Mobile body and wireless power supply system

Abstract

To provide a mobile body that can increase power supply amount.SOLUTION: A mobile body 10 includes a control part 19, a power supply part 17 that wirelessly supplies power to a power-supply target S, and a connection part 15 that is connected to a first wire 30a extending from a power supplying mobile body 20, and receives first power from the power supplying mobile body 20 via the first wire 30a.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to a mobile object and a wireless power supply system. [Background technology]

[0002] Conventionally, a system is known in which a flying drone and a vehicle are connected to each other by a power cable, and power is supplied from the vehicle to the drone. For example, Patent Document 1 discloses a rotary wing unmanned aerial vehicle and radiation dose measurement system that flies a drone for a long time while moving together with a vehicle, regardless of the weather, and efficiently measures the gamma ray dose distribution over a wide area.

[0003] On the other hand, the need to measure the environment by distributing sensors over a vast outdoor area is increasing year by year. In recent years, a system has been proposed that uses a drone-type wirelessly powered robot to wirelessly power such sensors. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2018-027719 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, the conventional technology described in Patent Document 1 did not take into consideration, for example, power supply to a moving object that wirelessly supplies power while moving. Conventional moving objects for wireless power supply were limited to those that supply power wirelessly by themselves. In this case, moving objects such as flying drones and underwater drones consume a lot of power for the operation associated with the movement in addition to the power for wireless power supply, although it is not so bad for moving objects that move on land.

[0006] For mobile objects where such power consumption cannot be ignored, there has been a trend for the mobile objects themselves to become larger in size in order to secure the power capacity for wireless power supply. As the mobile objects themselves become larger, a further problem arises in that the power consumption associated with movement increases further.

[0007] In the past, attention was focused on power supply plans for such mobile objects, and only theoretical research based on simulations without using actual equipment was actively conducted by experts in microwave technology and operations research. Therefore, the viewpoint of increasing the power capacity of a system including mobile objects for wireless power supply was not sufficiently considered.

[0008] An object of the present disclosure is to provide a mobile object and a wireless power supply system capable of improving the amount of power supply. [Means for solving the problem]

[0009] A moving body according to a first aspect for solving the above problems comprises: A control unit; A power supply unit that wirelessly supplies power to an object to be powered; A connection part connected to a first wire extending from the power supply mobile body; Equipped with The power supplying mobile object receives a first power supply via the first wire.

[0010] A wireless power supply system according to a second aspect of the present invention comprises: The above mobile object, a power supply mobile body that supplies the first power to the mobile body via the first wire; Equipped with. Effect of the Invention

[0011] According to a moving object and a wireless power supply system according to an embodiment of the present disclosure, it is possible to improve the amount of power supply. [Brief description of the drawings]

[0012] [Figure 1] 1 is a schematic diagram illustrating an example of a configuration of a wireless power supply system having a moving object according to a first embodiment of the present disclosure. [Diagram 2] 2 is a schematic diagram showing an example of a single power supply moving object included in the wireless power supply system of FIG. 1. [Diagram 3] 2 is a functional block diagram showing a schematic configuration of each of a moving body and a power supplying moving body shown in FIG. 1. [Figure 4] 1. FIG. 4 is a schematic diagram showing a first modified example of a moving object in the wireless power supply system of FIG. [Diagram 5] 1. FIG. 4 is a schematic diagram showing a second modified example of a moving object in the wireless power supply system of FIG. [Figure 6] 1. FIG. 4 is a schematic diagram showing a third modified example of a moving object in the wireless power supply system of FIG. [Figure 7] 1. FIG. 4 is a schematic diagram showing a modified example of the wireless power feeding system of FIG. [Figure 8] FIG. 11 is a schematic diagram illustrating an example of a configuration of a wireless power supply system having a moving object according to a second embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, an embodiment of the present disclosure will be mainly described with reference to the accompanying drawings. The following description also applies to a wireless power supply system 1 having a moving object 10 to which the present disclosure is applied.

[0014] (First embodiment) Fig. 1 is a schematic diagram showing an example of a configuration of a wireless power supply system 1 having a moving object 10 according to a first embodiment of the present disclosure. Fig. 2 is a schematic diagram showing an example of a single power supply mobile object 20 included in the wireless power supply system 1 of Fig. 1. An overview of the wireless power supply system 1 having the moving object 10 and the power supply mobile object 20 according to the first embodiment of the present disclosure will be mainly described with reference to Figs. 1 and 2.

[0015] The wireless power supply system 1 includes a moving object 10 and a power supply mobile object 20. The moving object 10 and the power supply mobile object 20 are connected to each other by a first wire 30a. The first wire 30a includes any cable capable of transmitting power output from the power supply mobile object 20 to the moving object 10. The first wire 30a includes, for example, a tether wire. In the example shown in FIG. 1, a pair of the moving object 10 and the power supply mobile object 20 are connected to each other by one first wire 30a.

[0016] 1, for ease of explanation, only one each of the moving body 10 and the power supplying moving body 20 is illustrated, but the number of each of the moving body 10 and the power supplying moving body 20 included in the wireless power supplying system 1 may be two or more. In this case, in the wireless power supplying system 1, there may be a plurality of pairs of the moving body 10 and the power supplying moving body 20 connected to each other in a one-to-one relationship by the first wire 30a, or the moving body 10 and the power supplying moving body 20 may be connected to each other in a one-to-many or many-to-one relationship by a plurality of the first wires 30a.

[0017] The moving body 10 includes, for example, an unmanned airplane that wirelessly supplies power to the target S. The unmanned airplane includes a flying drone and an airship. In the present disclosure, the "target S" includes a first target that receives wireless power from the moving body 10 while stationary at a fixed position, and a second target that changes its position by moving and receives wireless power from the moving body 10. The "first target" includes, for example, an IoT (Internet of Things) sensor such as an environmental measurement sensor. The "second target" includes, for example, another moving body different from the moving body 10, such as another drone. The moving body 10 receives power from the power supplying moving body 20 via a first wire 30a.

[0018] The power supply mobile body 20 includes, for example, an autonomous mobile robot capable of moving on the ground that supplies power to the mobile body 10 via the first wire 30a. The autonomous mobile robot includes, for example, an AGV (Automatic Guide Vehicle). As shown in Fig. 2, the power supply mobile body 20 has, for example, an operation arm 20a for operating a tether wire as the first wire 30a. The power supply mobile body 20 has a winding mechanism 20b such as a reel that winds up the tether wire as the first wire 30a.

[0019] Fig. 3 is a functional block diagram showing a schematic configuration of each of the moving object 10 and the power supply moving object 20 in Fig. 1. An example of the configuration of each of the moving object 10 and the power supply moving object 20 included in the wireless power supply system 1 will be mainly described with reference to Fig. 3.

[0020] The moving object 10 has a communication unit 11, a memory unit 12, an acquisition unit 13, an imaging unit 14, a connection unit 15, a conversion unit 16, a power supply unit 17, a power supply unit 18, and a control unit 19.

[0021] The communication unit 11 includes one or more communication interfaces that connect to a network including a mobile communication network and the Internet. The communication interface corresponds to, for example, a mobile communication standard such as 4G (4th Generation) and 5G (5th Generation), a wired LAN (Local Area Network) standard, or a wireless LAN standard, but is not limited thereto and may correspond to any communication standard. For example, the communication interface may correspond to a short-range wireless communication standard. In the first embodiment, the mobile object 10 may be communicably connected to a network via the communication unit 11. The communication unit 11 transmits and receives various information via the network.

[0022] The storage unit 12 includes storage modules such as a hard disk drive (HDD), a solid state drive (SSD), an electrically erasable programmable read-only memory (EEPROM), a read-only memory (ROM), and a random access memory (RAM). The storage unit 12 stores information necessary to realize the operation of the mobile body 10. The storage unit 12 stores information obtained by the operation of the mobile body 10. For example, the storage unit 12 stores system programs, application programs, and various data obtained by any means such as communication.

[0023] The storage unit 12 may function as a main storage module, an auxiliary storage module, or a cache memory. The storage unit 12 is not limited to being built into the mobile object 10, and may include an external storage module connected via a digital input / output port such as a Universal Serial Bus (USB).

[0024] The acquisition unit 13 includes one or more receivers corresponding to any satellite positioning system. The receiver includes, for example, a GNSS (Global Navigation Satellite System) receiver such as a GPS (Global Positioning System) receiver. The acquisition unit 13 acquires a measurement value of the position of the mobile body 10 as position information. The position information includes, for example, latitude, longitude, altitude, and address. The acquisition unit 13 may acquire the position information of the mobile body 10 constantly, or periodically or non-periodically. The acquisition unit 13 may complement the position information by using information on the moving speed of the mobile body 10 and other information based on autonomous navigation.

[0025] The imaging unit 14 includes any one or more imaging modules capable of capturing images of the surroundings of the moving body 10. The imaging modules include, for example, cameras. The cameras included in the imaging unit 14 are arranged at appropriate positions of the moving body 10 so as to be able to capture images of the surroundings of the moving body 10. For example, the imaging unit 14 includes at least one of a front camera capable of capturing images of subjects ahead of the moving direction of the moving body 10, and a rear camera capable of capturing images of subjects behind the moving direction of the moving body 10. Without being limited thereto, the imaging unit 14 may include an omnidirectional camera capable of capturing images of the entire surroundings of the moving body 10.

[0026] The connection unit 15 includes one or more connection mechanisms capable of mechanically and electrically connecting a first wire 30a that transmits power from the power supplying mobile body 20 to the mobile body 10. The connection mechanism holds the first wire 30a even when the mobile body 10 moves, thereby maintaining a connection with the power supplying mobile body 20. The connection unit 15 is connected to the first wire 30a extending from the power supplying mobile body 20. The connection unit 15 receives power from the power supplying mobile body 20 via the first wire 30a, and supplies the power to corresponding components such as the conversion unit 16 and power supply unit 18 of the mobile body 10 as power for realizing various functions such as wireless power supply to the target object S by the mobile body 10 and movement of the mobile body 10 itself.

[0027] The conversion unit 16 includes one or more conversion modules that convert DC power supplied from the power supplying mobile object 20 via the first wire 30a and the connection unit 15 into AC power used for wireless power supply by the power supply unit 17. The conversion module includes, for example, an inverter. The conversion unit 16 converts the DC power supplied from the connection unit 15 into AC power and supplies it to the power supply unit 17.

[0028] Power supply unit 17 includes one or more power supply modules that wirelessly supply power to object S to be powered. The power supply module includes, for example, a microwave transmission antenna that conforms to a microwave method. Without being limited thereto, the power supply module may include a magnetic field resonance antenna that conforms to a magnetic field resonance type electromagnetic wave induction method, an electric field resonance antenna that conforms to an electric field coupling method, and a laser light source that conforms to a laser method. When power supply unit 17 includes multiple power supply modules, it may include multiple power supply modules that conform to the same wireless power supply method, or multiple power supply modules that conform to different wireless power supply methods.

[0029] The power supply unit 18 includes one or more power storage elements that supply power to realize various operations of the moving body 10. The power storage elements include batteries, capacitors, etc. The batteries include secondary batteries, such as lithium ion batteries and lithium polymer batteries, that are capable of charging and discharging.

[0030] The control unit 19 includes one or more processors. The processors include, but are not limited to, a general-purpose processor or a dedicated processor specialized for a specific process. The control unit 19 is communicably connected to each component of the mobile unit 10 and controls the operation of the mobile unit 10 as a whole.

[0031] The moving body 10 may store at least a part of the power received from the power supplying moving body 20 via the first wire 30a and the connection unit 15 in the power supply unit 18. The moving body 10 moves based on the power supplied from the power supply unit 18, and wirelessly supplies power to the target object S using the power supply unit 17. In addition, the moving body 10 may directly use at least a part of the power received from the power supplying moving body 20 via the first wire 30a and the connection unit 15 for wireless power supply by the conversion unit 16 and the power supply unit 17.

[0032] The power supply mobile object 20 includes a communication unit 21, a storage unit 22, an acquisition unit 23, a connection unit 24, a power supply unit 25, and a control unit 26.

[0033] The communication unit 21 includes one or more communication interfaces that connect to a network including a mobile communication network and the Internet. The communication interface corresponds to, for example, a mobile communication standard such as 4G and 5G, a wired LAN standard, or a wireless LAN standard, but may correspond to any communication standard without being limited thereto. For example, the communication interface may correspond to a short-range wireless communication standard. In the first embodiment, the power supplying mobile object 20 may be communicably connected to a network via the communication unit 21. The communication unit 21 transmits and receives various information via the network.

[0034] The storage unit 22 includes storage modules such as an HDD, an SSD, an EEPROM, a ROM, and a RAM. The storage unit 22 stores information necessary to realize the operation of the power supplying mobile body 20. The storage unit 22 stores information obtained by the operation of the power supplying mobile body 20. For example, the storage unit 22 stores a system program, an application program, and various data acquired by any means such as communication.

[0035] The memory unit 22 may function as a main memory module, an auxiliary memory module, or a cache memory. The memory unit 22 is not limited to being built into the power supply mobile object 20, and may include an external memory module connected via a digital input / output port such as a USB.

[0036] The acquisition unit 23 includes one or more receivers corresponding to any satellite positioning system. The receiver includes, for example, a GNSS receiver such as a GPS receiver. The acquisition unit 23 acquires a measurement value of the position of the power supply mobile object 20 as position information. The position information includes, for example, latitude, longitude, altitude, and address. The acquisition unit 23 may acquire the position information of the power supply mobile object 20 constantly, or periodically or non-periodically. The acquisition unit 23 may complement the position information by using information on the moving speed of the power supply mobile object 20 and other information based on autonomous navigation.

[0037] The connection unit 24 includes one or more connection mechanisms capable of mechanically and electrically connecting the first wire 30a that transmits power from the power supplying mobile body 20 to the mobile body 10. The connection mechanism holds the first wire 30a and maintains the connection with the mobile body 10 even when the power supplying mobile body 20 moves. The connection mechanism may also include, for example, an operating arm 20a and a winding mechanism 20b shown in FIG. 2. The connection unit 24 is connected to the first wire 30a that extends to the mobile body 10. The connection unit 24 transmits power from the power supplying mobile body 20 to the mobile body 10 via the first wire 30a.

[0038] The power supply unit 25 includes one or more storage elements that supply power for implementing various operations of the power supplying mobile object 20. The storage elements include batteries and capacitors. The batteries include, for example, secondary batteries such as lithium ion batteries and lithium polymer batteries that can be charged and discharged. Without being limited thereto, the power supply unit 25 may include an AC generating module or the like.

[0039] The control unit 26 includes one or more processors. The processors include, but are not limited to, a general-purpose processor or a dedicated processor specialized for a specific process. The control unit 26 is communicatively connected to each component of the power supplying mobile body 20 and controls the operation of the power supplying mobile body 20 as a whole.

[0040] The power supply mobile object 20 is connected to the mobile object 10 via a first wire 30a, and moves following the movement of the mobile object 10. The power supply mobile object 20 supplies power to the mobile object 10 via the first wire 30a while moving together with the mobile object 10.

[0041] In the following, an example of processing executed by the control unit 19 of the moving object 10 in the wireless power supply system 1 will be mainly described.

[0042] 1 to 3, in the wireless power supply system 1, the control unit 19 of the moving body 10 acquires, as information, the relative position between the moving body 10 and the target object S to be supplied with power, based on the acquisition unit 13. The acquisition unit 13 contributes to acquiring the relative position between the moving body 10 and the target object S. For example, in addition to acquiring the position information of the moving body 10 by the acquisition unit 13, the control unit 19 acquires the position information of the target S by any method using the communication unit 11 or the like, thereby acquiring the relative position between the moving body 10 and the target object S as information.

[0043] For example, the control unit 19 determines the relative position of the moving body 10 with respect to a first object among the objects S, and when the first object and the moving body 10 are far apart from each other, controls the movement of the moving body 10 so as to approach the position of the first object. For example, the control unit 19 determines the relative position of the moving body 10 with respect to a second object among the objects S, and when the second object and the moving body 10 are far apart from each other and the second object is moving toward the moving body 10, controls the attitude, etc. of the moving body 10 so as to stop on the spot.

[0044] When the control unit 19 determines that the moving body 10 has approached the target object S, the control unit 19 captures an image of the surroundings of the target object S using the imaging unit 14. The control unit 19 identifies the target object S using a technique such as image processing based on the image captured by the imaging unit 14. When wirelessly supplying power to the target object S using the power supply unit 17, the control unit 19 controls the position and attitude of the moving body 10 according to the identified target object S.

[0045] For example, the control unit 19 positions the mobile body 10 within a range where microwaves from a microwave transmission antenna conforming to the microwave method of the power supply unit 17 can be efficiently irradiated to the target S. For example, the control unit 19 tilts the attitude of the mobile body 10 so that the microwave transmission antenna of the power supply unit 17 faces the power receiving surface of the target S. For example, the control unit 19 causes a flying drone serving as the mobile body 10 to hover in a state close to the target S, and tilts its attitude in that state to face the microwave transmission antenna of the power supply unit 17 toward the power receiving surface of the target S.

[0046] The control unit 19 controls the power supply unit 17 to wirelessly supply power to the target object S to be supplied with power. In the example shown in Fig. 1, the control unit 19 of the moving body 10 controls the power supply unit 17 to radiate microwaves toward the target object S from a microwave transmission antenna of the power supply unit 17 according to the microwave method. At this time, the power supply unit 17 may supply power wirelessly by receiving power from a power supply unit 18 of the moving body 10 itself, or may supply power wirelessly by receiving power from the power supply mobile body 20 via the first wire 30a, the connection unit 15, and the conversion unit 16.

[0047] For example, when power supply unit 17 includes multiple power supply modules conforming to different wireless power supply methods, control unit 19 switches to a power supply module corresponding to object S identified using imaging unit 14 among the multiple power supply modules when wirelessly supplying power. Control unit 19 selects from the multiple power supply modules a power supply module corresponding to the wireless power supply method supported by the identified object S. Control unit 19 controls a drive mechanism such as an actuator in power supply unit 17 to mechanically drive the selected power supply module so that the selected power supply module is located on the power transmission surface of power supply unit 17.

[0048] For example, among multiple wireless power supply methods, the microwave method has low output and low efficiency but can increase the power transmission distance by wireless power supply. On the other hand, the magnetic field resonance type electromagnetic wave induction method has a short power transmission distance by wireless power supply but can obtain high output and high efficiency. When the moving body 10 is unlikely to approach the target object S and the target object S supports the microwave method, the control unit 19 may select a microwave transmission antenna from among the multiple power supply modules. When the moving body 10 is likely to approach the target object S and the target object S supports the magnetic field resonance type electromagnetic wave induction method, the control unit 19 may select a magnetic field resonance antenna from among the multiple power supply modules.

[0049] According to the embodiment as described above, it is possible to improve the supply of power for wireless power supply and movement. For example, the moving body 10 can improve the power that the moving body 10 itself can supply to the object S by wireless power supply using the power supply unit 17 by receiving the power supply from the power supply moving body 20 via the first wire 30a. In addition, when the moving body 10 moves based on the power supplied from the power supply unit 18, it can improve the continuous operation time of the moving body 10 itself. As a result, the wireless power supply system 1 can wirelessly supply power continuously for a long time to a plurality of objects S that are distributed over a wide area while maintaining sufficient power when wirelessly supplying power to the object S using the moving body 10. Therefore, the convenience of the wireless power supply system 1 is improved.

[0050] The mobile body 10 and the wireless power supply system 1 can be applied to various applications with the target S as a sensor being the target of wireless power supply. For example, the mobile body 10 and the wireless power supply system 1 can be applied to wireless power supply to the target S used for measuring aging infrastructure. The mobile body 10 and the wireless power supply system 1 can be applied to wireless power supply to the target S used for inspecting large facilities such as dams. The mobile body 10 and the wireless power supply system 1 can be applied to wireless power supply to the target S used for predicting landslides on slopes. The mobile body 10 and the wireless power supply system 1 can be applied to wireless power supply to the target S used in smart agriculture including measures against animal damage. The mobile body 10 and the wireless power supply system 1 can also meet various other industrial needs. The mobile body 10 and the wireless power supply system 1 can also contribute to the spread of various services using the target S as a sensor that is distributed in multiple locations over a wide area.

[0051] The mobile body 10 further has a conversion unit 16 that converts DC power supplied from the power supplying mobile body 20 into AC power used for wireless power supply by the power supply unit 17. This allows the mobile body 10 to use the power supplied from the power supplying mobile body 20 via the first wire 30a for wireless power supply by the power supply unit 17. Therefore, the mobile body 10 can also improve the power that can be supplied to the target object S by wireless power supply using the power supply unit 17. The mobile body 10 can also perform wireless power supply by the power supply unit 17 mainly using power from the power supplying mobile body 20 without consuming power stored in the power supply unit 18 of the mobile body 10 itself for wireless power supply.

[0052] The moving body 10 further includes an acquisition unit 13 that contributes to acquiring the relative position between the moving body 10 and the object S, and thus the moving body 10 can easily determine the position of the moving body 10 with respect to the object S. Therefore, even if the object S and the moving body 10 are far away from each other, the moving body 10 can calculate the movement route of the moving body 10 to the object S and easily approach the position of the object S. The moving body 10 can move to the vicinity of the object S to which wireless power supply is required and supply wireless power to the object S by the power supply unit 17.

[0053] The moving body 10 further includes an imaging unit 14 that captures an image of the surroundings of the target object S when the moving body 10 approaches the target object S, and thus can acquire more accurate information such as the placement state and placement position of the target object S from the surroundings of the target object S based on the image captured by the imaging unit 14. The moving body 10 can easily identify the target object S based on the image captured by the imaging unit 14.

[0054] The moving body 10 identifies the object S based on the image captured by the imaging unit 14, and when wireless power supply is performed, controls the position and posture of the moving body 10 according to the identified object S. This allows the moving body 10 to control itself to a position and posture that facilitates wireless power supply by the power supply unit 17, in accordance with the arrangement state and arrangement position of the identified object S. Therefore, the moving body 10 can efficiently wirelessly supply power to the object S.

[0055] When wirelessly feeding power, the moving body 10 can easily wirelessly feed power to the object S by switching to a power feeding module corresponding to the specified object S among a plurality of power feeding modules conforming to different wireless power feeding methods. The moving body 10 can wirelessly feed power comprehensively to a plurality of objects S conforming to different wireless power feeding methods by itself. This improves the convenience of the wireless power feeding system 1.

[0056] The moving body 10, including a flying drone, can easily move to the surroundings of an object S located in a place that is difficult to reach by land and wirelessly supply power to the object S. The moving body 10 alone can comprehensively supply wireless power to a plurality of objects S even if the objects S are distributed over a wide area. This improves the convenience of the wireless power supply system 1.

[0057] The wireless power supply system 1 includes a moving body 10 and a power supplying moving body 20 that supplies power to the moving body 10 via a first wire 30a. This allows the wireless power supply system 1 to improve the amount of power supply for wireless power supply and movement. For example, the moving body 10 can improve the power that the moving body 10 itself can supply to the object S by wireless power supply using the power supply unit 17 by receiving power supply from the power supplying moving body 20 via the first wire 30a. In addition, when the moving body 10 moves based on the power supplied from the power supply unit 18, the continuous operation time of the moving body 10 itself can be improved. As a result, the wireless power supply system 1 can continuously supply wireless power to a plurality of objects S that are distributed over a wide area for a long period of time while maintaining sufficient power when wirelessly supplying power to the object S using the moving body 10. This improves the convenience of the wireless power supply system 1.

[0058] In the above first embodiment, the moving body 10 is described as further including the conversion unit 16 that converts the DC power supplied from the power supplying moving body 20 into AC power used for wireless power supply by the power supply unit 17, but is not limited thereto. The moving body 10 does not necessarily have to include such a conversion unit 16.

[0059] In the above first embodiment, the moving body 10 is described as further including the acquisition unit 13 that contributes to acquisition of the relative position between the moving body 10 and the target object S, but is not limited thereto. The moving body 10 does not necessarily have to include such an acquisition unit 13.

[0060] In the first embodiment, the acquisition unit 13 is described as including one or more receivers corresponding to any satellite positioning system, but is not limited thereto. The acquisition unit 13 may include a distance measurement tag that enables the mutual distance to be measured by UWB (Ultra-Wide Band) communication instead of or in addition to the one or more receivers corresponding to any satellite positioning system. As a result, even in a shielded situation where it is difficult to use GPS or the like, the moving body 10 may acquire information on the relative position between the moving body 10 as a wirelessly powered robot and the target object S by any estimation technique using the distance measurement tag mounted on the moving body 10 and the target object S.

[0061] For example, the wireless power supply system 1 may further include an information processing device including one or more server devices capable of communicating with each other. The information processing device is not limited to these and may include any general-purpose electronic device such as a PC (Personal Computer), a smartphone, or a smart speaker, or may include other electronic device dedicated to the wireless power supply system 1. The information processing device may be connected to each of the moving body 10 and the target object S via a network so as to be able to communicate with each other.

[0062] The information processing device may execute a first process of estimating the position of at least one of a plurality of objects S that communicate with each other through UWB communication as wireless communication for measuring distances to each other, based on the moving body 10. The information processing device may execute a second process of estimating the position of another object S, based on at least one of the moving body 10 and the object S that is stationary and whose position has been estimated based on the moving body 10.

[0063] The moving body 10 may include any sensor module that enables estimation of the self-location of the moving body 10 and generation of an environmental map simultaneously. The sensor module may include, for example, at least one sensor that supports Simultaneous Localization And Mapping (SLAM) technology. The moving body 10 may obtain location information indicating the location of the moving body 10 as sensor information.

[0064] The moving body 10 acquires from the information processing device the position information of the target object S whose position has been estimated by the first process and the second process by the information processing device, and combines the position information with the self-position information of the moving body 10 estimated by the SLAM technology. In this way, the moving body 10 may acquire the relative position with respect to the target object S as information.

[0065] In the above first embodiment, the moving body 10 is described as further having the imaging unit 14 that captures an image of the surroundings of the target object S when the moving body 10 approaches the target object S, but is not limited to this. The moving body 10 does not need to have such an imaging unit 14.

[0066] In the above first embodiment, the moving body 10 identifies the target object S based on the image captured by the imaging unit 14, and when wireless power supply is performed, the moving body 10 controls the position and attitude of the moving body 10 according to the identified target object S. However, the present invention is not limited to this. The moving body 10 does not need to execute such a control process.

[0067] In the above-described first embodiment, the moving body 10 switches to a power supply module corresponding to a specified target object S among a plurality of power supply modules when wireless power supply is performed, but the present invention is not limited to this. The moving body 10 does not need to execute such a control process.

[0068] In the first embodiment, the moving body 10 is described as including a flying drone, but is not limited thereto. The moving body 10 may include any vehicle capable of moving on land.

[0069] Fig. 4 is a schematic diagram showing a first modified example of the moving body 10 in the wireless power supply system 1 of Fig. 1. In the above first embodiment, as shown in Fig. 1, the moving body 10 includes a flying drone as an example, and the power supply unit 17 includes a microwave transmission antenna according to a microwave method, but this is not limited thereto. The type of the moving body 10 and the type of the power supply module of the power supply unit 17 may be combined in any way. For example, as shown in Fig. 4, the moving body 10 may include a flying drone, and the power supply unit 17 may include a magnetic resonance antenna according to a magnetic resonance type electromagnetic wave induction method.

[0070] Fig. 5 is a schematic diagram showing a second modified example of the moving body 10 in the wireless power supply system 1 of Fig. 1. For example, as shown in Fig. 5, the power supply unit 17 may include a microwave transmission antenna conforming to a microwave system, and the moving body 10 may include an airship.

[0071] Fig. 6 is a schematic diagram showing a third modified example of the moving body 10 in the wireless power supply system 1 of Fig. 1. For example, as shown in Fig. 6, the moving body 10 may include an airship, and the power supply unit 17 may include a magnetic field resonance antenna that follows a magnetic field resonance type electromagnetic wave induction method.

[0072] Fig. 7 is a schematic diagram showing a modification of the wireless power supply system 1 in Fig. 1. In the above first embodiment, the wireless power supply system 1 has the moving body 10 and the power supplying moving body 20 that supplies power to the moving body 10 via the first wire 30a, but is not limited to this. The wireless power supply system 1 may further have an adjustment moving body 40 that is a third moving body in addition to these two moving bodies.

[0073] The adjustment mobile body 40 may hold the first wire 30a between the power supply mobile body 20 and the mobile body 10 and adjust the position of the first wire 30a. The adjustment mobile body 40 may include, for example, an unmanned aeroplane capable of holding the first wire 30a. The unmanned aeroplane may include a flying drone, an airship, or the like. The adjustment mobile body 40 may detect an obstacle W located between the mobile body 10 and the power supply mobile body 20 by a sensor module such as a camera, and adjust the position of the first wire 30a so that the first wire 30a does not interfere with the obstacle W.

[0074] This allows the wireless power supply system 1 to reduce interference of the first wire 30a, which extends long between the moving object 10 and the power supply moving object 20, with the obstacle W. Therefore, the wireless power supply system 1 can move the moving object 10 and the power supply moving object 20 smoothly by keeping the first wire 30a away from the obstacle W.

[0075] At this time, the power supply mobile body 20 and the adjustment mobile body 40 may be connected to each other by a second wire 30b. The second wire 30b includes any cable capable of transmitting power output from the power supply mobile body 20 to the adjustment mobile body 40. The second wire 30b includes, for example, a tether wire. In the example shown in Fig. 7, a pair of the adjustment mobile body 40 and the power supply mobile body 20 are connected to each other by one second wire 30b.

[0076] 7, for ease of explanation, only one each of the adjustment mobile body 40 and the power supply mobile body 20 is illustrated, but the number of each of the adjustment mobile body 40 and the power supply mobile body 20 included in the wireless power supply system 1 may be two or more. In this case, in the wireless power supply system 1, there may be a plurality of pairs in which the adjustment mobile body 40 and the power supply mobile body 20 are connected to each other in a one-to-one relationship by the second wire 30b, or the adjustment mobile body 40 and the power supply mobile body 20 may be connected to each other in a one-to-many or many-to-one relationship by a plurality of the second wires 30b.

[0077] The power supplying mobile body 20 may supply power to the adjustment mobile body 40 via the second wire 30b. This allows the wireless power supply system 1 to improve the amount of power supplied for the movement of the adjustment mobile body 40. For example, the adjustment mobile body 40 can also improve the continuous operation time when moving. Therefore, the wireless power supply system 1 can use the adjustment mobile body 40 together with the mobile body 10 to adjust the position of the second wire 30b, and can wirelessly supply power continuously for a long period of time to a plurality of targets S that are distributed over a wide range. This improves the convenience of the wireless power supply system 1.

[0078] Second embodiment Fig. 8 is a schematic diagram showing an example of a configuration of a wireless power supply system 1 including a moving object 10 according to a second embodiment of the present disclosure. With reference to Fig. 8, an overview of the wireless power supply system 1 including the moving object 10 and a power supply moving object 20 according to the second embodiment of the present disclosure will be mainly described.

[0079] The wireless power supply system 1 according to the second embodiment differs from the first embodiment in that the moving body 10 includes a drone for underwater movement. Other configurations, functions, effects, and modifications are the same as those of the first embodiment, and the corresponding explanations apply to the moving body 10 and the wireless power supply system 1 according to the second embodiment. In the following, the same components as those in the first embodiment are denoted by the same reference numerals, and the explanations thereof will be omitted. The points different from the first embodiment will be mainly explained.

[0080] The moving body 10 includes, for example, a drone for underwater movement that wirelessly supplies power to an object S located underwater. In the second embodiment, a first object among the objects S includes, for example, any sensor used to measure the underwater environment. A second object among the objects S includes, for example, a small drone used for exploring underwater resources around the moving body 10, with the moving body 10 as a mother ship. The moving body 10 receives power supply from a power supplying moving body 20 located on the sea via a first wire 30a. The power supplying moving body 20 includes, for example, a ship capable of moving on the sea that supplies power to the underwater moving body 10 via the first wire 30a.

[0081] In the second embodiment, the power supply unit 17 of the moving body 10 may include a magnetic field resonance antenna that follows a magnetic field resonance type electromagnetic wave induction method in consideration of use in the sea. This allows the moving body 10 to wirelessly supply power to the object S including the first object and the second object efficiently even in the sea.

[0082] The moving body 10 and the wireless power supply system 1 according to the second embodiment as described above have the same effects as those described in the first embodiment. In addition, the moving body 10 and the wireless power supply system 1 can be applied to other applications, with the target S as a sensor being the target of wireless power supply. For example, the moving body 10 and the wireless power supply system 1 can be applied to wireless power supply to the target S used for earthquake prediction in the sea.

[0083] It is obvious to those skilled in the art that the present disclosure can be realized in other specific forms other than the above-described embodiments without departing from the spirit or essential characteristics thereof. Therefore, the above description is illustrative and not limiting. The scope of the disclosure is defined by the appended claims, not by the above description. Any modifications within the scope of the equivalents of all modifications are intended to be included therein.

[0084] For example, the shape, pattern, size, arrangement, orientation, type, number, etc. of each of the above-mentioned components are not limited to the above description and the contents illustrated in the drawings. The shape, pattern, size, arrangement, orientation, type, number, etc. of each component may be configured arbitrarily as long as the function can be realized. Each component of the illustrated wireless power supply system 1 is functionally conceptual, and the specific form of each component is not limited to that illustrated.

[0085] For example, functions included in each configuration can be rearranged so as not to cause logical inconsistencies, and multiple configurations can be combined into one or divided. Other modifications are possible within the scope of the present disclosure.

[0086] Some of the embodiments of the present disclosure will be described below as examples. However, it should be noted that the embodiments of the present disclosure are not limited to these examples. [Appendix 1] A mobile object, A control unit; A power supply unit that wirelessly supplies power to an object to be powered; A connection part connected to a first wire extending from the power supply mobile body; Equipped with receiving a supply of a first power from the power supply mobile object via the first wire; Mobile body. [Appendix 2] 2. A moving object according to claim 1, a converter for converting the first power, which is a direct current supplied from the power supply mobile object, into the first power, which is an alternating current used for the wireless power supply by the power supply unit; Mobile body. [Appendix 3] A moving object according to claim 1 or 2, An acquisition unit that contributes to acquiring a relative position between the moving body and the object, Mobile body. [Appendix 4] A moving object according to any one of claims 1 to 3, An imaging unit that captures an image of the surroundings of the object when the moving object approaches the object, Mobile body. [Appendix 5] A moving object according to claim 4, The control unit identifies the object based on the image captured by the imaging unit, and controls a position and an attitude of the moving body in accordance with the identified object when performing the wireless power supply. Mobile body. [Appendix 6] A moving object according to claim 5, The power supply unit includes a plurality of power supply modules that comply with different wireless power supply methods, When performing the wireless power supply, the control unit switches to the power supply module corresponding to the specified object among the plurality of power supply modules. Mobile body. [Appendix 7] A moving object according to any one of claims 1 to 6, The moving object includes a flying drone or an underwater drone. Mobile body. [Appendix 8] A moving object according to any one of Supplementary Notes 1 to 7; a power supply mobile body that supplies the first power to the mobile body via the first wire; Equipped with Wireless power supply system. [Appendix 9] The wireless power supply system according to claim 8, and further comprising an adjustment mobile body for holding the first wire between the power supply mobile body and the mobile body and adjusting a position of the first wire. Wireless power supply system. [Appendix 10] The wireless power supply system according to claim 9, The power supplying mobile body supplies a second power to the adjustment mobile body via a second wire. Wireless power supply system. [Explanation of symbols]

[0087] 1. Wireless power supply system 10 Mobile 11 Communications Department 12 Storage section 13 Acquisition Department 14 Imaging unit 15 Connection 16 Conversion section 17 Power supply unit 18 Power supply section 19 Control section 20 Power supply mobile 20a Operating arm 20b Winding mechanism 21 Communications Department 22 Memory section 23 Acquisition Department 24 Connection 25 Power supply section 26 Control Unit 30a 1st wired 30b 2nd wired 40 Adjustment moving body S Object W Obstacle

Claims

1. A mobile object, A control unit; A power supply unit that wirelessly supplies power to an object to be powered; A connection part connected to a first wire extending from the power supply mobile body; Equipped with receiving a supply of a first power from the power supply mobile object via the first wire; Mobile body.

2. The moving body according to claim 1 , a converter for converting the first power, which is a direct current supplied from the power supply mobile object, into the first power, which is an alternating current used for the wireless power supply by the power supply unit; Mobile body.

3. The moving body according to claim 1 or 2, An acquisition unit that contributes to acquiring a relative position between the moving body and the object, Mobile body.

4. The moving body according to claim 1 or 2, An imaging unit that captures an image of the surroundings of the object when the moving object approaches the object, Mobile body.

5. The moving body according to claim 4, The control unit identifies the object based on the image captured by the imaging unit, and controls a position and an attitude of the moving body in accordance with the identified object when performing the wireless power supply. Mobile body.

6. The moving body according to claim 5, The power supply unit includes a plurality of power supply modules that comply with different wireless power supply methods, When performing the wireless power supply, the control unit switches to the power supply module corresponding to the specified object among the plurality of power supply modules. Mobile body.

7. The moving body according to claim 1 or 2, The moving object includes a flying drone or an underwater drone. Mobile body.

8. A moving body according to claim 1 or 2; a power supply mobile body that supplies the first power to the mobile body via the first wire; Equipped with Wireless power supply system.

9. The wireless power supply system according to claim 8, an adjustment mobile unit that holds the first wire between the power supply mobile unit and the mobile unit and adjusts a position of the first wire; Wireless power supply system.

10. The wireless power supply system according to claim 9, The power supplying mobile body supplies a second power to the adjustment mobile body via a second wire. Wireless power supply system.

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