the moving body 100 compared to a configuration in which the combined traveling speed of the multiple power transmission lines 310 is calculated.

[0201] M. Twelfth embodiment: In the fourth to tenth embodiments, the power supply information Dc does not include a route command R. However, the power supply information Dc may include a route command R instructing a route that combines any one of the non-power transmission lines 320 of the one or more non-power transmission lines 320 and any one of the power transmission lines 310 of the one or more power transmission lines 310 as a route. Furthermore, the one or more power transmission lines 310 may be a plurality of power transmission lines 310, each of which is set with a predetermined speed band Vb for limiting the first traveling speed V1. Furthermore, the first control unit 411x may determine a route command R instructing the vehicle to head toward any one of the power transmission lines 310 in which the speed band Vb for limiting the third traveling speed V_com is set, based on the determination of the first traveling speed V1. Furthermore, in the fourth to tenth embodiments, the process of the flowchart of the non-contact power supply system 10 shown in FIG. 5, FIG. 6, and FIG. 7 may be performed.

[0202] By adopting such a configuration, the fourth to tenth embodiments can also obtain the effects of the first embodiment described above.

[0203] N. Thirteenth embodiment: In the contactless power supply system 10e of the eleventh embodiment, the power transmission paths 310 in the contactless power supply system 10b of the third embodiment further include a travel path 300e that can be traveled around. In addition, when the first control unit 411x determines the travel path command R after the notification, if the travel path 300e that can be traveled around is included in the travel path, the first control unit 411x determines the travel path command R for heading toward the travel path 300e that can be traveled around. For example, as in the travel path 300e at the bottom of FIG. 30, the contactless power supply system 10e of the eleventh embodiment notifies the process management unit 500 of the extended predicted time Te, and then causes the moving body 100a to travel around the second power transmission path 312.

[0204] With this configuration, the moving body 100a repeatedly travels along the same power transmission path 310 until charging is completed. Therefore, for example, even if another moving body 100a travels behind the moving body 100a, the moving body 100a does not impede the travel of the following moving body 100.

[0205] O. Fourteenth embodiment: In the above embodiment, after notifying the process management unit 500 of the extended predicted time Te, the third control device 510 may further cause other moving bodies 100a than the moving body 100a related to the notification to travel along the path of the moving body 100a related to the notification.

[0206] By adopting such an embodiment, the work performed by the moving body 100a can be substituted by another moving body 100.

[0207] P. Variations: (1) In the above embodiment, the moving body 100 is an optically guided automated guided vehicle. However, the moving body 100 may be any moving body 100 that performs non-contact power supply. For example, the moving body 100 may be an AGV of an image recognition system, a magnetic guidance system, or a laser guidance system, or may be an autonomous mobile robot (AMR). Furthermore, the moving body 100 is not limited to an automated guided vehicle, and may be a manned vehicle, an aircraft, or the like. Furthermore, the moving body 100 may be, as a specific vehicle, an AGV, an EV, a PHEV, or the like. Furthermore, the moving body 100 may be a vehicle whose moving speed is controlled by automatic driving or autocruise, or by control by a center that manages the operation of multiple vehicles. Furthermore, the moving body 100 may be a vehicle that is manually driven by a person, in which a speed command value is displayed near the driver's seat and the person drives the vehicle according to that speed. (2) In the above embodiment, a plurality of power transmission paths 310 and a plurality of non-power transmission paths 320 are present in the contactless power supply system 10. However, there may be only one each of the power transmission path 310 and the non-power transmission path 320. It is sufficient that the contactless power supply system 10 is configured with one or more power transmission paths 310 and one or more non-power transmission paths 320. (3) In the above embodiment, the first detection unit 430 and the second detection unit 530 detect the moving body 100 using a camera. However, the method of detecting the moving body 100 is not limited to a camera. For example, the method of detecting the moving body 100 may be detection using an infrared sensor. In the detection method using an infrared sensor, infrared rays are irradiated toward the running path 300, and the infrared rays reflected from the moving body 100 passing through the irradiation area of ​​the infrared sensor are detected to detect the moving body 100. (4) In the above embodiment, the battery sensor 130 periodically acquires the remaining charge Wb of the battery 120 on the travel path 300. However, the battery sensor 130 may acquire the remaining charge Wb only at specific points on the travel path 300. For example, the battery sensor 130 acquires the remaining charge Wb at the entrance / exit of the power transmission path 310. The battery sensor 130 may acquire the remaining charge Wb in response to a notification based on a change in the charging voltage or detection by the first detection unit 430 when the mobile object 100 passes through the entrance / exit of the power transmission path 310. The acquisition of the remaining charge Wb at a point other than the entrance / exit of the power transmission path 310 is possible by causing the first detection unit 430 to detect points other than the entrance / exit of the power transmission path 310. (5) In the above embodiment, the contactless power supply system 10 stops the moving object 100 from receiving power on the power transmission line 310 in accordance with the remaining power amount Wb. However, the contactless power supply system 10 does not have to stop the moving object 100 from receiving power. (6) In the above embodiment, the contactless power supply system 10 transmits, as the power supply information Dc, the route command R to return from the power transmission path 310 to the non-power transmission path 320 to the moving body 100 in accordance with the remaining amount Wb. However, the contactless power supply system 10 does not need to transmit, as the power supply information Dc, the route command R to return from the power transmission path 310 to the non-power transmission path 320 to the moving body 100 in accordance with the remaining amount Wb. In other words, even when the remaining amount Wb exceeds the reference power amount Wa that is 80% of the rated capacity Wm, the contactless power supply system 10 does not need to change the route of the moving body 100 so that the moving body 100 returns from the power transmission path 310 to the non-power transmission path 320. (7) In the above embodiment, the determination of the route command R is stopped when the predicted charging time Tc is longer than the predetermined charging time Tc_o and the charging rate So is higher than the predetermined reference charging rate Som. However, the determination of the route command R may be stopped only when the charging rate So is higher than the predetermined reference charging rate Som. Furthermore, the determination of the route command R may be stopped according to the remaining capacity Wb. For example, the determination of the route command R is stopped only when the remaining capacity Wb exceeds a reference power amount Wa that is 80% of the rated capacity Wm. (8) In the above embodiment, the notification is given to the process management unit 500 when the predicted charging time Tc is longer than the predetermined charging time Tc_o of each of the multiple power transmission lines 310 and the charging rate So is lower than the predetermined reference charging rate Som. However, the notification may be given to the process management unit 500 only when the predicted charging time Tc is longer than the predetermined charging time Tc_o of each of the multiple power transmission lines 310. (9) In the above embodiment, the power supply management unit 400 and the process management unit 500 may be configured as a single computer. Furthermore, the power supply management unit 400 and the process management unit 500 may be configured as a server on a network. (10) In the above embodiment, communication between the power supply management unit 400 and the process management unit 500 is not limited to wireless communication, and may be wired communication. (11) In the above embodiment, the power supply management unit 400 includes a first control unit 411x that calculates the amount of power W_com required by the battery 120. However, the moving object 100 may include a first control unit 411x that calculates the amount of power W_com required by the battery 120. (12) In the above embodiment, the contactless power supply is performed at a resonant frequency of 85 kHz. However, the resonant frequency is not limited to 85 kHz. The resonant frequency may be 80 kHz, 90 kHz, or the like.

[0208] Q. Variations: (1) In the above embodiment, the first reference capacitance C1 is Wm×0.8. However, the first reference capacitance C1 is not limited to Wm×0.8. The first reference capacitance C1 may be Wm×0.9 or Wm×0.7. (2) In the fourth embodiment, the path 300c is configured as a route along which the moving body 100 travels. However, the path 300c may be a straight or curved route. In this case, the moving body 100 travels back and forth along the straight or curved route. (3) In the fourth embodiment, the first detector 430c is provided in the power supply manager 400c. However, the first detector 430c may be provided in the moving object 100. For example, the first detector 430c provided in the moving object 100 may detect a disconnection from the power transmission line 310 based on a power receiving state. (4) In the fifth embodiment, the moving object 100 includes a power sensor. However, the moving object 100 of the fifth embodiment does not have to include a power sensor. The moving object 100 of the fifth embodiment may obtain the amount of charging power received by the battery sensor 130. (5) In the above embodiment, the FB control and the FF+FB control are performed by PI control. However, the FB control and the FF+FB control are not limited to PI control. The FB control and the FF+FB control may use various control methods such as model-based modern control and Bang-Bang control. (6) In the tenth embodiment, the plurality of pieces of power reception information Dr are composed of a plurality of constants. However, the plurality of pieces of power reception information Dr may be calculated, for example, by a function that uses the average supply power Pa as an argument. (7) In the seventh embodiment, the first control unit 411xc controls the calculation of the third traveling speed V_com in a period in which the moving body 100 can travel along two power transmission lines 310 when the moving body 100 travels along the path at the fourth traveling speed V4. However, the first control unit 411xc may control the calculation of the third traveling speed V_com in a period in which the moving body 100 can travel along at least two power transmission lines 310. The first control unit 411xc may also control the calculation of the third traveling speed V_com in a period in which the moving body 100 can travel along three or four power transmission lines 310 when the moving body 100 travels along the path at the fourth traveling speed V4. (8) In the above embodiment, the power supply management unit 400c performs FB control based on the power receiving record such as the past travel speed and the amount of charged power. The power supply management unit 400c may further set a restriction in the FB control. For example, the moving body 100 traveling at the third travel speed V_com stops when performing work. As a result, the battery 120 of the moving body 100 is charged more than when it is charged by traveling at the third travel speed V_com. Therefore, the amount of charged power deviates from the amount of charged power that should be charged by traveling at the third travel speed V_com. For example, the power supply management unit 400 may measure the travel time of the moving body 100 and remove the power receiving record when the travel time is relatively long compared to the past travel time. Therefore, the power receiving record that is not suitable for calculating the third travel speed V_com is removed. (9) The above embodiment can also be applied to charging an Autonomous Mobile Robot (AMR) that can travel on paths other than the predetermined travel path 300 as the non-power transmission path 320.

[0209] The present disclosure is not limited to the above-mentioned embodiments and modifications, and can be realized in various configurations without departing from the spirit of the present disclosure. For example, the embodiments and modifications corresponding to the technical features in each form described in the Summary of the Invention section can be appropriately replaced or combined to solve some or all of the above problems or to achieve some or all of the above effects. Furthermore, if a technical feature is not described as essential in this specification, it can be appropriately deleted.

[0210] Other forms: The features of the present disclosure are as follows: (Form 1) A contactless power supply system (10, 10a, 10b, 10c, 10d, 10e) that contactlessly supplies power to a moving object (100, 100a, 100b), A power transmission device (200) that transmits power for the power supply to the moving object; a plurality of travel paths (300, 300c) each including one or more power transmission paths (310) through which power is transmitted by the power transmission device and one or more non-power transmission paths (320) other than the one or more power transmission paths; A power supply management unit (400, 400a, 400b, 400c) for controlling the non-contact power supply system, The moving object travels on any one of the plurality of travel paths, a power receiving unit (110) that receives the power from the power transmitting device; a battery (120) capable of being charged with a predetermined supply power (P) as said power; a battery sensor (130) for acquiring a remaining capacity (Wb) of the battery; a first communication unit (140) that communicates with the power supply management unit; A first control device (150) for controlling the moving body, The power transmitting device is One or more power transmission coils (220) provided in the one or more power transmission paths; a power source (210) that outputs the supply power (P) to the moving object traveling on the one or more power transmission paths via the power transmission coil; The power supply management unit is a first control unit (411x, 411xc) that generates power supply information (Dc); A second communication unit (420) that communicates with the first communication unit, The moving object or the power supply management unit includes a third control unit (411y) that calculates a required amount of power (Ws) of the battery based on the remaining amount, The power supply information is the power supply information for controlling the traveling of the moving body on the one or more power transmission lines and the power reception by the first control device, and includes at least a first traveling speed (V1) on a route that is predetermined as each of the one or more power transmission lines, or a route combining the one or more non-power transmission lines and the one or more power transmission lines, at which the moving body traveling on each of the one or more non-power transmission lines at a predetermined second traveling speed (V2) should travel on the route; The first control unit is calculating a third travel speed (V_com) as the first travel speed for the moving body on the route to charge the required amount of power, the third travel speed being based on one or more pieces of predetermined power reception information related to the power supply capacity of the one or more power transmission lines and the required amount of power; The wireless power supply system transmits the third traveling speed to the moving object by the second communication unit. (Form 2) The wireless power supply system according to aspect 1, The first control unit determines the one or more pieces of power receiving information based on the power supply capacity of the one or more power transmission lines in the route. (Form 3) The wireless power supply system according to aspect 1, The moving object further includes a power sensor for acquiring an amount of charging power due to the received power, The power reception information is a power reception record of the moving body regarding the power supply capacity related to the route before the third traveling speed is calculated, and includes information related to the amount of charging power. (Form 4) The wireless power supply system according to aspect 1, The moving object further includes a power sensor for acquiring an amount of charging power due to the received power, The first control unit is In a first control on the route, the one or more pieces of power receiving information are determined based on a power supply capacity of the one or more power transmission lines on the route; A contactless power supply system in which, in a control after the initial control, the one or more pieces of power receiving information are determined to be a power receiving record of the moving body regarding the power supply capacity related to the one or more power transmission lines on the route obtained in a past control, the power receiving record including information related to the amount of charging power. (Form 5) The wireless power supply system according to aspect 1, The third control unit further calculates the required amount of power based on a difference between the actual amount of power and a first reference capacity (C1) based on a rated capacity of the battery. (Form 6) The wireless power supply system according to aspect 1, The third control unit is A wireless power supply system that calculates the required amount of power based on a predetermined relationship between the running time (Td) of the mobile body and the remaining amount, when a second reference capacity (C2) smaller than the rated capacity (Wm) of the battery is set as the lower limit of the remaining amount at the end (Tf) of the operating period during a predetermined operating period of the mobile body. (Form 7) The wireless power supply system according to any one of aspects 1 to 6, The moving object or the power supply management unit further includes a first detection unit (430c) that detects separation of the moving object from the power transmission line, The first control unit controls calculation of the third traveling speed for each of the one or more power transmission lines in the route on the condition that the departure is detected. (Form 8) The wireless power supply system according to any one of aspects 1 to 6, The moving object or the power supply management unit further includes a first detection unit that detects separation of the moving object from the power transmission line, The first control unit controls calculation of the third traveling speed for each of two or more predetermined power transmission lines among the plurality of power transmission lines in the route based on the number of times the departure is detected. (Form 9) The wireless power supply system according to any one of aspects 1 to 6, the moving body travels on the course at the third traveling speed that is equal to or greater than a fourth traveling speed, The first control unit is controlling the calculation of the third travel speed in a period in which the moving body can travel along at least two of the power transmission lines when the moving body travels along the course at the fourth travel speed; The power supply management unit further includes the fourth traveling speed, a length of the power transmission line, a length of the non-power transmission line, and the supply power, a contactless power supply system that determines, based on the fourth traveling speed, the length of the power transmission line, and the length of the non-power transmission line, the length of the power transmission line and the supply power for a power transmission line that can be passed through in the cycle among the one or more power transmission lines, as the one or more pieces of power receiving information. (Form 10) The wireless power supply system according to aspect 1, further comprising: A process management unit (500) that manages the operation of the plurality of moving bodies and checks the power that can be supplied to the plurality of moving bodies, The process management department A sixth communication unit (550) that communicates with the power supply management unit; a third control device (510) for controlling the process management unit; The power supply management unit further a fourth communication unit (440) that communicates with the process management unit; The third control device is A plurality of pieces of the received power information are provided, In response to an operating status of the moving body, a command is issued to the first control unit to determine one of the one or more pieces of power receiving information; The first control unit calculates the third traveling speed based on the one piece of power reception information. (Form 11) The wireless power supply system according to aspect 1, The power supply information further includes a route command (R) instructing a route that combines any one of the one or more non-transmission routes and any one of the one or more transmission routes, The one or more power transmission lines are a plurality of power transmission lines, each of which is set with a predetermined speed zone (Vb) for limiting the first traveling speed, The first control unit is and determining, based on the determination of the first traveling speed, the route command to instruct the vehicle to head toward one of the plurality of power transmission lines, the speed zone (Vb) in which the third traveling speed is limited. (Form 12) The wireless power supply system according to aspect 11, further comprising: The power supply management unit is a first detection unit (430) configured to detect the number of the moving objects and the first travel speed of each of the moving objects in each of the plurality of electric power transmission lines; The first control unit is When the number of the moving bodies is detected by the first detection unit in each of the plurality of power transmission lines, the third travel speed of each of the moving bodies is changed to a slowest third travel speed among the third travel speeds of each of the moving bodies. (Form 13) 13. The wireless power supply system according to claim 12, The power supply information includes a command to stop the power reception, The first control unit, while the mobile body is receiving power, decides to stop receiving power if the remaining amount is greater than a predetermined reference power amount (Wa), subject to obtaining the remaining amount. (Form 14) 14. The wireless power supply system according to claim 13, The first control unit, under the condition that the remaining amount is acquired while the power is being received by the moving object, further and determining, when the remaining amount is greater than the reference amount of power, the route command to instruct the vehicle to head toward any one of the one or more non-power transmission paths. (Form 15) The wireless power supply system according to aspect 1, The power supply information further includes a route command (R) instructing a route that combines any one of the one or more non-transmission routes and any one of the one or more transmission routes, The first traveling speed is a traveling speed on each of the one or more power transmission lines, When the moving body receives an instruction based on the power supply information while traveling at the second traveling speed (V2), the moving body travels on one of the one or more power transmission lines; The first control unit is Control based on the acquisition of the remaining amount; A contactless power supply system that calculates the third traveling speed based on a predetermined length of the power transmission line in the route and the power receiving information based on the supply power of the power transmission line. (Form 16) 16. The wireless power supply system according to claim 15, The one or more power transmission lines are a plurality of power transmission lines, each of which is set with a predetermined speed zone for limiting the first traveling speed, The first control unit further includes: and determining, based on the determination of the first traveling speed, the route command to instruct the vehicle to head toward one of the plurality of power transmission lines in which the speed band for limiting the third traveling speed is set. (Form 17) The wireless power supply system according to aspect 16, further comprising: The power supply management unit is a first detection unit that detects the number of the moving objects and the first traveling speed of each of the moving objects in each of the plurality of electric power transmission lines; The first control unit is When the number of the moving bodies is detected by the first detection unit in each of the plurality of power transmission lines, the third travel speed of each of the moving bodies is changed to a slowest third travel speed among the third travel speeds of each of the moving bodies. (Form 18) 18. The wireless power supply system according to claim 17, The power supply information includes a command to stop the power reception, The first control unit, while the mobile body is receiving power, decides to stop receiving power if the remaining amount is greater than a predetermined reference power amount (Wa), subject to obtaining the remaining amount. (Form 19) 19. The wireless power supply system according to claim 18, The first control unit, under the condition that the remaining amount is acquired while the power is being received by the moving object, further and determining, when the remaining amount is greater than the reference amount of power, the route command to instruct the vehicle to head toward any one of the one or more non-power transmission paths. (Form 20) The wireless power supply system according to any one of aspects 11, 12, 13, 17, 18, and 19, further comprising: The moving object includes a SOC acquisition unit (151ax) that acquires a charging rate (So) of the battery, The power supply management unit includes a second control unit (411z) that generates time information (T) of the moving object based on the power supply information, The second control unit, on condition that the remaining amount is acquired before the route command is determined, Calculating a predicted charging time (Tc) of each of the plurality of power transmission paths as the time information based on the supply power and the required amount of power; The first control unit is A contactless power supply system that stops determining the route command when the predicted charging time (Tc) is longer than a predetermined charging time and the charging rate is higher than a predetermined reference charging rate (Som). (Form 21) The wireless power supply system according to any one of aspects 11, 12, 13, 17, 18, and 19, further comprising: the moving object includes a SOC acquisition unit that acquires a charging rate of the battery; The first control unit, on condition that the remaining amount is acquired before the route command is determined, A contactless power supply system that stops determining the route command when the charging rate is higher than a predetermined reference charging rate. (Form 22) The wireless power supply system according to any one of aspects 11, 12, 13, 17, 18, and 19, further comprising: a process management unit that manages the operation of the moving objects on the plurality of travel paths, the process management unit including a third communication unit (540) that communicates with the power supply management unit; The power supply management unit is a second control unit (411z) that generates time information (T) of the moving body based on the power supply information; A fourth communication unit that communicates with the process management unit (500), The second control unit, on condition that the remaining amount is acquired before the route command is determined, Calculating a predicted charging time (Tc) of each of the plurality of power transmission paths as the time information based on the supply power and the required amount of power; When the first control unit determines that the predicted charging time is longer than a predetermined charging time of each of the plurality of power transmission paths, Calculate an extension predicted time (Tc) which is a difference between a predetermined allowable time of the power transmission line and the predicted charging time as the time information, and notify the process management unit of the time information; The first control unit determines the route command after the notification. (Form 23) The wireless power supply system according to any one of aspects 11, 12, 13, 17, 18, and 19, further comprising: a process management unit that manages the operation of the moving object on the travel path, The mobile object further includes a fifth communication unit (180) that communicates with the process management unit, The process management department a second detection unit (530) that measures a travel time of the moving object on each of the plurality of electric power transmission lines and detects a separation of the moving object from each of the plurality of electric power transmission lines; A third control device that controls the process management unit; a sixth communication unit that communicates with the mobile unit; The third control device is determining the second travel speed before the moving body travels on the travel path; The third control device, on condition that the second detection unit detects the A contactless power supply system that changes the second traveling speed of the detected moving body to a fifth traveling speed (V5) faster than the second traveling speed when the traveling time is longer than a predetermined allowable time (Tm) of each of the multiple power transmission lines. (Form 24) The wireless power supply system according to any one of aspects 11, 12, 13, 17, 18, and 19, further comprising: The plurality of power transmission paths include One or more first power transmission paths that charge the moving body in a stopped state; and one or more second power transmission paths for charging the moving body while the moving body is moving. The power supply management unit includes a second control unit that generates time information (T) of the moving object based on the power supply information, The second control unit, on condition that the remaining amount is acquired before the route command is determined, Calculating a predicted charging time for each of the plurality of power transmission paths as the time information based on the supply power and the required amount of power; The first control unit determines the route command to head toward one of the one or more first power transmission lines when the predicted charging time is longer than a predetermined charging time for each of the multiple power transmission lines. (Form 25) 23. The wireless power supply system according to claim 22, The one or more electric power transmission lines further include an electric power transmission line that can circulate, The first control unit, in determining the route command after the notification, determines the route command to go in a case where the route includes the power transmission line that can be circumnavigated. (Form 26) 23. The wireless power supply system according to claim 22, The third control device causes the other moving objects other than the moving object related to the notification to travel along the path of the moving object related to the notification. (Form 27) A power transmission device for a wireless power supply system that wirelessly supplies power to a moving object, The wireless power supply system includes: The power transmitting device transmits electric power for the power supply to the moving object; A plurality of travel paths each including one or more power transmission paths through which power is transmitted by the power transmission device and one or more non-power transmission paths other than the one or more power transmission paths; A power supply management unit that controls the non-contact power supply system, The moving object travels on any one of the plurality of travel paths, a power receiving unit that receives the power from the power transmitting device; a battery capable of being charged with a predetermined supply power as the power; a battery sensor that acquires a remaining amount of the battery as an amount of electric power; A first communication unit that communicates with the power supply management unit; A first control device that controls the moving body, The power transmitting device is One or more power transmission coils provided in the one or more power transmission paths; a power source that outputs the supply power to the moving object traveling on the one or more power transmission paths via the power transmission coil; The power supply management unit is A first control unit that generates power supply information necessary for the traveling of the moving body; A second communication unit that communicates with the first communication unit, the moving object or the power supply management unit includes a third control unit that calculates a required amount of power of the battery based on the remaining amount; The power supply information is the power supply information for controlling the traveling of the moving body on the one or more power transmission lines and the power reception by the first control device, and includes at least a first traveling speed on a route that is predetermined as each of the one or more power transmission lines, or a route combining the one or more non-power transmission lines and the one or more power transmission lines, at which the moving body traveling on each of the one or more non-power transmission lines at a predetermined second traveling speed should travel on the route; The first control unit is calculating a third travel speed as the first travel speed for charging the moving body on the route with the required amount of power, the third travel speed being calculated based on one or more pieces of predetermined power reception information related to the power supply capacity of the one or more power transmission lines and the required amount of power; The power transmitting device transmits the third traveling speed to the moving object via the second communication unit. (Form 28) 28. The power transmitting device according to claim 27, The one or more power transmission lines are a plurality of power transmission lines, each of which is set with a predetermined speed zone for limiting the first traveling speed, The power supply information further includes a route command instructing a route that combines any one of the one or more non-transmission routes and any one of the one or more transmission routes, The first control unit is and determining, based on the determination of the first traveling speed, the route command to instruct the vehicle to head toward any one of the plurality of power transmission lines in which the speed band for limiting the third traveling speed is set. (Form 29) A power receiving device of a wireless power supply system that wirelessly supplies power to a moving object, The power receiving device is provided in the moving object, The wireless power supply system includes: a power transmitting device that transmits electric power for the power supply to the moving object; A plurality of travel paths each including one or more power transmission paths through which power is transmitted by the power transmission device and one or more non-power transmission paths other than the one or more power transmission paths; A power supply management unit that controls the non-contact power supply system, The moving object travels on any one of the plurality of travel paths, The power receiving device is a power receiving unit that receives the power from the power transmitting device; a battery capable of being charged with a predetermined supply power as the power; a battery sensor that acquires a remaining amount of the battery as an amount of electric power; A first communication unit that communicates with the power supply management unit; A first control device that controls the moving body, The power transmitting device is One or more power transmission coils provided in the one or more power transmission paths; a power source that outputs the supply power to the moving object traveling on the one or more power transmission paths via the power transmission coil; The power supply management unit is A first control unit that generates power supply information necessary for the traveling of the moving body; A second communication unit that communicates with the first communication unit, the mobile object or the power supply management unit includes a third control unit that receives the remaining amount from the mobile object and calculates a required amount of power of the battery based on the remaining amount; The power supply information is the power supply information for controlling the traveling of the moving body on the one or more power transmission lines and the power reception by the first control device, and includes at least a first traveling speed on a route that is predetermined as each of the one or more power transmission lines, or a route combining the one or more non-power transmission lines and the one or more power transmission lines, at which the moving body traveling on each of the one or more non-power transmission lines at a predetermined second traveling speed should travel on the route; The first control unit is calculating a third travel speed as the first travel speed for charging the moving body on the route with the required amount of power, the third travel speed being calculated based on one or more pieces of predetermined power reception information related to the power supply capacity of the one or more power transmission lines and the required amount of power; The power receiving device transmits the third traveling speed to the moving object via the second communication unit. (Form 30) 29. The power receiving device according to claim 29, The one or more power transmission lines are a plurality of power transmission lines, each of which is set with a predetermined speed zone for limiting the first traveling speed, The power supply information further includes a route command instructing a route that combines any one of the one or more non-transmission routes and any one of the one or more transmission routes, The first control unit is The power receiving device determines the route command to instruct the power receiving device to head toward any one of the plurality of power transmission lines in which the speed band for limiting the third travel speed is set based on the determination of the first travel speed. [Explanation of symbols]

[0211] Reference numerals 10, 10a to 10e: non-contact power supply system, 100, 100a, 100b: mobile object, 110: power receiving unit, 111: power receiving coil, 112: charging circuit, 120: battery, 130: battery sensor, 140: first communication unit, 150: first control device, 151, 151a, 511: processor, 151ax: SOC acquisition unit, 152, 412, 512: ROM, 153, 413, 413a, 513: RAM, 160: drive unit, 161: drive circuit, 162: motor, 170: vehicle Ring, 180...Fifth communication section, 200...Power transmission device, 210...Power source, 220...Power transmission coil, 300,300c,300e...Travel road, 310,310_n,310a...Power transmission line, 311~317...1st power transmission line~7th power transmission line, 320...Non power transmission line , 400,400a~400c...power supply management unit, 410,410a,410b...second control device, 411,411a~411c...processor, 411x,411xc...first control unit, 411y...third control unit, 411z...second control unit, 420 ...second communication unit, 430, 430c...first detection unit, 440...fourth communication unit, 500, 500c, 500d...process management unit, 510, 510d...third control device, 530...second detection unit, 540...third communication unit, 550...sixth communication unit, A, B, E, F...branch point, C...center, C1, C2...first reference capacity, second reference capacity, Dc...power supply information, Dr...power reception information, P, P_n, P3 to P5...supplied power, Pa...average supplied power, Pr...product, R...route command, S...stop command, So...charging rate, So m...reference charging rate, T...time information, T3, T4...passing time, Ta...operation period, Tc...predicted charging time, Tc_o...charging time, Td...driving time, Te...predicted extended time, Tm...allowable time, Tf...end, Ts...start, V...terminal voltage, V1...first driving speed, V2...second driving speed, V4...fourth driving speed, V5...fifth driving speed, V_com...third driving speed, Vb, Vb_n...speed band, W_com...required power, Wa...reference power, Wb...remaining amount, Wm...rated capacity, t_in...time

Claims

1. A wireless power supply system (10, 10a, 10b, 10c, 10d, 10e) that wirelessly supplies power to a moving body (100, 100a, 100b), A power transmission device (200) that transmits power for the power supply to the moving object; A plurality of travel paths (300, 300c) each including one or more power transmission paths (310) through which power is transmitted by the power transmission device and one or more non-power transmission paths (320) other than the one or more power transmission paths; A power supply management unit (400, 400a, 400b, 400c) that controls the contactless power supply system, The moving object travels on any one of the plurality of travel paths, A power receiving unit (110) that receives the power from the power transmitting device; a battery (120) capable of being charged with a predetermined supply power (P) as said power; A battery sensor (130) for acquiring a remaining capacity (Wb) of the battery; A first communication unit (140) that communicates with the power supply management unit; A first control device (150) for controlling the moving body; a power sensor for acquiring an amount of charging power by the received power, The power transmitting device is One or more power transmission coils (220) provided on the one or more power transmission paths; a power source (210) that outputs the supply power (P) to the moving object traveling on the one or more power transmission paths via the power transmission coil; The power supply management unit is A first control unit (411x, 411xc) that generates power supply information (Dc); A second communication unit (420) that communicates with the first communication unit, The moving object or the power supply management unit includes a third control unit (411y) that calculates a required amount of power (Ws) of the battery based on the remaining amount, The power supply information is the power supply information for controlling the traveling of the moving body on the one or more power transmission lines and the power reception by the first control device, and includes at least a first traveling speed (V1) on a route that is predetermined as each of the one or more power transmission lines, or a route combining the one or more non-power transmission lines and the one or more power transmission lines, at which the moving body traveling on each of the one or more non-power transmission lines at a predetermined second traveling speed (V2) should travel on the route; The first control unit is calculating a third travel speed (V_com) as the first travel speed for charging the moving body on the course with the required amount of power, the third travel speed being calculated based on one or more pieces of predetermined power reception information related to the power supply capacity of the one or more power transmission lines and the required amount of power; The second communication unit transmits the third traveling speed to the moving object; The one or more pieces of power receiving information are a power receiving record of the moving body regarding the power supply capacity related to the route before the third traveling speed is calculated, and include information related to the amount of charging power.

2. The non-contact power supply system according to claim 1, The first control unit determines the one or more pieces of power receiving information based on the power supply capacity of the one or more power transmission lines in the route.

3. The non-contact power supply system according to claim 1, The first control unit is In a first control on the route, the one or more pieces of power receiving information are determined based on a power supply capacity of the one or more power transmission lines on the route; A contactless power supply system in which, in a control after the initial control, the one or more pieces of power receiving information are determined to be a power receiving record of the moving body regarding the power supply capacity related to the one or more power transmission lines on the route obtained in a past control, the power receiving record including information related to the amount of charging power.

4. The non-contact power supply system according to claim 1, The third control unit further calculates the required amount of power based on a difference between the calculated amount of power and a first reference capacity (C1) based on a rated capacity of the battery.

5. The non-contact power supply system according to claim 1, The third control unit is a second reference capacity (C2) smaller than a rated capacity (Wm) of the battery during a predetermined operating period (Ta) of the moving body and a predetermined relationship between the remaining capacity and the remaining capacity at an end (Tf) of the operating period.

6. The non-contact power supply system according to any one of claims 1 to 5, The moving object or the power supply management unit further includes a first detection unit (430c) that detects separation of the moving object from the power transmission line, The first control unit controls calculation of the third traveling speed for each of the one or more power transmission lines in the route on the condition that the departure is detected.

7. The non-contact power supply system according to any one of claims 1 to 5, The moving object or the power supply management unit further includes a first detection unit that detects separation of the moving object from the power transmission line, The first control unit controls calculation of the third traveling speed for each of two or more predetermined power transmission lines among the plurality of power transmission lines in the route based on the number of times the departure is detected.

8. The non-contact power supply system according to any one of claims 1 to 5, the moving body travels on the course at the third traveling speed that is equal to or greater than a fourth traveling speed, The first control unit is When the moving body travels along the course at the fourth travel speed, the calculation of the third travel speed is controlled in a period in which the moving body can travel along at least two of the power transmission lines; The power supply management unit further includes the fourth traveling speed, a length of the power transmission line, a length of the non-power transmission line, and the supply power, a contactless power supply system that determines, based on the fourth traveling speed, the length of the power transmission line, and the length of the non-power transmission line, the length of the power transmission line and the supply power for a power transmission line that can pass through in the cycle among the one or more power transmission lines, as the one or more pieces of power receiving information.

9. The non-contact power supply system according to claim 1, further comprising: A process management unit (500) that manages the operation of the plurality of moving bodies and checks the power that can be supplied to the plurality of moving bodies, The process management department A sixth communication unit (550) that communicates with the power supply management unit; A third control device (510) that controls the process management unit, The power supply management unit further a fourth communication unit (440) that communicates with the process management unit; The third control device is A plurality of pieces of the received power information are provided, In response to an operation status of the moving body, a command is issued to the first control unit to determine one piece of power reception information among the one or more pieces of power reception information; The first control unit calculates the third traveling speed based on the one piece of power reception information.

10. The non-contact power supply system according to claim 1, The power supply information further includes a route command (R) instructing a route that combines any one of the one or more non-transmission routes and any one of the one or more transmission routes as the route, The one or more power transmission lines are a plurality of power transmission lines, and a predetermined speed zone (Vb) for limiting the first traveling speed is set for each of the plurality of power transmission lines, The first control unit is and determining, based on the determination of the first traveling speed, the route command instructing the vehicle to head toward one of the plurality of power transmission lines in which the speed band (Vb) that limits the third traveling speed is set.

11. The contactless power supply system according to claim 10, further comprising: The power supply management unit is A first detection unit (430) that detects the number of the moving bodies and the first traveling speed of each of the moving bodies in each of the plurality of electric power transmission lines, The first control unit is When the number of the moving bodies is detected by the first detection unit in each of the plurality of power transmission lines, the third travel speed of each of the moving bodies is changed to a third travel speed that is the slowest among the third travel speeds of each of the moving bodies.

12. The non-contact power supply system according to claim 11, The power supply information includes a command to stop the power reception, The first control unit, when the remaining amount is greater than a predetermined reference power amount (Wa) while the mobile body is receiving power, determines to stop the power reception, subject to acquisition of the remaining amount.

13. The contactless power supply system according to claim 12, The first control unit, on condition that the remaining amount is acquired while the power is being received by the moving object, further and determining, when the remaining amount is greater than the reference amount of power, the route command to instruct the vehicle to head toward any one of the one or more non-power transmission paths.

14. The non-contact power supply system according to claim 1, The power supply information further includes a route command (R) instructing a route that combines any one of the one or more non-transmission routes and any one of the one or more transmission routes as the route, The first traveling speed is a traveling speed on each of the one or more power transmission lines, When the moving body receives an instruction based on the power supply information while traveling at the second traveling speed (V2), the moving body travels along one of the one or more power transmission lines; The first control unit is Control based on the acquisition of the remaining amount, A contactless power supply system in which the third traveling speed is calculated based on a predetermined length of the power transmission line in the route and the power receiving information based on the supply power of the power transmission line.

15. The contactless power supply system according to claim 14, The one or more power transmission lines are a plurality of power transmission lines, each of which is set with a predetermined speed zone for limiting the first traveling speed, The first control unit further includes: and determining, based on the determination of the first traveling speed, the route command instructing the vehicle to head toward one of the plurality of power transmission lines in which the speed band for limiting the third traveling speed is set.

16. The contactless power supply system according to claim 15, further comprising: The power supply management unit is a first detection unit configured to detect the number of the moving objects and the first traveling speed of each of the moving objects in each of the plurality of electric power transmission lines; The first control unit is When the number of the moving bodies is detected by the first detection unit in each of the plurality of power transmission lines, the third travel speed of each of the moving bodies is changed to a third travel speed that is the slowest among the third travel speeds of each of the moving bodies.

17. The contactless power supply system according to claim 16, The power supply information includes a command to stop the power reception, The first control unit, when the remaining amount is greater than a predetermined reference power amount (Wa) while the mobile body is receiving power, determines to stop the power reception, subject to acquisition of the remaining amount.

18. The contactless power supply system according to claim 17, The first control unit, on condition that the remaining amount is acquired while the power is being received by the moving object, further and determining, when the remaining amount is greater than the reference amount of power, the route command to instruct the vehicle to head toward any one of the one or more non-power transmission paths.

19. The contactless power supply system according to any one of claims 10, 11, 12, 16, 17, and 18, further comprising: The mobile object includes an SOC acquisition unit (151ax) that acquires a charging rate (So) of the battery, The power supply management unit includes a second control unit (411z) that generates time information (T) of the moving object based on the power supply information, The second control unit, on condition that the remaining amount is acquired before the route command is determined, Calculating a predicted charging time (Tc) of each of the plurality of power transmission paths as the time information based on the supply power and the required amount of power; The first control unit is A contactless power supply system which halts the determination of the route command when the predicted charging time (Tc) is longer than a predetermined charging time and the charging rate is higher than a predetermined reference charging rate (Som).

20. The contactless power supply system according to any one of claims 10, 11, 12, 16, 17, and 18, further comprising: the moving object includes an SOC acquisition unit that acquires a charging rate of the battery, The first control unit, on the condition that the remaining amount is acquired before the determination of the route command, A contactless power supply system that stops determining the route command when the charging rate is higher than a predetermined reference charging rate.

21. The contactless power supply system according to any one of claims 10, 11, 12, 16, 17, and 18, further comprising: a process management unit that manages the operation of the moving body on the plurality of travel paths, the process management unit including a third communication unit (540) that communicates with the power supply management unit; The power supply management unit is a second control unit (411z) that generates time information (T) of the moving body based on the power supply information; A fourth communication unit that communicates with the process management unit (500), The second control unit, on condition that the remaining amount is acquired before the route command is determined, Calculating a predicted charging time (Tc) of each of the plurality of power transmission paths as the time information based on the supply power and the required amount of power; When the first control unit determines that the predicted charging time is longer than a predetermined charging time of each of the plurality of power transmission paths, Calculate an extension predicted time (Tc) which is a difference between a predetermined allowable time of the power transmission line and the predicted charging time as the time information, and notify the process management unit of the time information; The first control unit determines the route command after the notification.

22. The contactless power supply system according to any one of claims 10, 11, 12, 16, 17, and 18, further comprising: a process management unit that manages the operation of the moving object on the travel path, The mobile object further includes a fifth communication unit (180) that communicates with the process management unit, The process management department A second detection unit (530) that measures a travel time of the moving object on each of the plurality of electric power transmission lines and detects a departure of the moving object from each of the plurality of electric power transmission lines; A third control device that controls the process management unit; a sixth communication unit that communicates with the mobile unit; The third control device is determining the second travel speed before the moving body travels on the travel path; The third control device, on condition that the second detection unit detects the When the running time is longer than a predetermined allowable time (Tm) of each of the plurality of power transmission lines, the second running speed of the detected moving body is changed to a fifth running speed (V5) that is faster than the second running speed.

23. The contactless power supply system according to any one of claims 10, 11, 12, 16, 17, and 18, further comprising: The plurality of power transmission paths include One or more first power transmission paths that charge the moving body in a stopped state; and one or more second power transmission paths for charging the moving body while the moving body is moving. The power supply management unit includes a second control unit that generates time information (T) of the moving object based on the power supply information, The second control unit, on condition that the remaining amount is acquired before the route command is determined, Calculating a predicted charging time for each of the plurality of power transmission paths as the time information based on the supply power and the required amount of power; The first control unit determines the route command to head toward one of the one or more first transmission lines when the predicted charging time is longer than a predetermined charging time for each of the multiple transmission lines.

24. The non-contact power supply system according to claim 21, The one or more electric power transmission lines further include an electric power transmission line that can circulate, The first control unit, in determining the route command after the notification, determines the route command to be taken if the route includes the power transmission line that can be circulated.

25. The non-contact power supply system according to claim 22, The third control device causes another moving object other than the moving object related to the notification to travel along the path of the moving object related to the notification.

26. A power transmission device for a wireless power supply system that wirelessly supplies power to a moving object, The wireless power supply system includes: The power transmitting device transmits electric power for the power supply to the moving object; A plurality of travel paths including one or more power transmission paths through which power is transmitted by the power transmission device and one or more non-power transmission paths other than the one or more power transmission paths; A power supply management unit that controls the non-contact power supply system, The moving object travels on any one of the plurality of travel paths, a power receiving unit that receives the power from the power transmitting device; a battery capable of being charged with a predetermined supply power as the power; a battery sensor that acquires a remaining amount of the battery as an amount of electric power; A first communication unit that communicates with the power supply management unit; A first control device that controls the moving body; a power sensor for acquiring an amount of charging power by the received power, The power transmitting device is One or more power transmission coils provided in the one or more power transmission paths; a power source that outputs the supply power to the moving object traveling on the one or more power transmission paths via the power transmission coil; The power supply management unit is A first control unit that generates power supply information necessary for the traveling of the moving body; a second communication unit that communicates with the first communication unit, the moving object or the power supply management unit includes a third control unit that calculates a required amount of power of the battery based on the remaining amount; The power supply information is the power supply information for controlling the traveling of the moving body on the one or more power transmission lines and the power reception by the first control device, and includes at least a first traveling speed on a route that is predetermined as each of the one or more power transmission lines, or a route combining the one or more non-power transmission lines and the one or more power transmission lines, at which the moving body traveling on each of the one or more non-power transmission lines at a predetermined second traveling speed should travel on the route; The first control unit is a third travel speed at which the moving body on the route is charged with the required amount of power, the third travel speed being calculated based on one or more pieces of predetermined power reception information related to the power supply capacity of the one or more power transmission lines and the required amount of power; The second communication unit transmits the third traveling speed to the moving object; The one or more pieces of power reception information are a power reception record of the moving body regarding the power supply capacity related to the route before the third traveling speed is calculated, and include information related to the amount of charging power.

27. 27. The power transmitting device according to claim 26, The one or more power transmission lines are a plurality of power transmission lines, each of which is set with a predetermined speed zone for limiting the first travel speed, The power supply information further includes a route command instructing a route that combines any one of the one or more non-transmission routes and any one of the one or more transmission routes, The first control unit is and determining, based on the determination of the first traveling speed, the route command to instruct the vehicle to head toward any one of the plurality of power transmission lines in which the speed band for limiting the third traveling speed is set.

28. A power receiving device of a wireless power supply system that wirelessly supplies power to a moving object, The power receiving device is provided in the moving object, The wireless power supply system includes: a power transmitting device that transmits electric power for the power supply to the moving object; A plurality of travel paths including one or more power transmission paths through which power is transmitted by the power transmission device and one or more non-power transmission paths other than the one or more power transmission paths; A power supply management unit that controls the non-contact power supply system, The moving object travels on any one of the plurality of travel paths, The power receiving device is a power receiving unit that receives the power from the power transmitting device; a battery capable of being charged with a predetermined supply power as the power; a battery sensor that acquires a remaining amount of the battery as an amount of electric power; A first communication unit that communicates with the power supply management unit; A first control device that controls the moving body; a power sensor for acquiring an amount of charging power by the received power, The power transmitting device is One or more power transmission coils provided in the one or more power transmission paths; a power source that outputs the supply power to the moving object traveling on the one or more power transmission paths via the power transmission coil; The power supply management unit is A first control unit that generates power supply information necessary for the traveling of the moving body; a second communication unit that communicates with the first communication unit, the mobile object or the power supply management unit includes a third control unit that receives the remaining amount from the mobile object and calculates a required amount of power of the battery based on the remaining amount; The power supply information is the power supply information for controlling the traveling of the moving body on the one or more power transmission lines and the power reception by the first control device, and includes at least a first traveling speed on a route that is predetermined as each of the one or more power transmission lines, or a route combining the one or more non-power transmission lines and the one or more power transmission lines, at which the moving body traveling on each of the one or more non-power transmission lines at a predetermined second traveling speed should travel on the route; The first control unit is a third travel speed at which the moving body on the route is charged with the required amount of power, the third travel speed being calculated based on one or more pieces of predetermined power reception information related to the power supply capacity of the one or more power transmission lines and the required amount of power; The second communication unit transmits the third traveling speed to the moving object; The one or more pieces of power reception information are a power reception record of the moving body regarding the power supply capacity related to the route before the third traveling speed is calculated, and include information related to the amount of charging power.

29. 29. The power receiving device according to claim 28, The one or more power transmission lines are a plurality of power transmission lines, each of which is set with a predetermined speed zone for limiting the first traveling speed, The power supply information further includes a route command instructing a route that combines any one of the one or more non-transmission routes and any one of the one or more transmission routes, The first control unit is The power receiving device determines the route command to instruct the vehicle to head toward one of the plurality of power transmission lines in which the speed band for limiting the third travel speed is set based on the determination of the first travel speed.

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